CN205411945U - Skin swashs phototherapy auxiliary machinery people - Google Patents
Skin swashs phototherapy auxiliary machinery people Download PDFInfo
- Publication number
- CN205411945U CN205411945U CN201520888153.4U CN201520888153U CN205411945U CN 205411945 U CN205411945 U CN 205411945U CN 201520888153 U CN201520888153 U CN 201520888153U CN 205411945 U CN205411945 U CN 205411945U
- Authority
- CN
- China
- Prior art keywords
- robot
- skin
- probe
- therapeutic instrument
- control system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Radiation-Therapy Devices (AREA)
- Laser Surgery Devices (AREA)
Abstract
The utility model provides a skin swashs phototherapy auxiliary machinery people, includes that accurate positioning mobile machine robot, therapeutic instrument swash light detector, visual identification and control system, range unit and safety device, the therapeutic instrument swash light detector and install in the arm end position of accurate positioning mobile robot front end, range unit installs the side of swashing light detector in the therapeutic instrument, visual identification installs the another side of swashing light detector in the therapeutic instrument with control system's CMOS probe, safety device installs and swashs the light detector front end in the therapeutic instrument, the measured value of range unit output and the sensor signal of safety device output are connected to visual identification and control system's input, and visual identification and control system's output connection and control accurate positioning mobile robot. The utility model discloses by accurate positioning mobile robot, replace manual operation skin laser treatment unit, the degree of automation height has, and location, motion advantage such as accurate has guaranteed that high curative effect, high efficiency, safe and reliable's skin swashs phototherapy.
Description
Technical field
This utility model relates to a kind of important treatment auxiliary robot of medical domain, is specifically related to a kind of skin laser treatment auxiliary robot.
Background technology
Along with skin laser treatment, the popularization of laser beautifying technology, the medical treatment of dermatological laser project, up to 98.3 ten thousand, mechanism of beauty treatment are carried out in the current whole nation.From technical merit, laser beautifying treatment is basic based on manual operations, at the bottom of automaticity, high to the dependency of laser therapy doctor.And doctor's number of every thousand people of China is only the 0.79 of Japan, it is only the half of Germany.People's high-end technology this to laser therapy demand is continuously increased, and corresponding high-quality laser therapy doctor extremely lacks, and it is extremely urgent that above-mentioned imbalance between supply and demand makes to research and develop a kind of laser therapy auxiliary robot that can substitute or improve man efficiency.
Medical Robot developed and put into rapidly clinical practice start from the beginning of 21 century it is considered to be revolution in medical development history.Medical Robot integrates the novel crossed research field of the subjects such as medical science, biomechanics, mechanics, Mechanics of Machinery, computer graphics, computer vision, mathematical analysis, robot, have a wide range of applications on dual-use, and Medical Robot field is study hotspot therein.The medical robotic system of viable commercial product the most includes: Leonardo da Vinci's surgical robot system, domestic highly skilled man surgical operation robot etc..Dexterous manipulation, precise positioning and the preoperative planning that surgeon is provided through it, so that sufferer surgical wound reduces, postoperative rapid recovery orthobiosis etc., reaches accuracy and the big advantage of invasive two.Medical Robot's R&D direction predominantly assists intracavity operation at present, and for the research and development of external Medical Robot, especially carries out the medical robotic system of therapeutic procedure, is the most still in the blank stage.
Medical Robot has many technical advantages compared with Traditional Man technology, have become more meticulous, high speed, intellectuality, the feature of Wicresoft, can diagnostic symptom more accurately, analyse pathology scientifically, reduce manual operation error.Meanwhile, environment resistant is disturbed, is overcome the aspects such as patient's function limit to have unrivaled advantage compared with manual operation.Therefore, Medical Robot must substitute a part of traditional artificial technology China's economy grows continuously and fast and enters higher level when.
