KR102594428B1 - Apparatus For Laser Emitting using Robot-Arm - Google Patents

Abstract

The present invention relates to a laser irradiation device using a robot arm.
The laser irradiation device using a robot arm according to the present invention includes a first base part, a second base part rotatably coupled to the first base part, and the second base part. A first link coupled to the base to be able to swing, a second link to be swingable to the first link, one end coupled to the second base, and , the other end is an auxiliary link coupled to the second link, a laser part disposed in the first base portion and generating a laser, disposed in the first base portion, and the second A first motor part that rotates the base part, disposed in the second base part, a second motor part that swings the first link, and a second motor part that swings the first link and are arranged in the second base part, It may include a third motor part that swings the second link through an auxiliary link.

Description

Laser irradiation device using robot arm {Apparatus For Laser Emitting using Robot-Arm}

The present invention relates to a laser irradiation device using a robot arm.

Today, various laser treatment techniques that apply laser beams to the skin for treatment purposes are being developed, and medical laser devices for using laser treatment techniques are also being actively researched.

Treatment techniques using lasers are used for a variety of purposes, including preventing hair loss, promoting hair growth, skin peeling, skin regeneration, whitening, removing wrinkles and spots, and removing freckles.

However, in the past, treatment was performed while the laser treatment device was manually operated by a user, such as a doctor.

Accordingly, there is a problem that the reliability of treatment is reduced as the precision of treatment is reduced.

In addition, there is a problem in the related art that the time required for laser treatment is excessively long.

Korean Patent Publication No. 10-1015881 (Publication date: February 23, 2011)

The purpose of the present invention is to provide a laser irradiation device using a robot arm in which the laser device automatically scans an object (patient) and irradiates a laser to the surface of the object (patient's skin) based on the scanned information.

The laser irradiation device using a robot arm according to the present invention includes a first base part, a second base part rotatably coupled to the first base part, and the second base part. A first link coupled to the base to be able to swing, a second link to be swingable to the first link, one end coupled to the second base, and , the other end is an auxiliary link coupled to the second link, a laser part disposed in the first base portion and generating a laser, disposed in the first base portion, and the second A first motor part that rotates the base part, disposed in the second base part, a second motor part that swings the first link, and a second motor part that swings the first link and are arranged in the second base part, It may include a third motor part that swings the second link through an auxiliary link.

Additionally, the third motor unit moves the auxiliary link up and down, and the second link can swing by the up and down movement of the auxiliary link.

In addition, it may further include an end part coupled to the second link, and the end part may include an end-effector that irradiates a laser.

In addition, the distal end is coupled to the second link, and a first end part is rotatable about a first axis, coupled to the first end part, and the first axis and A second end part rotatable about a second axis orthogonal to the second axis, coupled to the second end part, and centered on a third axis orthogonal to the second axis. It may further include a third end part that can be rotated, and the end effector may be disposed at the third end part.

In addition, a fourth motor part that rotates the first distal part about the first axis, a fifth motor part that rotates the second distal part about the second axis, and It may further include a sixth motor part that rotates the third end portion about the third axis.

Additionally, the first link, the second link, the first end portion, the second end portion, and the third end portion may each be of a hollow pipe type.

In addition, a first mirror part corresponding to the laser part and disposed in the second base part, a second mirror part corresponding to the first mirror part and disposed in the first link Part), a third mirror part corresponding to the second mirror part and disposed on the second link, a fourth mirror part corresponding to the third mirror part and disposed at the first end portion (Fourth Mirror Part), corresponding to the fourth mirror part and disposed at the second end portion, and a fifth mirror part (Fifth Mirror Part) corresponding to the fifth mirror part and disposed at the third end portion. It may include a sixth mirror part.

In addition, the laser generated from the laser unit is transmitted to the end effector through the first mirror unit, the second mirror unit, the third mirror unit, the fourth mirror unit, the fifth mirror unit, and the sixth mirror unit. reaches and can be irradiated to the outside through the end effector.

The laser irradiation device using a robot arm according to the present invention can improve the precision of laser treatment and has the effect of reducing the time required for laser treatment.

1 to 3 are diagrams for explaining the configuration of a laser irradiation device using a robot arm according to the present invention;
4 to 29 are diagrams for explaining the laser irradiation method according to the present invention;
Figures 30 to 38 are diagrams for explaining the robot arm.

Hereinafter, a laser irradiation device using a robot arm according to the present invention will be described in detail with reference to the attached drawings.

Since the present invention can make various changes and have various embodiments, specific embodiments will be illustrated in the drawings and described in detail in the detailed description. This is not intended to limit the present invention to specific embodiments, but may be understood to include all changes, equivalents, and substitutes included in the spirit and technical scope of the present invention.

In describing the present invention, terms such as first and second may be used to describe various components, but the components may not be limited by the terms. The above terms may be used only for the purpose of distinguishing one component from another. For example, a first component may be referred to as a second component, and similarly, the second component may be referred to as a first component without departing from the scope of the present invention.

The term and/or may include any of a plurality of related stated items or a combination of a plurality of related stated items.

When a component is said to be "connected" or "connected" to another component, it means that it may be directly connected to or connected to that other component, but that other components may also exist in between. It can be understood. On the other hand, when a component is referred to as being “directly connected” or “directly connected” to another component, it can be understood that there are no other components in between.

