KR20100041219A - Using method and laser robot with vision system - Google Patents

Abstract

PURPOSE: A laser robot using a vision system and a utilization method of the laser robot are provided, which recognize an affected part on a real time basis and irradiate a laser to the affected part. CONSTITUTION: A laser robot utilization method comprises: a step(S100) of fixing a robot system on the desired location; a step(S200) of storing the video information after taking a picture of the affected part; a step(S300) of detecting the location of the initial affected part; a step(S400) of detecting the affected part on a real time basis; a step(S500) of deciding whether the affected part is to be irradiated by a laser; a step(S600) of computing the error of the detected affected part location and target affected part location; a step(S700) of controlling the robot system according to the control input value; a step(S800) of making the end of the robot system approach the affected part; and a step(S900) eliminating the affected part.

Description

Laser robot using vision system and method of using the laser robot {Using Method and Laser Robot with Vision System}

The present invention relates to a laser robot and a method of using the laser robot using a vision system that continuously recognizes the affected area and removes the affected area with a laser without using a user's artificial help. More specifically, the laser robot that can determine the control input value in the image processing unit based on the image information captured by the vision sensor unit of the vision system, the laser scanning device of the robot system can accurately remove the affected area by scanning the laser to the affected position; It is about how to use the laser robot.

In the case of current skin treatment, the user is injecting a laser to recognize the location of the affected area. Lasers used in skin treatment are largely divided into destructive or non-destructive lasers. Destructive lasers include CO ₂ laser and ER-YAG laser. These destructive lasers are used to remove or peel deep or wide spots because they have the property of destroying cells regardless of pigments.

Non-destructive lasers include Nd-YAG lasers or diode lasers. Unlike the destructive lasers, since the transmittance of lasers varies depending on the pigment, only colored cells such as melanocytes can be selectively destroyed.

Although the method of use depends on the type of laser and the type of disease you want to treat, in general, the existing skin treatment laser equipment is used by a doctor directly holding the end of the device where the laser is attached and touching the affected part of the patient. Done. In this case, however, the laser cannot be accurately scanned in the affected area due to the inaccuracy of the laser operation due to the shaking of the doctor. In addition, a problem occurs such that the injection is performed for more than or less than the required laser scanning time, or the laser is applied again to the treated area due to a doctor's error.

Therefore, in order to solve such a problem, a laser robot using a vision system using a robot technology and a vision technology and a method of using the laser robot were required.

Accordingly, the present invention has been made to solve the above problems, an object of the present invention, when removing the affected area using a laser robot, equipped with a vision system to recognize the affected area in real time and control the robot system To provide a laser robot that accurately and continuously scans the affected area without the user's discretion and removes the affected area.

Specifically, a robot system having a laser scanning device is capable of three-dimensional degrees of freedom movement, and by applying a vision system to such a robot system, it is possible to scan a laser beam by detecting the position of the affected area in real time. Therefore, the vision system controls the robot system to provide a laser robot using a vision system that can continuously recognize the location of the affected part and scan the laser.

In addition, another object of the present invention is to provide a method for removing an affected part using a laser robot using such a vision system. By providing a method of using a laser robot using a vision system without artificially determining or judging by a user, a method of accurately detecting a lesion and scanning a laser is provided.

Other objects, specific advantages and novel features of the present invention will become more apparent from the following detailed description and preferred embodiments in conjunction with the accompanying drawings.

An object of the present invention as described above, a robot for scanning a laser, comprising: a robot system having a laser scanning device for scanning a laser to a target; And a vision system for recognizing a target and controlling the robot system.

The target may correspond to the affected part and may be characterized by removing the affected part with a laser.

The vision system includes a vision sensor unit having a vision sensor to store image information by photographing a surface where the affected part is located; And an image processor configured to control the robot system by processing the image information sent from the vision sensor unit.

The vision sensor may be a camera, a CCD camera, or an infrared sensor.

At least one vision sensor may be installed at a base end of the robot system or at an end of the robot system.

The image processor may include an affected part recognition unit configured to recognize a location of the affected part from the image information; And a control input calculator configured to control the robot system using the information received from the affected part recognizer.

The affected part recognition unit,

The threshold value may be determined by using an image processing algorithm, and the lesion may be recognized therefrom.