At present, the skin laser treatment based on manual operation is implicitly present in the problem being difficult to as follows overcome:
In clinical practice, qualified laser therapy teacher generally requires the theory study possessed for many years and practice experience, just can ensure that the effect of laser therapy.Special situation (such as: light is the best, tired, emotion, periphery interference etc.) under, even if the most easily there is human operational error, severe patient and may result in Endodontic failure in veteran laser doctor, even disfeature.
In laser therapy, at present commercial dermatological laser equipment major part is hand-held, and laser doctor must manually in implementing operation, and whole-course treatment must assure that laser probe is vertical with the surface of target site skin, constant distance；Meanwhile, during unenhanced treatment, after single laser pulse is launched, laser probe to move with constant space, to guarantee not leave over treatment dead angle.Pure manual operations is difficult to avoid that generation deviation, causes treatment excessive, not enough or the first-class defect of inequality, affects laser therapy effect to a certain extent.
Another important problem is that the ergonomics parameter designing of dermatological laser equipment is improper；Or reach a certain specific indexes for laser, and another index being associated exceedes the limit of manual control.As: the laser pulse frequency of pulse laser equipment is up to more than 30HZ (too low frequency may cause treatment time to extend, and patient tolerance declines, patient's fatiguability), the displacement limits frequency only 3HZ of staff.If ensureing accurate displacement, the displacement frequency of staff to be also greatly reduced.In this case, doctor often with custom, can only sacrifice certain aspect advantage of laser therapeutic equipment, carries out the treatment of " human intervention formula ".
Therefore, from above-mentioned from the point of view of some, current laser therapy is the treatment of empirical formula, it is difficult to ensure that the standardization of laser therapy, treatment depend on treating " maneuver ", " anticipation " and " estimation " of doctor, curative effect it is difficult to ensure that.
Intelligent Medical Robot have efficient, accurate, at a high speed, the inherent advantage such as anti-interference, parameter threshold is adjustable.Therefore, the exploitation of science also reasonably designs laser therapy machine people's aid system, contributes to solving " bottleneck " difficult problem of above-mentioned several long-standing problem laser therapy.
Utility model content
In view of prior art, this utility model provides a kind of skin laser treatment auxiliary robot and householder method thereof, with realize automaticity height, accurate positioning, sport intellect, at a high speed, high curative effect, high efficiency skin laser treatment purpose.
The technical solution adopted in the utility model is as follows:
A kind of skin laser treatment auxiliary robot, including being accurately positioned mobile robot, therapeutic instrument laser probe, visual identity and control system, range unit and safety device；Described therapeutic instrument laser probe is installed on the front end, position, mechanical arm end being accurately positioned mobile robot, range unit is installed on the side of therapeutic instrument laser probe, the CMOS probe of visual identity and control system is installed on the another side of therapeutic instrument laser probe, and safety device is installed on the front end of therapeutic instrument laser probe；The measured value of range unit output and the transducing signal of safety device output are connected to the input of visual identity and control system, and visual identity is connected with the outfan of control system and controls to be accurately positioned mobile robot.
In technique scheme, the described mobile robot employing multi-degree-of-freemechanical mechanical arm formula that is accurately positioned moves robot or planer-type moves robot；The preferred planer-type of this utility model moves robot.
In technique scheme, described visual identity and control system, including CMOS probe, image pick-up card and electronic computer, CMOS probe gathers image and the boundary position information of area for treatment, the information that CMOS probe is gathered by electronic computer processes and stores, and CMOS probe is connected with electronic computer by image pick-up card.
In technique scheme, described range unit use laser range finder, ultrasonic range finder, capacitance distance measuring instrument, infrared range-measurement system one or more be used in mixed way.
In technique scheme, described safety device is one or both uses of capacitance type sensor, piezoresistive transducer；The preferred piezoresistive transducer of this utility model is as safety device sensor.When capacitance type sensor or piezoresistive transducer touch human body skin and there is certain contact pressure, sensor passes the information on to electronic computer, thus controls to be accurately positioned the jerk of mobile robot.