The terms used in this application are only used to describe specific embodiments and are not intended to limit the invention. Singular expressions may include plural expressions, unless the context clearly indicates otherwise.

In this application, terms such as “comprise” or “have” are intended to designate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, and one or more other features It can be understood that it does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof.

Unless otherwise defined, all terms used herein, including technical or scientific terms, may have the same meaning as commonly understood by a person of ordinary skill in the technical field to which the present invention pertains. Terms defined in commonly used dictionaries can be interpreted as having meanings consistent with the meanings they have in the context of related technologies, and unless clearly defined in this application, are interpreted as having an ideal or excessively formal meaning. It may not work.

In addition, the following examples are provided to provide a more complete explanation to those with average knowledge in the art, and the shapes and sizes of elements in the drawings may be exaggerated for clearer explanation.

Hereinafter, for convenience of explanation, the case of irradiating a laser to a patient's facial skin will be described as an example, but the device and method according to the present invention can be applied to any object that irradiates a laser to the surface of a predetermined object.

1 to 3 are diagrams for explaining the configuration of a laser irradiation device using a robot arm according to the present invention.

Looking at Figure 1, the laser irradiation device 10 according to the present invention may include a scanner (Scanner) 300, a robot-arm (Robot-Arm) 100, and a control unit 200.

The scanner 300 can collect raw data by scanning an object. Here, raw data may include a 2D image and depth information.

For this purpose, the scanner 300, as in the case of FIG. 2, includes a color sensor 310 for capturing a two-dimensional color image (2D Image) and an IR projector 320 for acquiring three-dimensional depth data (3D Depth Data). and an IR sensor 330.

When the IR projector 320 irradiates IR light onto the surface of the object 400, that is, the patient's skin, the IR sensor 330 detects the IR light reflected on the surface of the object 400 to obtain depth data. there is.

The color sensor 310 can acquire a two-dimensional color image by photographing the surface of an object.

As shown in FIG. 3, the robot arm 100 is equipped with an end-effector (EE) 101 and can irradiate a laser to the surface of the object 400 under the control of the control unit 200. In detail, the robot arm 100 may irradiate a laser to the surface of the object 400 in response to the guide path (GP). The laser may be emitted through the end effector 101.

This robot arm 100 can be viewed as a manipulator.

The control unit 200 can control the overall functions and operations of the laser irradiation device 10.

The control unit 200 may include a vision control unit 210 and a motion control unit 220.

The vision control unit 210 may receive raw data from the scanner 300 and construct a three-dimensional image of the object 400 based on the received raw data. In addition, the vision control unit 210 may set a region of interest (ROI) on the surface of the object 400 in the 3D image.

The region of interest (ROI) may be an area containing a portion requiring laser irradiation.

For example, the vision control unit 210 determines at least one of the color or brightness of the surface of the object 400 based on the data transmitted from the scanner 300 and sets the area of interest based on this. You can.

In detail, the vision control unit 210 detects a part on the surface of the object 400 whose color is different from the surroundings and/or a part where the brightness is different from the surroundings from the two-dimensional color image of the object 400 captured by the scanner 300. can do. In addition, it is possible to set a region of interest to include a part whose color and/or contrast is different from the surrounding area.

Hereinafter, the surface of the object may be referred to as a region of therapy (ROT) whose color and/or brightness is different from the surrounding area. Examples of treatment areas (ROT) include moles, spots, and freckles that appear on human skin.

The motion control unit 220 may set a guide path (GP) passing through a region of interest (ROI) based on the information determined by the vision control unit 210 and modify the guide path (GP) depending on the situation.

In addition, the motion control unit 220 can control the movement of the robot arm 100 and emergency stop the robot arm 100 depending on the situation to urgently stop laser irradiation.

The laser irradiation device 10 according to the present invention can operate in manual mode and automatic mode, respectively.

For example, in automatic mode, the scanner 300 scans the surface of the object 400 to obtain information about the surface of the object 400, and the control unit 200 controls the robot arm 100 based on this. Thus, the laser can be irradiated to the surface of the object 400.

On the other hand, in manual mode, control can be delegated to a user, such as a doctor. In manual mode, the robot arm 100 can operate under user control.

The laser irradiation method using the laser irradiation device 10 according to the present invention will be examined in detail with reference to the attached drawings as follows.

4 to 29 are diagrams for explaining the laser irradiation method according to the present invention. Hereinafter, description of the content described above may be omitted.

Looking at FIG. 4, it is possible to determine whether the current mode setting is automatic mode (S100). As a result of the determination, if it is not the automatic mode, it is possible to determine whether the current mode setting is the manual mode (S110).

It is possible for the user to select either manual mode or automatic mode using a predetermined switch. Alternatively, it is possible for the user to select and set either manual mode or automatic mode by entering a predetermined command into the control unit 200.

As a result of the determination in step S110, if the manual mode is not selected, another preset function (default) can be performed (S120).

On the other hand, if the determination result is manual mode, the manual mode setting can be confirmed (S130) and control rights can be delegated to the user (S140).

Here, delegating control to the user may mean restricting the control unit 200 from operating the robot arm 100 through its own judgment.

In the manual mode, the user can perform laser treatment while operating the robot arm 100 with his or her own strength.

Meanwhile, in the case of the automatic mode as a result of the determination in step S100, the scanner 300 can scan the surface of the object 400 under the control of the control unit 200 (S150). Raw data including a two-dimensional image and depth information may be generated as the scanner 300 scans.