The image processing algorithm may be a histogram or a Gaussian filter.

The affected part recognizer may determine a region of interest for predicting the affected part position in the next frame based on the affected part position in the current frame and detect the affected part in real time.

The control input calculator may be configured to calculate an error between the target affected position in the next frame and the affected position detected in the current frame by using the image information of the vision sensor unit.

The control system may be operated by determining a control input value using an error.

The robot system is provided with a laser scanning device, the end coupled to the vision sensor unit; And a base end connected to the end and having a degree of freedom capable of approaching the affected part of the laser scanning apparatus.

The base end may be characterized by scanning the laser portion on the affected portion with a laser scanning apparatus by bringing the end closer to the affected portion by a control input value of the control input calculating portion.

The base stage may be characterized in that the three-axis ultra-precision stage of the three-degree of freedom movement.

The three-axis ultra-precision stage feed can be characterized in that the precision is 0.5 mm or less.

The robot system may further include a moving device capable of moving the robot system, and the moving device may further include a fixing unit to fix the robot system at a desired position.

The moving device may be characterized as a wheeled cart, a surgical table or a link structure connected to the wall.

The end may further comprise a holder device for fixing the laser scanning device and the vision sensor.

At the end, it may be characterized in that it further comprises at least one or more rotating means to adjust the angle between the laser beam scanned in the laser scanning device and the surface on which the affected part is located in accordance with the control input value of the image processor.

The robot system may further include at least one lighting device on a part of the laser robot, and adjust lighting of the lighting device according to a control input value of the image processor.

It may be characterized by further comprising a power supply means for supplying power to control and manage the vision system and the robot system.

As another category for the purposes of the present invention, using the laser robot of claim 21, fixing the robot system to a desired position by means of fixing means of the moving device; Photographing the surface having the affected part by the vision sensor unit and storing image information; Detecting a position of the initial affected portion in the image processor; Detecting the affected part in real time by determining an ROI predicting the affected part position of the next frame based on the affected part position of the current frame; Determining whether a lesion is to be scanned by a laser in the ROI; Calculating an error between the target affected position in the next frame and the affected position detected in the current frame by the control input calculator of the image processor when the affected part is located in the ROI; Determining a control input value by the image processor and controlling the robot system according to the control input value; Approaching the affected end of the robotic system to the base of the robotic system; Removing the affected portion by scanning a laser portion on the affected portion with the laser scanning device installed at the end; And terminating the operation of the laser robot when the affected part is removed and there are no more lesions to scan the laser in the ROI.

The robot system may be provided with a lighting device to adjust the lighting of the lighting device by a control input value of the image processor.

In the step of removing the affected area by scanning the laser, the rotating means is provided at the end to adjust the angle between the laser beam scanned in the laser scanning device and the surface on which the affected part is located by the control input value of the image processing unit It can be achieved by using a robot.

Therefore, according to an embodiment of the present invention as described above, the laser robot using the vision system and the method of using the laser robot can accurately scan the laser portion on the affected part 110 regardless of the judgment or ability of the user or doctor. It has an effect.

Therefore, when the doctor treats the affected part 110 by using a laser, the doctor may inject the laser to a position other than the affected part 110 due to the shaking of the doctor or determine the injection time of the laser at the discretion of the doctor to cause damage to the skin. This can be prevented. In addition, the present invention has the advantage that the scope of the invention is wide by accurately injecting a laser to the target object in addition to the treatment of the affected area 110 by a combination of robot technology and vision technology.

It can be easily produced and used in that it connects and uses the vision system and robot system. By using a laser robot using such a vision system, the affected part 110 can be easily and quickly removed, and the cost of removing the affected part 110 can also be saved, thereby reducing the economic burden of those with skin diseases. Will have

Although the present invention has been described in connection with the above-mentioned preferred embodiments, it will be readily apparent to those skilled in the art that various other modifications and variations are possible without departing from the spirit and scope of the invention. Are all within the scope of the appended claims.

(Configuration of Laser Robot)

Hereinafter, with reference to the accompanying drawings to describe the configuration of a laser robot using a vision system according to an embodiment of the present invention. First, Figure 1 shows a perspective view of a laser robot according to an embodiment of the present invention. As shown in Figure 1, the laser robot is composed of a vision system and a robot system.