In technique scheme, described planer-type moves robot and uses guide tracked connection with sick bed, and planer-type moves robot along guide rail slidably, and planer-type moves the robot mechanical arm by XYZ axle mobile platform and around X-axis and Y-axis rotation and forms；The action of mechanical arm is realized by five axes interpolation linkage by digital control technology；Described XYZ axle mobile platform can move along X, Y, Z axis, XYZ axle mobile platform is made up of base, slide unit, ball-screw, guide pillar, motor, the linear motion of XYZ axle mobile platform is driven ball-screw, ball-screw to drive XYZ axle mobile platform to realize again by hybrid precision stepper motor, the mechanical arm being connected on XYZ axle mobile platform rotates by step motor drive around X-axis and Y-axis, and above-mentioned hybrid precision stepper motor and motor are controlled by electronic computer output.
Skin laser treatment auxiliary robot of the present utility model, move by being accurately positioned mobile robotically-driven therapeutic instrument laser probe, replace manual operation skin laser treatment instrument, have that automaticity is high, position, the advantage such as precisely of moving, be of value to minimizing hand labor intensity and manual operation error.Use visual identity and control system to replace eye recognition, and treat area for treatment and carry out image reconstruction, be conducive to improving the Boundary Recognition precision in region to be treated, and ensure that the light path of laser probe overlaps with the method arrow of point of care as far as possible；Thus laser both can have been avoided to irradiate the injury to healthy skin, in turn ensure that the curative effect of skin laser treatment.The range unit the real time measure therapeutic instrument laser probe of skin laser treatment auxiliary robot and the distance of point of care, and Real-time Feedback to planer-type moves the control system of robot, it is allowed to make in time the constant distance of position adjustment, maintaining treatment instrument laser probe and point of care；Ensure laser therapy effect further.Skin laser treatment auxiliary robot is provided with safety sensor devices, it is to avoid human body is caused unexpected injury by equipment and therapeutic instrument laser probe.
It should be understood that, skin laser treatment auxiliary robot of the present utility model has versatility, at the same time as the auxiliary robot of other laser therapeutic apparatus.
This utility model beneficial effect:
1, skin laser treatment auxiliary robot of the present utility model, by being accurately positioned mobile robot as carrier, drive the motion of skin laser treatment instrument laser probe, instead of manual hand manipulation, it is effectively improved the Accuracy and high efficiency of laser probe motion, decreases labor intensity simultaneously.
2, skin laser treatment auxiliary robot of the present utility model is configured with visual identity and control system and range unit, it is ensured that the verticality of laser probe and point to be treated and constant distance, is conducive to improving therapeutic effect.It addition, visual identity control system identifies the boundary information of lesion region automatically, be conducive to improving the accuracy of identification to diseased tissue area and efficiency, advantageously reduce laser and irradiate the probability that healthy skin damages.
3, this utility model is configured with safety device, it is to avoid in the operation process of skin laser treatment auxiliary robot, and human body is damaged by its parts.
Accompanying drawing explanation
Fig. 1 is that planer-type moves robot structural representation；
Fig. 2 is therapeutic instrument laser probe schematic diagram；
Fig. 3 is that multi-degree-of-freemechanical mechanical arm formula moves robot structural representation；
Fig. 4 is this utility model skin laser treatment auxiliary robot workflow diagram；
Fig. 5 is skin laser treatment auxiliary robot and sick bed connection diagram；
Fig. 6 is skin laser treatment auxiliary robot working state schematic representation.
Accompanying drawing mark explanation:
1-motor, 2-base, 3-guide pillar, 4-ball-screw, 5-guide rail tailstock, 61-switchs, 62-range unit, 63-therapeutic instrument laser probe, 64-safety device, 65-CMOS pops one's head in, and 7-planer-type moves robot, 81-pedestal, 82-guide rail slide unit, 83-mechanical arm, 84-CMOS pops one's head in, 85-therapeutic instrument laser probe, 86-diastimeter, 9-sick bed.