Thereafter, the vision control unit 210 may construct a 3D image based on the raw data acquired by the scanner 300 (S160).

For example, when a plaster cast in the shape of a human head, as shown in (A) of FIG. 5, is scanned, a three-dimensional image may be formed in the form as shown in (B) of FIG. 5.

Hereinafter, for convenience of explanation, the object 400 will be described using a plaster statue in the shape of a human head as an example.

After constructing the 3D image, a region of interest (ROI) can be set (S170) on the surface of the object 400 on the 3D image.

For example, as in the case of Figure 5 (C), a first corner point (Pcor, 1), a second corner point (Pcor, 2), and a third corner point (Pcor, 1) are placed on the surface of the object 400 on the three-dimensional image ( Pcor, 3) and the fourth corner point (Pcor, 4) can be set. Afterwards, the area divided using the first, second, third, and fourth corner points as vertices can be set as a region of interest (ROI).

Here, the region of interest (ROI) was set using four corner points, but the number of corner points used may change depending on the situation. For example, it is possible to set a region of interest (ROI) using three or more corner points.

Hereinafter, for convenience of explanation, the first corner point (Pcor, 1) is referred to as the first point (P1), the second corner point (Pcor, 2) is referred to as the second point (P2), and the third corner point (Pcor, 3). ) may be referred to as the third point (P3), and the fourth corner point (Pcor, 4) may be referred to as the fourth point (P4).

Afterwards, a guide path (GP) passing through the region of interest (ROI) can be set (S180).

For example, as shown in FIG. 6, it is possible to set a guide path (GP) within a region of interest (ROI).

The starting point of the guide path (GP), i.e., the point where laser irradiation begins, is denoted as Ps, and the end point of the guide path (GP), i.e., the point where laser irradiation ends, is denoted as Pt.

Afterwards, the laser may be irradiated (S190) in response to the guide path (GP).

The guide path (GP) may include a path along which the robot arm 100 radiates laser. Expressed differently, the robot arm 100 is capable of irradiating a laser to the surface of an object while moving in response to the guide path (GP).

The guide path (GP) can be viewed as including a path connecting the laser's impact point.

Meanwhile, the region of interest (ROI) may be set based on at least one of the color or brightness of the surface of the object 400. Regarding this, referring to the attached FIG. 7, it is as follows.

Referring to FIG. 7 , in the step of setting a region of interest (ROI) (S170), the color and/or brightness of the surface of the object 400 may first be determined (S171). The color and/or brightness of the surface of the object 400 may be determined from the two-dimensional color image of the object 400.

Afterwards, the discrimination values can be compared (S172).

Thereafter, the discrimination value may be compared/analyzed to detect a treatment area (ROT) on the surface of the object 400 in which at least one of color or brightness is different from the surrounding area (S173). Expressed differently, the normal part (RON) and the treated part (ROT) can be distinguished based on at least one of color or brightness on the surface of the object 400.

For example, as in the case of FIG. 8, let's assume an area consisting of a total of 16 unit areas arranged in a 4×4 format. In FIG. 8, the numbers displayed in each unit area may mean brightness value.

Here, assuming that the standard brightness value is 40, (1, 1), (2, 1), (3, 1), (3, 2), (3, 3), (3, The unit areas of 4), (4, 1), (4, 2), (4, 3), and (4, 4) can be determined as the treatment area (ROT). The remaining part can be called the Region Of Normal (RON). The brightness of the treated area (ROT) may be lower and relatively darker than the brightness of the other area, that is, the normal area (RON). Similarly, the color of the treated area (ROT) may be darker than the color of the normal area (RON). Darker colors can mean darker.

In this way, the brightness value of the treatment area (ROT) can be said to be a part that is lower than the preset standard brightness value.

The reference brightness value may vary depending on factors such as the surface condition, characteristics, and color tone of the object 400.

For example, in the case of a white person with an overall bright face, the standard brightness value can be set relatively high. This is because if the overall face is bright, the areas that require treatment, such as moles and freckles, may appear more prominently.

On the other hand, in the case of yellow people whose faces are overall darker than those of white people, the standard brightness value can be set relatively lower than that of white people.

After detecting the treatment area (ROT), a region of interest (ROI) can be set (S174).

The region of interest (ROI) may include a region of treatment (ROT).

As in the case of Figure 9 (A), when a treatment area (ROT) that is different in brightness and/or color from the surrounding general area (RON) is included on a predetermined area (R1) on the surface of the object 400. Let us assume that The shape of the treatment area (ROT) in FIG. 9 is arbitrarily set for convenience of explanation, and the present invention is not limited thereto.

In this case, as shown in Figure 9 (B), the first line (L1) connecting the first point (P1) and the second point (P2) is in contact with the treatment area (ROT), and the second point (P2) The second line (L2) connecting the third point (P3) is in contact with the treatment area (ROT), and the third line (L3) connecting the third point (P3) and the fourth point (P4) is in contact with the treatment area (ROT). The first, second, third and fourth points (P1, P2, P3, P4) can be set.

In addition, the area divided by the first, second, third, and fourth points (P1, P2, P3, and P4) can be set as a region of interest (ROI).

In this case, the region of treatment (ROT) may be included within the region of interest (ROI). In addition, the region of interest (ROI) may include not only the treatment region (ROT) but also a portion of the general region (RON).