The vision system includes a vision sensor unit for photographing a surface including a target to be scanned by a laser and storing image information, and an image processor for controlling the robot system by processing the image information of the vision sensor unit. The target to which the laser is to be scanned is affected in specific embodiments. Therefore, the vision system photographs the skin having such lesions and stores the image information.

In addition, the robot system includes a base end 400 capable of three-axis ultra-precision stage movement, and an end 300 on which the vision sensor unit and the laser scanning device 100 are fixed by the holder device 310. End 300 is connected to the base 400 is to be accessible to the affected part 110 by the three-axis ultra-precision stage transfer of the base 400.

The laser scanning device 100 is installed at the end 300. And, the base 400 is connected to the mobile device 500 is movable. In addition, the moving device 500 includes a fixing means 510 so that it can be fixed so as not to move in a desired place. In addition, the laser robot using a vision system includes a power supply means 600 for supplying and managing power to the vision system and the robot system, and a laser generator 700 for generating a laser and supplying the laser to the laser scanning apparatus 100. Is connected by the connecting means (800). The connection means 800 may be wired or wireless. Hereinafter, a vision system, a robot system, and a method of using a laser robot using the vision system will be described in detail with reference to the accompanying drawings.

(Configuration of Vision System and Control Method of Robot System)

2 is a perspective view of a portion of the robot system end 300 on which the vision system is fixed by the holder device 310. The vision system includes a vision sensor unit for photographing the skin having the affected part 110 and storing image information. The vision sensor 200 constituting the vision sensor unit includes at least one or more. In a specific embodiment, as shown in FIG. 2, two vision sensors 200 are provided. Specifically, the vision sensor 200 may use a camera, a CCD camera, or an infrared sensor.

The vision sensor 200 stores the image information by photographing the skin having the affected part 110. Such image information is continuously recorded in real time and stored. It is possible to know the positional relationship on the space between the skin and the laser scanning apparatus 100 with the image information. The image processing unit of the vision system determines a control input value for controlling the robot system using the image information stored in the vision sensor unit.

The image processor of the vision system includes an affected part recognizer that recognizes the affected part 110 using image information, and a control input calculator that determines a control input value for operating the robot system. In the affected part recognition unit, an image processing algorithm using a predetermined boundary value is used to detect the affected part 110. The image processing algorithm may specifically use a histogram or a Gaussian filter.

3A to 3C are diagrams illustrating a state in which the image processing unit detects a point that is a type of the affected part by using a histogram. As shown in FIG. 3A, the image is converted into a gray image. The point to scan the laser to be detected is displayed on the converted image. 3b extracts a region of a point based on a boundary value of a general skin color based on a histogram. Thereafter, as shown in FIG. 3C, the boundary of the portion to be scanned is found to extract the boundary line in the area of the point. An 8-neighbor segmentation was used to extract the boundaries.

The area of the affected part 110 recognized by the affected part is tracked in real time. A specific method of tracking in real time is based on the position of the affected part 110 to be scanned by the laser scanning device 100 in a frame in the image information of the vision sensor 200 at the present or previous laser scanning device ( 100 may be determined to determine a region of interest for predicting the location of the affected part 110 to be scanned. By determining the region of interest in real time, the position of the affected part 110 to be scanned next by the laser scanning apparatus 100 is determined.

The control input calculating unit of the image processor may detect the position of the affected part 110 scanned by the laser scanner 100 in the current frame recognized by the affected part recognizer, and the portion of the affected part 110 to be scanned by the laser scanner 100 in the next frame. The error of the position is calculated. The control input value is determined based on the calculated error value. Then, the first scanning means 320 and the second rotating means 330 of the base end 400 or the end 300 of the robot system are operated based on the control input value, so that the laser scanning apparatus 100 may next target. It can be injected into the affected part (110).

(Configuration of Robot System)

The robot system is a device that is provided with a laser scanning device 100 to control the vision system and to scan a laser to the affected part (110). 4 is a perspective view of the robot system. As shown in FIG. 4, the robot system includes an end 300 to which a laser scanning device 100 and a vision sensor unit are coupled by a holder device 310. The base end 400 is connected to the end 300 to allow the end 300 to be transferred to the three-axis ultra-precision stage, and the mobile device 500 connected to the base end 400 to move or fix the robot system. Equipped with.

In the specific embodiment, the moving device 500 corresponds to a table as shown in FIG. 4, but may be coupled to a base end such as a cart connected to a wheel or a link structure connected to a wall to move the robot system. In addition, the moving device 500 is provided with a fixing means 510 to enable the robot system to be fixed at a desired position.

Figure 5a shows a perspective view of the base end 400 is connected to the end 300. And, Figure 5b is a perspective view looking up from the base end 400 to which the end 300 is connected, Figure 5c shows a perspective view of the transfer means 410 constituting the base end 400.

As shown in FIGS. 5A and 5B, the end 300 is fixed to the first transfer means 420, and the first transfer means 420 makes it possible to transfer the end 300 perpendicular to the ground. . In addition, the first transfer means 420 is vertically connected to the second transfer means 430, the third transfer means 440 is perpendicular to the first transfer means 420 and the second transfer means 430 It is connected. In a specific embodiment, as shown in FIG. 5C, the shapes of the first transfer means 420, the second transfer means 430, and the third transfer means 440 are the same.

As shown in FIG. 5C, the conveying means 410 has a shaft 412 inside the body 411. The fixing part 413 connected to the shaft 412 moves in one dimension, and the fixing part 413 of the first transfer means 420 is fixed perpendicularly to the body 411 of the second transfer means 430. In addition, the fixing part 413 of the second conveying means 430 is vertically coupled to the body 411 of the third conveying means 440 to allow the end 300 to be freely movable. Therefore, this base stage 400 is a three-axis ultra-precision stage transfer. The precision is different depending on the method of removing the affected part 110 and the size of the affected part 110, but preferably should be 0.5 mm or less.

6A illustrates a perspective view of the end 300, and FIG. 6B illustrates a perspective view of the end 300 viewed from the back. In the case of the end 300, it is coupled to the fixing part 413 of the first transfer means 420 of the base end 400 and includes a laser scanning device 100. The end 300 is a holder device 310 is coupled to the vision sensor unit and the laser scanning device 100. In addition, the end 300 is provided with a rotating means to adjust the angle between the laser beam scanned by the laser scanning device 100 and the surface with the affected part 110. As shown in FIGS. 6A and 6B, in a specific embodiment, the first rotation means 320 and the second rotation means 330 are provided so that the end 300 may have two degrees of freedom. The first rotating means 320 rotates the end 300 about the first rotating shaft 325, and the second rotating means 330 rotates the end 300 about the second rotating shaft 335. . Therefore, the robot system is capable of five degrees of freedom movement by the three-axis ultra-precision stage transfer of the base end 400 and the first and second rotation means 320 and 330 of the end 300.

In addition, the end 300 or the base 400 may further include at least one lighting device. Therefore, the user can confirm the position of the affected part 110 and allows to accurately obtain the image information of the vision sensor part of the vision system. The lighting apparatus may be manually adjusted and may be operated by controlling the appropriate lighting using the image information input from the image processor.

(How to use)

Hereinafter, a method of using a laser robot using a vision system according to an embodiment of the present invention will be described with reference to the accompanying drawings. First, FIG. 7 is a flowchart illustrating a method of using a laser robot using a vision system.

While moving the laser robot by the mobile device 500, the laser robot is fixed by the fixing means 510 of the mobile device 500 at a desired position. The vision sensor 200 installed at the end 300 of the fixed laser robot moves the base 400 to the extent that the skin 110 including the affected part 110 can be photographed so that the end 300 comes around the affected part 110. do.

In addition, the vision sensor unit installed at the end 300 stores the image information by photographing the skin part including the affected part 110. Such shooting and storage of image information are continuously performed in real time. The image processing unit of the vision system detects the position of the initial portion 110 to scan the laser to the laser scanning device 100 from the image information. Based on the position of the affected part 110 in the frame of the current image information, a region of interest for predicting the location of the affected part 110 in the next frame is determined. The determination of this region of interest will continue in real time. The region of interest is determined in real time to remove the affected area to be scanned by the current robot system, and the operation of the laser robot is terminated when there is no affected area to be scanned in the next frame.

When the location of the affected part to be scanned next is detected in the ROI, the control input calculating part of the image processor calculates an error between the location of the affected part 110 and the affected part 110 of the current frame in the next frame. do. Then, the control input value for operating the robot system is determined based on the calculated error value. On the basis of the control input value, the laser scanning device 100 approaches the position of the affected part 110 to be scanned at the end 300 of the robot system in three degrees of freedom in the base 400 of the robot system.

And, by operating the first rotating means 320 and the second rotating means 330 of the end 300 to adjust the angle of the surface of the laser beam and the affected portion 110 of the laser scanning device 100 to the target The laser is scanned in the affected part 110. Therefore, the affected part 110 is removed by the scanning of the laser, and the robot system receives the continuous control input value and moves to the position of the next affected part 110 to scan the laser. If there are no more lesions to be scanned in the region of interest, the operation of the laser robot is terminated.

(Variation)

The present invention uses a vision system in a robotic system in which the laser scanning apparatus 100 is installed to continuously and continuously scan a laser onto a recognized surface without artificial judgment of a user. In a specific embodiment, the recognized surface is limited to the surface having the affected part 110 or the skin having the point among the affected part 110, but any one that can be removed using a laser is within the scope of the present invention.

In addition, in the vision system, the vision sensor 200 is limited to a camera, a CCD camera, or an infrared sensor in a specific embodiment. However, the vision sensor 200 may store the image information by capturing the image and obtain the image information in real time. It is obvious that the position of the vision sensor 200 installed in the robot system does not affect the determination of the scope of rights.

In the case of the image processing unit, a specific embodiment of the method for recognizing the affected part 110 has described a histogram and a Gaussian filter. However, the image processor recognizes the affected part 110 from the image information and finds the affected part 110 to scan the laser part. As long as the value can be determined, the specific type does not affect the scope of the right. Even if the improved invention of the image processing is installed later, if the technical features of the present invention are maintained and used as it is, the implementation of such invention will also fall within the scope of rights.

In the case of the robot system, the configuration of the base stage 400 is not limited to the specific embodiments and drawings, and the specific type and shape do not affect the determination of the scope of rights as long as it can move the laser in three-dimensional space or two-dimensional. It is not. In the embodiment, the laser scanning device 100 is operated in three degree of freedom movement of the base end 400 and five degree of freedom movement by the first rotating means 320 and the second rotating means 330 of the end 300. Even if it changes the number of, it is obvious that it belongs to the claim of this invention.

In addition, even if equipped with a robot system improved by the development of robot technology later, if the technical features of the present invention as it is, the implementation of such invention also falls within the scope of rights. The position or type of the laser scanning device 100, the type of laser, or the type of the laser generating device can be changed depending on the type of the target object and the characteristics of the affected part 110, which can be obviously changed by those skilled in the art. All of them fall within the scope of the present invention.

1 is a perspective view of a laser robot using a vision system according to an embodiment of the present invention,

2 is a perspective view of a part of the end of the vision sensor unit coupled by the holder device,

3A to 3C are state diagrams of detecting an affected part using a histogram in an image processor;

4 is a perspective view of a robot system according to an embodiment of the present invention;

Figure 5a is a perspective view of the base end of the robot system coupled to the end,

Figure 5b is a perspective view from below looking at the base of the robot system is coupled to the end,

Figure 5c is a perspective view of the transport means constituting the base end,

Figure 6a is a perspective view of the end of the robot system,

Figure 6b is a perspective view from behind the end of the robot system,

7 is a flowchart illustrating a method of using a laser robot using a vision system according to an exemplary embodiment of the present invention.

<Description of the symbols for the main parts of the drawings>

100: laser injection device

110: affected

120: boundary of the affected part

200: vision sensor

300: The end

310: holder device

320: first rotating means

325: first rotating shaft

330: second rotating means

335: second axis of rotation

400: base

410: transportation means

411: body of the transport means

412: axis of the transport means

413: fixing part of the transportation means

420: first transport means

430: second transport means

440: third transportation means

500: mobile unit

510: fixing means

600: power supply means

700: laser generator

800: connecting means

Claims (24)

A robotic system having a laser scanning device for scanning a laser to a target; And And a vision system for recognizing the target and controlling the robot system using the recognized image information. The method of claim 1, The target robot is a laser robot using a vision system, characterized in that for removing the affected area by the laser corresponding to the affected area. The method according to claim 1 or 2, The vision system, A vision sensor unit having a vision sensor and storing image information by photographing a surface where the affected part is located; And And an image processing unit for controlling the robot system by processing the image information sent from the vision sensor unit. The method of claim 3, The vision sensor is a laser robot using a vision system, characterized in that the camera, CCD camera or infrared sensor. The method of claim 4, wherein The vision sensor is a laser robot using a vision system, characterized in that at least one or more is installed at the base end of the robot system or the end of the robot system. The method of claim 3, The image processor, An affected part recognition unit configured to recognize the affected part position from the image information; And And a control input calculator configured to control the robot system with the information received from the affected part recognition unit. The method of claim 6, The affected part recognition unit, Laser robot using a vision system, characterized in that for determining the boundary value by using an image processing algorithm to recognize the affected area. The method of claim 7, wherein The image processing algorithm is a laser robot using a vision system, characterized in that the histogram or Gaussian filter. The method of claim 6, The affected part recognition unit, And a region of interest for predicting the affected part position in the next frame based on the affected part position in the current frame to detect the affected part in real time. The method according to claim 6 or 9, The control input calculator, And using the image information to calculate an error between the target affected position in the next frame and the affected position detected in the current frame. The method of claim 10, Laser robot using a vision system to determine the control input value from the error to operate the robot system. The method according to any one of claims 1 to 3, The robot system, An end provided with the laser scanning device and coupled to a vision sensor unit; And And a base end connected to the end and having a degree of freedom to allow the end to approach the affected part. The method of claim 12, The base stage, The laser robot using a vision system, characterized in that for scanning the laser portion in the affected area by the laser scanning device to the end by approaching the end portion by the control input value of the control input calculation unit. The method of claim 13, The base stage is a laser robot using a vision system, characterized in that the three-axis ultra-precision stage for the three degrees of freedom movement. 15. The method of claim 14, Laser robot using a vision system, characterized in that the feed accuracy of the three-axis ultra-precision stage is 0.5mm or less. The method of claim 12, The robot system, And a moving device capable of moving the robot system, wherein the moving device further comprises a fixing means to fix the robot system at a desired position. The method of claim 16, The moving device is a laser robot using a vision system, characterized in that the wheeled cart, a moving table or a link structure connected to the wall. The method of claim 12, The end of the laser robot using a vision system further comprises a holder device for fixing the laser scanning device and the vision sensor. The method of claim 12, At the end, And at least one rotating means to adjust an angle between the laser beam scanned by the laser scanning device and a surface on which the affected part is located according to the control input value of the image processor. robot. The method of claim 12, The robot system, At least one lighting device is further provided in a part of the laser robot, the laser robot using a vision system to adjust the illumination of the lighting device according to the control input value of the image processing unit. The method of claim 1, And a power supply means for supplying power to the vision system and the robot system to control and manage the vision system and the robot system. By using the laser robot of claim 17, Fixing the robot system to a desired position with a fixing means of the moving device; Photographing the surface having the affected part by the vision sensor unit and storing image information; Detecting a position of the initial affected portion in the image processor; Detecting the affected part in real time by determining a region of interest predicting the affected part position of a next frame based on the affected part position of the current frame; Determining whether a lesion is to be scanned by a laser in the region of interest; If the affected area is in the affected area, Calculating an error between the affected part position targeted in the next frame and the affected part position detected in the current frame by a control input calculating part of the image processor; Determining a control input value by the image processor to control the robot system according to the control input value; Approaching the affected part of the end of the robotic system to the base of the robotic system; Removing the affected portion by scanning a laser portion on the affected portion with the laser scanning device installed at the end; And Removing the affected part and terminating the operation of the laser robot when there is no more affected part to scan the laser in the ROI. 23. The method of claim 22, And a lighting apparatus provided in the robot system to adjust the illumination of the lighting apparatus to a control input value of the image processor. 23. The method of claim 22, Injecting the laser to remove the affected part, And a rotating means at the end to adjust an angle between a laser beam scanned by the laser scanning device and a surface on which the affected part is located to a control input value of the image processor.

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