Detailed description of the invention
Seeing Fig. 1 ~ Fig. 6, skin laser treatment auxiliary robot of the present utility model, including being accurately positioned mobile robot, therapeutic instrument laser probe, visual identity and control system, range unit and safety device；Described therapeutic instrument laser probe is installed on the front end, position, mechanical arm end being accurately positioned mobile robot, range unit is installed on the side of therapeutic instrument laser probe, the CMOS probe of visual identity and control system is installed on the another side of therapeutic instrument laser probe, and safety device is installed on therapeutic instrument laser probe front end；The measured value of range unit output and the transducing signal of safety device output are connected to the input of visual identity and control system, and visual identity is connected with the outfan of control system and controls to be accurately positioned mobile robot.
Above-mentioned it be accurately positioned mobile robot and use multi-degree-of-freemechanical mechanical arm formula to move robot or planer-type moves robot；The preferred planer-type of this utility model moves robot.
Above-mentioned visual identity and control system, including CMOS probe, image pick-up card and electronic computer, CMOS probe gathers image and the boundary position information of area for treatment, the information that CMOS probe is gathered by electronic computer processes and stores, and CMOS probe is connected with electronic computer by image pick-up card.
Above-mentioned range unit use laser range finder, ultrasonic range finder, capacitance distance measuring instrument, infrared range-measurement system one or more be used in mixed way.
Above-mentioned safety device is one or both uses of capacitance type sensor, piezoresistive transducer；The preferred piezoresistive transducer of this utility model is as safety device sensor.When capacitance type sensor or piezoresistive transducer touch human body skin and there is certain contact pressure, sensor passes the information on to electronic computer, thus controls to be accurately positioned the jerk of mobile robot.
Above-mentioned planer-type moves robot and uses guide tracked connection with sick bed, and planer-type moves robot along guide rail slidably, and planer-type moves the robot mechanical arm by XYZ axle mobile platform and around X-axis and Y-axis rotation and forms；The action of mechanical arm is realized by five axes interpolation linkage by digital control technology；Described XYZ axle mobile platform can move along X, Y, Z axis, XYZ axle mobile platform is made up of base, slide unit, ball-screw, guide pillar, motor, the linear motion of XYZ axle mobile platform is driven ball-screw, ball-screw to drive XYZ axle mobile platform to realize again by hybrid precision stepper motor, the mechanical arm being connected on XYZ axle mobile platform rotates by step motor drive around X-axis and Y-axis, and above-mentioned hybrid precision stepper motor and motor are controlled by electronic computer output.
A kind of householder method based on above-mentioned skin laser treatment auxiliary robot, including:
1) described skin laser treatment auxiliary robot, including being accurately positioned moving machine robot, therapeutic instrument laser probe, visual identity and control system, range unit and safety device；Described therapeutic instrument laser probe is installed on the front end, position, mechanical arm end being accurately positioned mobile robot, range unit is installed on the side of therapeutic instrument laser probe, the CMOS probe of visual identity and control system is installed on the another side of therapeutic instrument laser probe, and safety device is installed on the front end of therapeutic instrument laser probe；The measured value of range unit output and the transducing signal of safety device output are connected to the input of visual identity and control system, and visual identity is connected with the outfan of control system and controls to be accurately positioned mobile robot；
2) being accurately positioned mobile robot described in uses multi-degree-of-freemechanical mechanical arm formula to move robot or planer-type moves robot, the preferred planer-type of this utility model moves robot, planer-type moves robot and uses guide tracked connection with sick bed, and planer-type moves robot can along guide rail slidably；Manually by naked eyes, area for treatment is carried out Primary Location, then planer-type is moved robot and moves to relevant position, be of value to raising location efficiency；
3) planer-type moves visual identity and the control system of robot configuration, including CMOS probe, image pick-up card, electronic computer；Wherein CMOS probe is placed in the side of therapeutic instrument laser probe, and CMOS probe is for obtaining image and the boundary position information in region to be treated, and electronic computer processes for the information being gathered CMOS probe and stores；CMOS probe is connected with computer by image pick-up card；