Hereinafter, the part of the general area (RON) included in the region of interest (ROI) is referred to as the second general area (RON2), and the part of the general area (RON) not included in the region of interest (ROI) is referred to as the first general area. It can be said to be (RON1).

In FIG. 9 , only the case where a line connecting two adjacent points touches a region of treatment (ROT) is described when setting a region of interest (ROI), but the present invention may not be limited to this.

For example, as in the case of FIG. 10, at least one of the lines L1, L2, L3, and L4 connecting two adjacent points may not be in contact with the treatment area ROT.

In this way, the method of setting the region of interest (ROI) can be changed in various ways.

If the shape of the treatment area (ROT) is polygonal, the treatment area (ROT) and the region of interest (ROI) may be the same depending on the point setting location.

Meanwhile, the guide path (GP) can be set within the treatment area (GOT).

For example, as in the case of FIG. 11, it is possible to set the guide path (GP) in a zigzag shape within the treatment area (ROT).

In this way, it is possible for the guide path (GP) to pass through the treatment area (ROT) and the laser to be irradiated to the treatment area (ROT).

Meanwhile, it is possible to adjust the intensity and/or frequency of the laser at the start and end stages of laser irradiation. Looking at this, it is as follows.

Looking at (A) of FIG. 12, at the beginning of the laser irradiation step, at least one of the intensity or frequency of the laser is gradually increased, and at the end of the irradiation step, at least one of the intensity or frequency of the laser is increased. One can gradually reduce it.

Hereinafter, the starting stage of the laser may be referred to as an acceleration section (D1), and the ending stage of the laser may be referred to as a reduction section (D3).

As shown in (B) of FIG. 12, the moving speed of the robot arm 100 may increase in the acceleration section D1. That is, the robot arm 100 can be accelerated. The reason for the occurrence of the acceleration section D1 is that it takes a certain amount of time from the time power is supplied to the motor that operates the robot arm 100 to reach the desired rotation speed.

In addition, the moving speed of the robot arm 100 may decrease in the deceleration section D3. That is, the robot arm 100 may be decelerated. The reason why the deceleration section D3 occurs is because, similar to the acceleration section D1, it takes a certain amount of time from the time the power supply is cut off to the motor that operates the robot arm 100 until the motor stops.

In this way, if the intensity and/or frequency of the laser is gradually increased in the acceleration section (D1) and the intensity and/or frequency of the laser is gradually decreased in the deceleration section (D3), it is possible to irradiate the laser more uniformly. It may be possible.

The intensity and/or frequency of the laser may be proportional to the moving speed of the robot arm 100.

The section between the acceleration section (D1) and the deceleration section (D3) can be called the maintenance section (D2).

In the maintenance period D2, the intensity and/or frequency of the laser may be maintained approximately constant as long as the laser irradiation is not stopped.

In the maintenance period D2, the speed of the robot arm 100 can be maintained approximately constant. Expressed differently, the speed of the robot arm 100 may be maintained constant during the period D2 from the end of acceleration of the robot arm 100 to the start of deceleration.

As shown in Figure 13 (A), when the intensity and/or frequency of the laser is increased in a stepwise manner in the acceleration section (D1), or the intensity and/or frequency of the laser is decreased in a stepwise manner in the deceleration section (D3) It may also be possible. Even in this case, it can be seen that the intensity and/or frequency of the laser is gradually increased in the acceleration section (D1) and the intensity and/or frequency of the laser is gradually decreased in the deceleration section (D3).

Meanwhile, the guide path (GP) may be able to deviate from the region of treatment (ROT) within the region of interest (ROI).

For example, as in the case of Figure 14, when the region of interest (ROI) includes both the treatment part (ROT) and the general part, that is, the second general part (RON2), the guide path (GP) is the treatment part ( You can pass both the ROT) and the second general section (RON2). In this case, it is possible for the laser to be turned on in response to the treatment portion (ROT) and turned off in response to the second general portion (RON2).

In this way, it is possible to set a guide path (GP) within the region of interest (ROI) regardless of the shape of the region of treatment (ROT).

In this case, the guide path (GP) may include a part that passes through the treatment area (ROT) and a part (T1, T2, T3, T4) that goes beyond the treatment area (ROT) and passes through the second general area (RON2).

As shown in FIG. 15, the robot arm 100 may turn off the laser corresponding to a portion of the guide path GP that passes through the second general area RON2. Expressed differently, the robot arm 100 can be viewed as turning the laser on/off according to at least one of the color or brightness of the surface of the object 400 during the process of irradiating the laser along the guide path GP. In other words, while the robot arm 100 moves in response to the guide path (GP), when it corresponds to a part where the color is darker or the brightness is lower than the surroundings, that is, the treatment area (ROT), the laser is turned on. The laser can be turned off when it corresponds to a part that is lighter in color or has higher brightness than the surrounding area, that is, the general area (RON).

Looking at FIG. 15, it can be seen that the frequency and/or intensity of the laser is set to almost 0 during the period (T1, T2, T3, T4) during which the robot arm 100 passes through the second general area (RON2).

In this case, the movement of the robot arm can be kept approximately constant, thereby improving the precision of treatment.

Meanwhile, under the control of the motion control unit 220, it is possible to adjust at least one of the frequency, irradiation time, irradiation number, or intensity of the laser according to the color and/or brightness of the treatment area (ROT). Looking at this, it is as follows.