4) zone boundary information to be treated is accurately obtained, visual identity and control system are based on gradation of image freedom of information curved surface image reconstruction technique, the image gathered according to CMOS probe, the curved surface treating area for treatment carries out reconstructed tissue, it is thus achieved that the positional information of arbitrfary point in the exact boundry information in region to be treated and curved surface；Visual identity and control system treat the accurate extraction of the boundary information of area for treatment, are effectively prevented from laser and irradiate healthy injury；
5) so that the light path of laser probe overlaps with the method arrow of target site to be treated, to ensure preferable therapeutic effect；Visual identity and control system, by CMOS probe acquisition point to be treated and the positional information of adjacent different 2, process acquisition point of care by electronic computer and vow positional information with adjacent 2 methods constituting slight flat, and automatically store this method arrow positional information；Computer controls card control by five-axle linkage and is accurately positioned the motion of mobile robot, drives the motion of therapeutic instrument laser probe so that the light path of therapeutic instrument laser probe is vowed with this method and overlapped；
6) laser is largely dependent on the distance of therapeutic instrument laser probe and point of care to the effect of skin treating.In order to ensure preferable therapeutic effect, laser probe and point of care constant distance need to be maintained；
7) surface information and treatment requirement, the movement locus of initial setting therapeutic instrument laser probe in the region to be treated of reconstruct is obtained by visual identity and control system；Simultaneously according to the range information of range unit the real time measure laser probe Yu point of care, make position adjustment in time；Described range unit can select at least one diastimeter to find range same position to improve range accuracy, takes its meansigma methods as measured value；Preferably two phase laser distance measurement instrument of this utility model are found range, and take both meansigma methodss as final measured value；
8) in order to improve the safety of skin laser treatment instrument auxiliary robot, safety device is set in therapeutic instrument laser probe front end；Described safety device is one or both is used in mixed way of capacitance type sensor, piezoresistive transducer；The preferred piezoresistive transducer of this utility model is as safety device sensor, and when it touches human body skin and there is certain contact pressure, if this pressure exceedes limit value, it passes the information on to computer, thus controls to be accurately positioned the jerk of mobile robot；Equipment can be effectively prevented from and human body is caused unexpected injury in motor process by therapeutic instrument laser probe；
9) moving robot as another kind of multi-degree-of-freemechanical mechanical arm formula, by specific algorithm, the movement locus of the end execution device that multi-degree-of-freemechanical mechanical arm formula moves robot is planned, performs device by end and drives the motion of therapeutic instrument laser probe；Mechanical arm initiating terminal uses guide rail to be connected with bearing；
10) during carrying out skin treating, if patient have many places different parts need treatment, at least two multi-degree-of-freemechanical mechanical arm formula can be used to move robot it is treated simultaneously, effectively improve therapeutic efficiency.
Claims (6)
1. a skin laser treatment auxiliary robot, it is characterised in that include being accurately positioned mobile robot, therapeutic instrument laser probe, visual identity and control system, range unit and safety device；Described therapeutic instrument laser probe is installed on the front end, position, mechanical arm end being accurately positioned mobile robot, range unit is installed on the side of therapeutic instrument laser probe, the CMOS probe of visual identity and control system is installed on the another side of therapeutic instrument laser probe, and safety device is installed on the front end of therapeutic instrument laser probe；The measured value of range unit output and the transducing signal of safety device output are connected to the input of visual identity and control system, and visual identity is connected with the outfan of control system and controls to be accurately positioned mobile robot.
Skin laser treatment auxiliary robot the most according to claim 1, it is characterised in that the described mobile robot employing multi-degree-of-freemechanical mechanical arm formula that is accurately positioned moves robot or planer-type moves robot.
Skin laser treatment auxiliary robot the most according to claim 1, it is characterized in that, described visual identity and control system, including CMOS probe, image pick-up card and electronic computer, CMOS probe gathers image and the boundary position information of area for treatment, the information that CMOS probe is gathered by electronic computer processes and stores, and CMOS probe is connected with electronic computer by image pick-up card.
Skin laser treatment auxiliary robot the most according to claim 1, it is characterised in that described range unit use laser range finder, ultrasonic range finder, capacitance distance measuring instrument, infrared range-measurement system one or more be used in mixed way.