Referring to FIG. 16, the treatment portion (ROT) may include a first treatment portion (ROT1) and a second treatment portion (ROT2). Here, the color of the second treatment part (ROT2) may be darker than the color of the first treatment part (ROT1), or the brightness of the second treatment part (ROT2) may be lower than the brightness of the first treatment part (ROT1). . Expressed differently, the degree of color darkness of the second treatment part (ROT2) can be seen as being darker than the preset threshold, and the degree of color density of the first treatment part (ROT1) can be seen as being lighter than the preset threshold. there is. Alternatively, the brightness of the second treatment portion (ROT2) may be lower than the preset threshold brightness value, and the brightness of the first treatment portion (ROT1) may be viewed as being higher than the preset threshold brightness value.

The second treatment part (ROT2) can be seen as a part that requires more intensive treatment than the first treatment part (ROT1).

Starting from the starting point of the laser (Ps), the boundary point between the second general area (RON2) and the first treatment area (ROT1) on the guide path (GP) is called the first point (X1), and the first treatment area ( The boundary point between the second treatment area (ROT1) and the second treatment area (ROT2) is called the second point (X2), the boundary point between the second treatment area (ROT2) and the second general area (RON2) is called the third point (X3), and the boundary point between the second treatment area (ROT2) and the second general area (RON2) is called the third point (X3). 2 The boundary point between the general area (RON2) and the first treatment area (ROT1) is called the fourth point (X4), and the boundary point between the first treatment area (ROT1) and the second treatment area (ROT2) is called the fifth point (X5). The boundary point between the second treatment area (ROT2) and the first treatment area (ROT1) is called the 6th point (X6), and the boundary point between the first treatment area (ROT1) and the second treatment area (ROT2) is called the 7th point. Let us assume that the point is X7, and that the boundary point between the second treatment area (ROT2) and the first treatment area (ROT1) is the eighth point (X8).

As shown in FIG. 17, the laser can be turned off between the laser start point (Ps) and the first point (X1) and between the third point (X3) and the fourth point (X4). In other words, the Ps-X1 section and the X3-X4 section are included in the second general area RON2, so the robot arm 100 may not irradiate the laser.

In the X1-X2 section,

On the other hand, in the X2-X3 section, X5-X6 section, and X7-X8 section, the frequency of the laser can be set to a second frequency (f2) that is higher than the first frequency (f1).

In this case, a relatively stronger laser can be irradiated to the second treatment area (ROT2), thereby improving treatment efficiency.

Looking at (A) of Figure 18, in the section X1-X3, section X4-X8, and the section from the 8th point ( It can be set the same way.

In this way, while maintaining the frequency of the laser, as shown in (B) of Figure 18, the section from the point where the acceleration section (D1) ends to the second point (X2), the section X3-X5, the section X6-X7, and In the section from the eighth point (X8) to before the start of the deceleration section (D3), the moving speed of the robot arm 100 can be set to the first speed (V1). On the other hand, in sections X2-X3, sections X5-

In this case, the laser can be irradiated to the second treatment area (ROT2) for a relatively longer period of time, thereby improving treatment efficiency.

Meanwhile, the number of treatments for the second treatment area (ROT2) can be set to be relatively greater than that for the first treatment area (ROT1). This will be explained with reference to the attached FIG. 19. In Figure 19 (A), the robot arm 100 performs laser treatment once by irradiating a laser to the surface of the object 400 according to the guide path (GP) within the region of interest (ROI). (B) may correspond to the second treatment performed after the first treatment is completed.

Looking at (A) of FIG. 19, in the first treatment process, the robot arm 100 is used in sections X1-X3, sections X4-X8, and the section from the 8th point (X8) until the start of the deceleration section (D3). This laser can be irradiated, and the frequency of the laser can be set to be equal to the first frequency (f1).

Looking at (B) of FIG. 19, in the second treatment process, the robo arm 100 radiates laser in the X2-X3 section, X5-X6 section, and X7-X8 section corresponding to the second treatment area (ROT2). , where the frequency of the laser can be set equal to the difference between the second frequency (f2) and the first frequency (f1).

Then, a treatment effect similar to that in which a laser of the second frequency f2 is irradiated may occur in the second treatment area ROT2.

Meanwhile, it may be desirable to set the guide path (GP) to a spiral shape. Looking at this, it is as follows.

Looking at Figure 20, it is possible to set a spiral guide path (GP) to start from the central area of the region of interest (ROI) and end at the outside. In other words, the starting point (Ps) of the guide path (GP) may be located relatively more in the central area of the region of interest (ROI) than the ending point (Pt).

In this way, if the guide path (GP) is set to be spiral, the robot arm 100 can be prevented from changing direction suddenly and the laser can be radiated more uniformly to the surface of the object 400.

Even when setting a spiral guide path (GP), as in the case of FIG. 21, it is possible for the guide path (GP) to pass through the second general area (RON2) and the treatment area (ROT) together.

Even in this case, the laser can be turned off in the portions (T11, T12, and T13) passing through the second general area (RON2) on the guide path (GP).

Looking at FIG. 22, it may be possible for the guide path (GP) to deviate from the region of interest (ROI). In this case, the treatment effect can be improved by irradiating the laser more closely to the treatment area (ROT).

The laser can be turned off in response to a portion of the guide path (GP) that falls outside the region of interest (ROI).

The shape of the guide path (GP) can be changed in various ways under the condition that it is spiral.

For example, as in the case of FIG. 23, when the treatment area (ROT) is oval, it is possible to set the guide path (GP) to be oval as well.

In the present invention, in order to increase the treatment effect and improve the treatment precision, it is preferable that the end effector 101 of the robot arm 100 irradiates the laser approximately perpendicular to the surface of the object 400, as in the case of FIG. 24. can do.

For this purpose, it may be desirable for the robot arm 100 to have a sufficient degree of freedom (DOF). In detail, it may be desirable for the robot arm 100 to have at least 5 degrees of freedom, and it may be more desirable to have 6 degrees of freedom in preparation for exceptional situations.

Laser irradiation experiments conducted using the laser irradiation device 10 according to the present invention are disclosed in FIGS. 25 and 26.

Looking at Figure 25, the robot arm 100 including a laser emitter, motor, motor drive, reflective mirror, and end effector (EE) is a plaster statue in the shape of a human head. An example of irradiating a laser onto the surface of an object 400 is disclosed.

The motor and motor drive can operate the robot arm 100.

When the laser emitter fires a laser, the reflection mirror reflects it at a predetermined angle so that it reaches the end effector.

Then, the end effector can irradiate the laser onto the surface of the object 400.

Looking at FIG. 26, it can be seen that the guide path GP is set in a spiral shape on the surface of the object 400. In Figure 26, the laser irradiation on the surface of the object 400 can be viewed as being implemented in the form of a guide path (GP) by taking pictures over a certain period of time.

Meanwhile, it is possible to stop laser irradiation or modify the guide path depending on the situation. Looking at this, it is as follows.

Referring to FIG. 27, it is possible to determine whether the object 400 moves after setting the guide path (GP) or irradiating the laser (S200). For example, if the object 400 is a human head, it is possible to observe a specific part such as the nose and both eyes to determine whether there is movement in that part. Alternatively, when the surface of the object 400 moves, for example, when there is movement in the skin due to a spasm occurring in the skin of a person's face, the object 400 can be viewed as moving.

As a result of the determination, if there is no movement of the object 400, the set guide path (GP) can be maintained (S210).

On the other hand, if there is movement of the object 400 as a result of the determination, the amount of movement of the object 400 can be measured (S220). Measuring the amount of movement of the object 400 can be viewed as determining how much the object 400 has moved.

As a result of measuring the amount of movement, it can be determined (S230) whether the amount of movement exceeds a preset threshold range.

As a result of the determination, if the amount of movement of the object 400 exceeds a preset threshold range, the emergency stop (S240) mode can be activated. In this case, laser irradiation can be urgently stopped.

On the other hand, if the amount of movement of the object 400 does not exceed the threshold range, the region of interest (ROI) can be reset (S250) by considering the amount of movement.

Here, when the scanner 300 captures the movement of the object 400 and the vision control unit 210 sets a new region of interest (ROI), the motion control unit 220 can be viewed as compensating/correcting the guide path. .

In addition, the guide path (GP) can also be modified (S260) in response to resetting the region of interest (ROI).

For example, as in the case of FIG. 28, if the object 400 moves 1 cm to the upper left, the region of interest (ROI) can also be moved 1 cm to the upper left. In response to this, the guide hardness (GP) can also be moved 1 cm to the upper left.

Thereafter, a laser may be irradiated to the surface of the object 400 in response to the modified guide path (GP) (S270).

As such, when movement of the object 400 occurs during the laser treatment process, it may be possible to modify the guide path (GP) in real time according to the movement of the object 400.

The emergency stop mode can be activated even when vibration occurs or force is applied to the laser irradiation device 10.

For example, as shown in FIG. 29, it may be determined (S300) whether vibration occurs or force is applied to the laser irradiation device 10 after setting the guide path (GP) or irradiating the laser.

As a result of the determination, if there is no vibration or no force is applied, the set guide path (GP) can be maintained (S310).

On the other hand, if vibration occurs or force is applied as a result of the determination, the vibration and/or force can be measured (S320).

As a result of the measurement, it can be determined (S330) whether vibration exceeding a preset reference value occurs or a force exceeding a preset threshold value is applied.

As a result of the determination, if vibration exceeding the standard value occurs or force exceeding the threshold value is applied, the emergency stop mode (S340) can be activated. In this case, laser irradiation can be urgently stopped.

On the other hand, if the generated vibration is below the reference value or the applied force is below the threshold, the region of interest (ROI) can be reset (S350) taking the vibration and/or force into consideration.

In addition, the guide path (GP) can also be modified (S360) in response to resetting the region of interest (ROI).

Thereafter, a laser may be irradiated to the surface of the object 400 in response to the modified guide path (GP) (S370).

For example, if an earthquake occurs during a procedure and vibrations exceeding a standard value occur in the robot arm 100, the laser irradiation device 10 can be urgently stopped to stop laser irradiation. Alternatively, during the procedure, if a user (doctor, etc.) discovers a procedure error and grabs the robot arm 100 with his or her hand and a force exceeding a threshold value is applied to the robot arm 100, the laser irradiation device 10 is urgently stopped. Laser irradiation can be stopped.

The robot arm applied to the laser irradiation device described above will be described with reference to the attached drawings as follows.

Figures 30 to 39 are diagrams for explaining the robot arm. Hereinafter, description of the content described above may be omitted. The contents described above can be implemented using the robot arm 100 below.

The first link 130, the second link 140, the first end part 161, the second end part 162, and the third end part 163, which will be described below, are each hollow pipe. It could be a type. Accordingly, the laser emitted by the laser unit 500 is reflected by a predetermined mirror, and the first link 130, the second link 140, the first distal part 161, and the second distal part 162 ) and can be delivered to the end effector 101 through the third terminal portion 163. This will be explained in more detail below.

30 to 34, the robot arm 100 includes a first base part (First Base Part, 110), a second base part (Second Base Part, 120), a first link (First Link, 130), and a second base part (First Base Part, 110). Link (Second Link, 140), Auxiliary Link (150), Laser Part (500), First Motor Part (170), Second Motor Part (180), and It may include a third motor part (Third Motor Part, 190).

The laser unit 500 is disposed on the first base unit 110 and can generate laser.

The second base portion 120 may be rotatably coupled to the first base portion 110 .

Looking at FIG. 32, it can be seen that the second base portion 120 rotates around the first base portion 110.

The first motor unit 170 is disposed on the first base unit 110 and can rotate the second base unit 120.

Referring to FIGS. 30, 31, and 33, the first link 130 may be coupled to the second base portion 120 so as to be swingable.

The second motor unit 180 is disposed on the second base unit 180 and can swing the first link 130.

Figure 33 shows an example in which the first link 130 swings around the connection portion with the second base portion 120.

A first mirror part (First Mirror Part) 600 may be disposed in the second base part 120. The first mirror unit 600 corresponds to the laser unit 500 and can reflect the laser emitted by the laser unit 500 toward the first link 130.

A second mirror part 610 corresponding to the first mirror part 600 may be disposed on the first link 130. The second mirror unit 610 may include a first sub mirror (First Sub Mirror) 611 and a second sub mirror (Second Sub Mirror) 612, as shown in FIGS. 33 and 34.

The first sub-mirror 611 may correspond to the first mirror unit 600, and the second sub-mirror 612 may correspond to the first sub-mirror 611.

The second mirror unit 610 may reflect the laser reflected by the first mirror unit 600 toward the second link 140. In detail, the first sub-mirror 611 of the second mirror unit 610 reflects the laser reflected by the first mirror unit 600 toward the second sub-mirror 612, and the second sub-mirror 612 Can reflect the laser reflected by the first sub-mirror 611 toward the third mirror part (Third Mirror Part, 620) installed on the second link 140. The third mirror unit 620 may reflect the laser reflected by the second sub-mirror 612 toward the distal end 160.

30, 31, and 34, the second link 140 may be swingably coupled to the first link 130.

One end of the auxiliary link 150 may be coupled to the second base portion 120 and the other end may be coupled to the second link 140 . To this end, a first extending arm 141 extending in a direction opposite to the extending direction of the second link 140 may be disposed at one end of the second link 140. In addition, a second reducer 520 may be disposed on the second base portion 120, and a second extending arm (Second Extending Arm, 151) may be disposed on the second reducer 520.

One end of the auxiliary link 150 is coupled to the second base portion 120 by being connected to the second extension arm 151, and the other end of the auxiliary link 150 is connected to the first extension arm 141 to couple to the second base portion 120. It may be coupled to link 140.

The third motor unit 190 is disposed on the second base unit 120 and can swing the second link 140 through the auxiliary link 150. In detail, the third motor unit 190 moves the auxiliary link 150 up and down, and the second link 140 can swing by the up and down movement of the auxiliary link 150. For example, when the third motor unit 190 rotates, the second extension arm 151 moves, and accordingly, the auxiliary link 150 moves up and down as in the case of FIG. 34, which causes the second link 140 You can do swing exercises.

The second reducer 520 is connected to the third motor unit 190 and can reduce the rotation speed of the third motor unit 190 to the required rotation speed. In some cases, the second reducer 520 may be omitted.

As shown in FIGS. 30 and 31, a first reducer 510 may be further disposed in the second base portion 120.

The first reducer 510 is connected to the second motor unit 180 and can reduce the rotation speed of the second motor unit 180 to the required rotation speed. In some cases, the first reducer 510 may be omitted.

An end part 160 may be coupled to the second link 140.

35 to 36, the distal part 160 includes a first end part (First End Part, 161), a second end part (Second End Part, 162), and a third end part (Third End Part, 163). can do.

In addition, the distal end 160 may include an end-effector (EE) 101 that irradiates a laser to an object, for example, the skin of a patient. The end effector 101 may be disposed at the third distal portion 163.

The first distal portion 161 is coupled to the second link 140 and can rotate about the first axis (X1).

The second distal portion 162 is coupled to the first distal portion 161 and can rotate about a second axis (X2) perpendicular to the first axis (X1).

The third distal portion 163 is coupled to the second distal portion 162 and can rotate about a third axis (X3) orthogonal to the second axis (X2).

The first, second, and third end portions 161, 162, and 163 may each be an 'ㄱ' shaped elbow pipe.

A fourth mirror part (Fourth Mirror Part) 630 corresponding to the third mirror part (620) may be disposed in the first distal part (161). For example, the fourth mirror portion 630 may be disposed at a curved portion of the first distal portion 161.

A fifth mirror part 640 corresponding to the fourth mirror part 630 may be disposed at the second end portion 162. For example, the fifth mirror portion 640 may be disposed at a curved portion of the second distal portion 162.

A sixth mirror part (650) corresponding to the fifth mirror part (640) may be disposed in the third end portion (163). For example, the sixth mirror portion 650 may be disposed at a curved portion of the third distal portion 163.

The first distal part 161 can rotate about the first axis (X1) by the fourth motor part (Fourth Motor Part, 164). The fourth motor unit 164 may be disposed at the first distal portion 161.

The second distal part 162 can rotate about the second axis (X2) by the fifth motor part (165). The fifth motor unit 165 may be disposed at the second distal portion 162.

The third distal part 163 can rotate about the third axis (X3) by the sixth motor part (Sixth Motor Part, 166). The sixth motor unit 166 may be disposed at the third distal portion 163.

When the laser unit 500 emits a laser, as in the case of FIG. 37, the emitted laser is transmitted to the first mirror unit 600, the first submirror 611 of the second mirror unit 610, and the second submirror. It may be reflected by 612 and directed toward the third mirror unit 620.

Thereafter, the laser reflected by the second sub-mirror 612 is sent to the end effector through the third mirror unit 620, fourth mirror unit 630, fifth mirror unit 640, and sixth mirror unit 650. (101) can be reached. In addition, the laser that reaches the end effector 101 may be irradiated to the outside through the end effector 101.

Meanwhile, the movement of the third distal portion 163 may be limited compared to the movement of the first distal portion 161 and/or the second distal portion 162.

For example, when the location to irradiate the laser is determined, the first link 130 and/or the second link 140 are first moved to bring the end effector 101 as close to the location as possible, and then the first end portion is moved. The end effector 101 can be brought closer to the corresponding position by moving the end effector 161 and/or the second end portion 162. If it is difficult to position the end effector in the desired position due to the movement of the first link 130, the second link 140, the first distal part 161, and/or the second distal part 162, the third The end effector can be manipulated by moving the distal portion 163.

Alternatively, it is possible to set the maximum operating range of the third distal portion 163 to be smaller than the operating range of the first distal portion 161 and/or the second distal portion 162.

Meanwhile, if the second mirror unit 610 is composed of the first sub-mirror 611 and the second sub-mirror 612, the efficiency of laser treatment can be improved by expanding the radius of action of the robot arm 100.

In detail, as in the case of FIG. 34, if the first sub-mirror 611 is placed on one end of the first link 130 and the second sub-mirror 612 is placed on the other end of the first link 130, the laser unit The laser emitted by 500 can be effectively reflected toward the second link 140, and the swing direction of the second link 140 can be set more freely. For example, it is possible to make the swing direction of the first link 130 and the swing direction of the second link 140 approximately the same.

In this case, as shown in (A), (B), and (C) of Figure 38, the first link 130 and the second link 140 can be moved in the same direction, so the activity radius of the robot arm 100 This can become even wider.

As such, a person skilled in the art will understand that the technical configuration of the present invention described above can be implemented in other specific forms without changing the technical idea or essential features of the present invention.

Therefore, the embodiments described above should be understood in all respects as illustrative and not restrictive, and the scope of the present invention is indicated by the claims described later rather than the detailed description above, and the meaning and scope of the claims. And all changes or modified forms derived from the equivalent concept should be construed as falling within the scope of the present invention.

Claims (8)

First Base Part;
a second base part rotatably coupled to the first base part;
A first link coupled to the second base portion so as to be swingable;
a second link swingably coupled to the first link;
An auxiliary link, one end of which is coupled to the second base portion and the other end of which is coupled to the second link;
a laser part disposed on the first base part and generating laser;
a first motor part disposed on the first base part and rotating the second base part;
a second motor part disposed on the second base part and swinging the first link; and
a third motor part disposed on the second base part and swinging the second link through the auxiliary link;
A device containing a. According to claim 1,
The third motor unit moves the auxiliary link up and down,
A device in which the second link swings by the up and down movement of the auxiliary link. According to claim 1,
Further comprising an end part coupled to the second link,
The distal end is a device including an end-effector that irradiates a laser. According to claim 3,
The distal part is
A first end part coupled to the second link and rotatable about a first axis;
a second end part coupled to the first end part and rotatable about a second axis perpendicular to the first axis; and
a third end part coupled to the second end part and rotatable about a third axis perpendicular to the second axis;
It further includes,
The end effector is a device disposed at the third end portion. According to claim 4,
a fourth motor part that rotates the first distal portion about the first axis;
a fifth motor part that rotates the second end portion about the second axis; and
a sixth motor part that rotates the third end portion about the third axis;
A device further comprising: According to claim 5,
The first link, the second link, the first end portion, the second end portion, and the third end portion are each of a hollow pipe type device. According to claim 6,
a first mirror part corresponding to the laser part and disposed on the second base part;
a second mirror part corresponding to the first mirror part and disposed on the first link;
a third mirror part corresponding to the second mirror part and disposed on the second link;
a fourth mirror part corresponding to the third mirror part and disposed at the first end portion;
a fifth mirror part corresponding to the fourth mirror part and disposed at the second end portion; and
a sixth mirror part corresponding to the fifth mirror part and disposed at the third end portion;
A device containing a. According to claim 7,
The laser generated from the laser unit reaches the end effector through the first mirror unit, the second mirror unit, the third mirror unit, the fourth mirror unit, the fifth mirror unit, and the sixth mirror unit, , a device that is irradiated to the outside through the end effector.

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