Skin laser treatment auxiliary robot the most according to claim 1, it is characterised in that described safety device is one or both uses of capacitance type sensor, piezoresistive transducer；When capacitance type sensor or piezoresistive transducer touch human body skin and there is certain contact pressure, sensor passes the information on to electronic computer, thus controls to be accurately positioned the jerk of mobile robot.
Skin laser treatment auxiliary robot the most according to claim 2, it is characterized in that, described planer-type moves robot and uses guide tracked connection with sick bed, planer-type moves robot along guide rail slidably, and planer-type moves the robot mechanical arm by XYZ axle mobile platform and around X-axis and Y-axis rotation and forms；The action of mechanical arm is realized by five axes interpolation linkage by digital control technology；Described XYZ axle mobile platform can move along X, Y, Z axis, XYZ axle mobile platform is made up of base, slide unit, ball-screw, guide pillar, motor, the linear motion of XYZ axle mobile platform is driven ball-screw, ball-screw to drive XYZ axle mobile platform to realize again by hybrid precision stepper motor, the mechanical arm being connected on XYZ axle mobile platform rotates by step motor drive around X-axis and Y-axis, and above-mentioned hybrid precision stepper motor and motor are controlled by electronic computer output.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520888153.4U CN205411945U (en) | 2015-11-10 | 2015-11-10 | Skin swashs phototherapy auxiliary machinery people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520888153.4U CN205411945U (en) | 2015-11-10 | 2015-11-10 | Skin swashs phototherapy auxiliary machinery people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205411945U true CN205411945U (en) | 2016-08-03 |
Family
ID=56518206
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520888153.4U Active CN205411945U (en) | 2015-11-10 | 2015-11-10 | Skin swashs phototherapy auxiliary machinery people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205411945U (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105288865A (en) * | 2015-11-10 | 2016-02-03 | 康健 | Skin laser treatment auxiliary robot and auxiliary method thereof |
| CN106310537A (en) * | 2016-08-31 | 2017-01-11 | 马东阁 | Photodynamic skin therapy and beauty treatment equipment |
| CN107280777A (en) * | 2017-06-23 | 2017-10-24 | 陈夏阳 | Multi-shaft interlocked position adjustments anti-acne device |
| CN109171647A (en) * | 2018-08-14 | 2019-01-11 | 上海常仁信息科技有限公司 | It is capable of the healthy robot of skin detection |
| JP2019030702A (en) * | 2016-08-16 | 2019-02-28 | コー・ヤング・テクノロジー・インコーポレーテッド | Surgical robot for stereotactic surgery and control method of surgical robot for stereotactic surgery |
| CN110051937A (en) * | 2019-01-22 | 2019-07-26 | 吴威 | A kind of optical fiber fat melting equipment |
| CN110225720A (en) * | 2017-01-13 | 2019-09-10 | 株式会社卓越牵引力 | Operation auxiliary device and its control method, program and surgical assistant system |
| CN110420395A (en) * | 2019-08-14 | 2019-11-08 | 广州中科医疗美容仪器有限公司 | A kind of laser cosmetic instrument for treating scar |
| JP2020168312A (en) * | 2019-04-05 | 2020-10-15 | 株式会社Ｓｔｕ | N-axis robot type depilator |
| CN112316312A (en) * | 2020-11-02 | 2021-02-05 | 深圳市定视生物医疗科技有限公司 | Cornea cross-linking instrument |
-
2015
- 2015-11-10 CN CN201520888153.4U patent/CN205411945U/en active Active
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105288865A (en) * | 2015-11-10 | 2016-02-03 | 康健 | Skin laser treatment auxiliary robot and auxiliary method thereof |
| JP2019030702A (en) * | 2016-08-16 | 2019-02-28 | コー・ヤング・テクノロジー・インコーポレーテッド | Surgical robot for stereotactic surgery and control method of surgical robot for stereotactic surgery |
| US11395707B2 (en) | 2016-08-16 | 2022-07-26 | Koh Young Technology Inc. | Surgical robot for stereotactic surgery and method for controlling stereotactic surgery robot |
| CN106310537A (en) * | 2016-08-31 | 2017-01-11 | 马东阁 | Photodynamic skin therapy and beauty treatment equipment |
| CN106310537B (en) * | 2016-08-31 | 2019-05-14 | 马东阁 | A kind of smooth powered skin treatment and beauty appliance |
| CN110225720A (en) * | 2017-01-13 | 2019-09-10 | 株式会社卓越牵引力 | Operation auxiliary device and its control method, program and surgical assistant system |
| CN107280777A (en) * | 2017-06-23 | 2017-10-24 | 陈夏阳 | Multi-shaft interlocked position adjustments anti-acne device |
| CN109171647B (en) * | 2018-08-14 | 2021-06-11 | 上海常仁信息科技有限公司 | Healthy robot capable of detecting skin |
| CN109171647A (en) * | 2018-08-14 | 2019-01-11 | 上海常仁信息科技有限公司 | It is capable of the healthy robot of skin detection |
| CN110051937A (en) * | 2019-01-22 | 2019-07-26 | 吴威 | A kind of optical fiber fat melting equipment |
| JP2020168312A (en) * | 2019-04-05 | 2020-10-15 | 株式会社Ｓｔｕ | N-axis robot type depilator |
| CN110420395A (en) * | 2019-08-14 | 2019-11-08 | 广州中科医疗美容仪器有限公司 | A kind of laser cosmetic instrument for treating scar |
| CN112316312A (en) * | 2020-11-02 | 2021-02-05 | 深圳市定视生物医疗科技有限公司 | Cornea cross-linking instrument |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205411945U (en) | Skin swashs phototherapy auxiliary machinery people | |
| CN105288865A (en) | Skin laser treatment auxiliary robot and auxiliary method thereof | |
| US20240057911A1 (en) | Systems and methods for autonomous intravenous needle insertion | |
| CN105213153B (en) | Lower limb rehabilitation robot control method based on brain flesh information impedance | |
| CN105997253B (en) | A kind of Intelligent orthopaedic surgery systems | |
| US20190076201A1 (en) | Systems and methods for instrument insertion control | |
| Balter et al. | The system design and evaluation of a 7-DOF image-guided venipuncture robot | |
| CN110111880A (en) | The Artificial Potential Field paths planning method and device based on obstacle classification of flexible needle | |
| CN106999250A (en) | System for the medical treatment of robot assisted | |
| CN107072717A (en) | The system and method mapped for adaptive input | |
| US20150065916A1 (en) | Fully automated vascular imaging and access system | |
| CN203341820U (en) | Robot-assisted oblique tip flexible needle puncture system | |
| CN108577945A (en) | Nerve block anesthesia intelligent robot auxiliary system | |
| EP2654593B1 (en) | Systems for autonomous intravenous needle insertion | |
| CN215130040U (en) | Auxiliary positioning surgical robot | |
| CN107297016A (en) | PICC Vein Tube intelligent control operation instruments for leukaemic's chemotherapy | |
| CN110327016A (en) | Intelligent minimally invasive diagnosis and treatment integral system based on optical image and optical therapeutic | |
| WO2019036456A2 (en) | Systems and methods for monitoring patient motion during a medical procedure | |
| Kawai et al. | Hands-free interface for surgical procedures based on foot movement patterns | |
| CN112315513A (en) | Novel breast tumor puncture biopsy device | |
| CN113729941A (en) | VR-based surgery auxiliary positioning system and control method thereof | |
| CN102920509A (en) | Real-time wireless surgical navigation device based on ultrasonic | |
| CN210811164U (en) | Intelligent blood vessel ultrasonic probe for difficult and complicated blood vessel puncture and diagnosis | |
| CN110404156A (en) | Target control system and method that the clinic sense of seeds implanted robot mechanics reproduces | |
| CN211214945U (en) | Control system for reappearing mechanical clinical feeling of targeted particle implantation robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |