KR20170119402A - Apparatus and Method For Laser Emitting using Robot-Arm - Google Patents

Abstract

The present invention relates to a laser irradiation apparatus and method using a robot arm.
A laser irradiation method using a robot arm according to the present invention includes the steps of constructing a three-dimensional image of an object, setting a region of interest (ROI) on the surface of the object on the three-dimensional image, Setting a guide path of a spiral passing through the object and irradiating a laser to the surface of the object corresponding to the guide path.

Description

Technical Field [0001] The present invention relates to a laser irradiation apparatus and method using a robot arm,

The present invention relates to a laser irradiation apparatus and method using a robot arm.

Today, various laser treatment techniques for irradiating and irradiating a laser beam to the skin for the purpose of treatment and the like are being developed, and a medical laser device for using a laser treatment technique is actively studied.

Laser treatment techniques are used for a variety of purposes such as hair loss prevention, hair growth promotion, skin peeling, skin regeneration, whitening, wrinkle or spot removal,

Conventionally, however, the laser treatment apparatus was manually operated by a user, for example, a physician, to perform the treatment.

Thus, there is a problem that the accuracy of treatment is lowered and the reliability of treatment is lowered.

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

The object of the present invention is to provide a laser irradiation apparatus and method using a robot arm that automatically scans an object (patient) and irradiates a laser on a surface of the object (skin of a patient) based on the scanned information have.

A laser irradiation method using a robot arm according to the present invention includes the steps of constructing a three-dimensional image of an object, setting a region of interest (ROI) on the surface of the object on the three-dimensional image, Setting a guide path of a spiral passing through the object and irradiating a laser to the surface of the object corresponding to the guide path.

Also, the irradiation of the laser can be terminated at the outskirts starting at the central region of the region of interest.

In addition, the three-dimensional image may be composed of a two-dimensional image (2D image) and depth information (depth information).

In addition, the step of setting the ROI includes detecting a treatment part in which at least one of the color or brightness of the surface of the object is different from the surrounding area, and setting the ROI to include the treatment area can do.

Further, the guide path passes through the treatment area, and the laser can be irradiated onto the treatment area.

The method may further include adjusting at least one of the frequency, irradiation time, number of times of irradiation, and intensity of the laser according to at least one of the color or brightness of the treatment area.

The method may further include modifying the guide path according to the movement of the object when the movement of the object occurs during the procedure.

In addition, the laser may be irradiated by a robot arm equipped with an end-effector.

A laser irradiation apparatus using a robot arm according to the present invention comprises a vision control unit for constructing a three-dimensional image of an object and setting a region of interest (ROI) on the surface of the object on the three-dimensional image, And a laser unit for irradiating a laser beam onto a surface of the object corresponding to the guide path.

Also, the laser may be terminated at the outskirts starting at the central region of the region of interest.

The apparatus may further include a scanner that scans an object to acquire a 2D image and depth information, and the 3D image may be configured based on the 2D image and the depth information .

In addition, the vision control unit may detect a treatment portion in which at least one of a color or a brightness of a surface of the object is different from the surroundings, and set the ROI to include the treatment region.

Further, the guide path passes through the treatment area, and the laser can be irradiated onto the treatment area.

Also, at least one of the frequency, the irradiation time, the number of times of irradiation, or the intensity of the laser may be adjusted according to at least one of the color or brightness of the treatment area.

In addition, when the motion of the object occurs during the procedure, the guide path may be modified according to the motion of the object.

In addition, the laser unit may include a robot arm equipped with an end-effector.

The laser irradiation apparatus and method using the robot arm according to the present invention can improve the precision of laser treatment and reduce the time required for laser treatment.

1 to 3 are views for explaining a configuration of a laser irradiation apparatus using a robot arm according to the present invention,
4 to 29 are views for explaining the laser irradiation method according to the present invention.

Hereinafter, a laser irradiation apparatus and method using a robot arm according to the present invention will be described in detail with reference to the accompanying drawings.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. It is to be understood that the present invention is not intended to be limited to the specific embodiments but includes all changes, equivalents, and alternatives falling within the spirit and scope of the present invention.

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

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

When an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, but other elements may be present in between Can be understood. On the other hand, when it is mentioned that an element is "directly connected" or "directly connected" to another element, it can be understood that no other element exists in between.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions may include plural expressions unless the context clearly dictates otherwise.

In the present application, the terms "comprises", "having", and the like are used interchangeably to designate one or more of the features, numbers, steps, operations, elements, components, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, 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 one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries can be interpreted as having a meaning consistent with the meaning in the context of the relevant art and are, unless expressly defined in the present application, interpreted in an ideal or overly formal sense .

In addition, the following embodiments are provided to explain more fully to the average person skilled in the art. The shapes and sizes of the elements in the drawings and the like can be exaggerated for clarity.

Hereinafter, for convenience of explanation, the case of irradiating the facial skin of the patient with laser is described as an example, but the apparatus and the method according to the present invention can be applied to anything that irradiates a laser on the surface of a predetermined object.

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

Referring to FIG. 1, the laser irradiation apparatus 10 according to the present invention may include a scanner 300, a robot arm 100, and a controller 200.

The scanner 300 may scan an object and collect raw data. Here, the row data may include a 2D image and depth information.

2, the scanner 300 includes a color sensor 310 for photographing a two-dimensional color image (2D image), an IR projector 320 for obtaining three-dimensional depth data (3D Depth Data) And an IR sensor 330.

When the IR projector 320 irradiates the IR light to the surface of the object 400, that is, the skin of the patient, the IR sensor 330 can detect the IR light reflected on the surface of the object 400 to acquire the depth data have.

The color sensor 310 may capture the surface of the object to obtain a two-dimensional color image.

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

Such a robot arm 100 can be regarded as a manipulator.

The control unit 200 can control the overall function and operation of the laser irradiation apparatus 10. [

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

The vision control unit 210 receives the row data from the scanner 300 and constructs a three-dimensional image of the object 400 based on the received row data. In addition, the vision control unit 210 can set a region of interest (ROI) on the surface of the object 400 on the three-dimensional image.

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

For example, the vision control unit 210 determines at least one of the color or the lightness of the surface of the object 400 based on the data received from the scanner 300, and sets a region of interest .

In detail, the vision control unit 210 detects a portion of the object 400 different in color from the surface of the object 400 from the two-dimensional color image of the object 400 photographed by the scanner 300 and / can do. In addition, it is possible to set the region of interest such that the color and / or the lightness include a different portion from the surroundings.

Hereinafter, the color and / or brightness at the surface of the object may be referred to as a Region Of Therapy (ROT). Examples of the treatment area (ROT) include dots, spots, and freckles that occur in human skin.

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

In addition, the motion controller 220 controls the movement of the robot arm 100, and stops the robot arm 100 in an emergency according to the situation, thereby stopping the irradiation of the laser.

The laser irradiation apparatus 10 according to the present invention can be operated in the manual mode and the automatic mode, respectively.

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

On the other hand, in the passive mode, control can be delegated to a user, for example a doctor. In the manual mode, the robot arm 100 can be operated according to a user's control.

A laser irradiation method using the laser irradiation apparatus 10 according to the present invention will be described in detail with reference to the accompanying drawings.

4 to 29 are views for explaining the laser irradiation method according to the present invention. In the following, description of the contents described above may be omitted.

Referring to FIG. 4, it can be determined whether the current mode setting is the automatic mode (S100). If it is determined that the current mode is not the automatic mode, it is determined whether the current mode setting is the manual mode (S110).

It is possible for the user to select either the manual mode or the automatic mode by using a predetermined switch. Alternatively, the user can input a predetermined command to the control unit 200 to select either the manual mode or the automatic mode.

As a result of the determination in step S110, if the mode is not the manual mode, another predetermined function (Default) may be performed (S120).

On the other hand, if it is determined to be the manual mode, the manual mode setting is confirmed (S130) and the control right is delegated to the user (S140).

Here, delegating the control right to the user may mean limiting the operation of the robot arm 100 by the control unit 200 itself.

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

If it is determined in step S100 that the automatic mode is selected, the scanner 300 may scan the surface of the object 400 according to the control of the controller 200 (S150). According to the scan of the scanner 300, row data including a two-dimensional image and depth information can be generated.

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

For example, when a plaster cast of a human hair shape as shown in Fig. 5A is scanned, a three-dimensional image can be formed in the form as shown in Fig. 5B.

Hereinafter, for the sake of convenience of explanation, the object 400 will be described with an example of a human hair-like gypsum.

After constructing the three-dimensional image, a ROI may be set (S170) on the surface of the object 400 on the three-dimensional image.

For example, a first corner point (Pcor, 1), a second corner point (Pcor, 2), a third corner point (Pcor, Pcor, 3) and a fourth corner point (Pcor, 4). Then, an area partitioned by the first, second, third, and fourth corner points as vertices can be set as the ROI.

Here, the ROI is set using four corner points, but the number of corner points used may be changed depending on the situation. For example, it is possible to set the ROI using three or more corner points.

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

Thereafter, a guide path GP passing through the ROI can be set (S180).

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

The start point of the guide path GP, that is, the point at which the laser beam starts to be irradiated is denoted by Ps, and the end point of the guide path GP, that is, the point at which laser irradiation is terminated, is denoted by Pt.

Thereafter, laser irradiation (S190) can be performed corresponding to the guide path GP.

The guide path GP may include a path through which the robot arm 100 irradiates the laser. In other words, the robot arm 100 is capable of irradiating the surface of the object with a laser while moving corresponding to the guide path GP.

The guide path GP can be regarded as including a path connecting the laser launch point.

On the other hand, the ROI may be set based on at least one of the color or the lightness of the surface of the object 400. The following will be described with reference to FIG. 7 attached hereto.

Referring to FIG. 7, in step S 170 of setting an ROI, color and / or intensity of the surface of the object 400 may first be determined (S 171). The color and / or the brightness of the surface of the object 400 can be determined from the two-dimensional color image of the object 400. [

Thereafter, the discrimination value can be compared (S172).

Thereafter, the discrimination value is compared / analyzed so that at least one of the color or lightness on the surface of the object 400 can be detected (S173). In other words, the general portion (RON) and the treatment portion (ROT) can be distinguished from each other based on at least one of the color or brightness on the surface of the object (400).

For example, as in the case of FIG. 8, assume that a total of 16 unit areas are arranged in a 4 × 4 format. In FIG. 8, the number displayed in each unit area may mean a brightness value.

(3, 1), (3, 2), (3, 3), (3, 4, 4), (4, 1), (4, 2), (4, 3) and (4, 4) can be identified as the treatment area (ROT). The remainder is called the Region Of Normal (RON). The brightness of the treatment portion (ROT) may be relatively dark because it is lower than the brightness of the other portion, the general portion (RON). Similarly, the color of the treatment portion (ROT) may be darker than the color of the general portion (RON). A dark color can mean darker.

As described above, the brightness value of the treatment portion (ROT) may be a portion lower than the preset reference brightness value.

The reference brightness value may be variously changed depending on factors such as the state of the surface of the object 400, characteristics, color tone, and the like.

For example, if the face is wholly bright white, the reference brightness value can be set relatively high. The reason for this is that when the face is bright as a whole, the portion requiring treatment such as dots and stains, that is, the treatment portion, may appear more prominent.

On the other hand, if the face is darker than that of white, the standard brightness value can be set lower than that of white.

After detecting the treatment portion (ROT), the ROI can be set (S174).

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

When the treatment area ROT having a different brightness and / or color from the surrounding general area RON is included in the predetermined area R1 on the surface of the object 400 as in the case of FIG. 9A . In FIG. 9, the shape of the treatment area (ROT) is arbitrarily set for convenience of explanation, and the present invention is not limited thereto.

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 third line L3 connecting the third point P3 and the fourth point P4 contacts the treatment area ROT while the second line L2 connecting the third point P3 contacts the treatment area ROT, Second, third, and fourth points P1, P2, and P4 so that the fourth line L4 connecting the fourth point P4 and the first point P1 is in contact with the treatment region ROT, P3, P4) can be set.

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

In this case, the treatment area (ROT) may be included in the ROI. In addition, the ROI may include not only the treatment area ROT but also a part of the general area RON.

Hereinafter, a portion included in the ROI in the general area RON will be referred to as a second general area RON2 and a part not included in the ROI in the general area RON will be referred to as a first general area RON2, (RON1).

In FIG. 9, when the ROI is set, only the case where the line connecting the two adjacent points is in contact with the treatment region (ROT) has been described, but the present invention is not limited thereto.

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

As described above, the method of setting the ROI can be variously changed.

If the shape of the treatment area (ROT) is polygonal, it may happen that the treatment area (ROT) and the ROI (area of interest) are the same according to the set position of the point.

On the other hand, the guide path GP can be set in 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 form in the treatment area ROT.

As such, the guide path GP passes the treatment area ROT, and the laser can be irradiated to the treatment area ROT.

On the other hand, it is possible to adjust the intensity (intensity, strength) and / or frequency of the laser in the starting and ending stages of the laser irradiation. The following is a look at this.

12 (A), at the beginning of the step of irradiating the laser, at least one of the intensity or intensity of the laser is gradually increased, and at the end of the irradiation step, One can be progressively reduced.

Hereinafter, the starting phase of the laser may be referred to as an acceleration period D1 and the ending phase of the laser may be referred to as a decreasing period D3.

The moving speed of the robot arm 100 can be increased in the acceleration section D1 as shown in Fig. 12 (B). That is, the robot arm 100 can be accelerated. The reason for the occurrence of the acceleration section D1 is that a certain amount of time is required from when the electric power is supplied to the motor for operating the robot arm 100 to when the desired rotational speed is reached.

In addition, in the deceleration section D3, the moving speed of the robot arm 100 may be reduced. That is, the robot arm 100 can be decelerated. The reason why the deceleration section D3 is generated is that it takes some time from the time of stopping the power supply to the motor for operating the robot arm 100 to the stop of the motor similarly to the acceleration section D1.

As described above, if the intensity and / or frequency of the laser are gradually increased in the acceleration section D1 and the intensity and / or frequency of the laser are gradually decreased in the deceleration section D3, It can be possible.

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

The interval between the acceleration section D1 and the deceleration section D3 can be referred to as a maintenance section D2.

In the holding period D2, the intensity and / or frequency of the laser can be kept substantially constant unless irradiation of the laser is interrupted.

In the holding period D2, the speed of the robot arm 100 can be kept substantially constant. In other words, the speed of the robot arm 100 can be kept constant during the period D2 from the end of the acceleration of the robot arm 100 to the start of deceleration.

As shown in FIG. 13A, when the intensity and / or frequency of the laser are increased stepwise in the acceleration section D1 or the intensity and / or frequency of the laser is decreased stepwise in the deceleration section D3 May also be possible. Even in this case, it can be seen that the intensity and / or frequency of the laser are gradually increased in the acceleration section D1 and the intensity and / or frequency of the laser are gradually decreased in the deceleration section D3.

On the other hand, the guide path GP may be able to deviate from the treatment area ROT within the ROI.

For example, as in the case of FIG. 14, when the ROI includes the treatment portion ROT and the general portion, i.e., the second general portion RON2 together, the guide path GP includes the treatment portion ROT) and the second general portion RON2. In this case, the laser can be turned on in response to the treatment portion ROT and turn-off in response to the second general portion RON2.

As such, it is possible to set the guide path GP regardless of the shape of the treatment area ROT within the ROI.

In this case, the guide path GP may include portions passing through the treatment region ROT and portions T1, T2, T3, and T4 passing the second general region RON2 out of the treatment region ROT.

The robot arm 100 can turn off the laser corresponding to the portion passing through the second general region RON2 in the guide path GP as shown in Fig. In other words, it can be seen that the robot arm 100 turns on / off the laser according to at least one of the color or brightness of the surface of the object 400 in the process of irradiating the laser along the guide path GP. That is, when the robot arm 100 moves corresponding to the guide path GP and corresponds to a portion where the color is darker or darker than the surroundings, i.e., the treatment area ROT, the laser is turned on, And the laser can be turned off if it corresponds to a portion having a lighter color or a higher lightness than the surroundings, that is, the general region RON.

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

In this case, the motion of the robot arm can be kept substantially constant, and the precision of the treatment can be improved.

Under the control of the motion controller 220, it is possible to adjust at least one of the frequency, irradiation time, number of times of irradiation, or intensity of the laser according to the degree of color and / or brightness of the treatment part ROT. The following is a look at this.

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 portion ROT2 may be darker than the color of the first treatment portion ROT1, and the brightness of the second treatment portion ROT2 may be lower than the brightness of the first treatment portion ROT1 . In other words, the degree of darkness of the color of the second treatment portion ROT2 is deeper than a preset threshold value, and the degree of darkness of the color of the first treatment portion ROT1 is considered to be lighter than a preset threshold value have. Alternatively, the brightness of the second treatment portion ROT2 may be lower than a predetermined threshold brightness value, and the brightness of the first treatment portion ROT1 may be higher than a preset threshold brightness value.

The second treatment portion ROT2 can be regarded as a portion requiring intensive treatment as compared with the first treatment portion ROT1.

The boundary point between the second general region RON2 and the first treatment region ROT1 is referred to as a first point X1 on the guide path GP sequentially starting from the starting point Ps of the laser, A boundary point between the second treatment region ROT1 and the second treatment region ROT2 is referred to as a second point X2 and a boundary point between the second treatment region ROT2 and the second general region RON2 is referred to as a third point X3, A boundary point between the first treatment region RON2 and the first treatment region ROT1 is referred to as a fourth point X4 and a boundary point between the first treatment region ROT1 and the second treatment region ROT2 is referred to as a fifth point X5, The boundary point between the second treatment region ROT2 and the first treatment region ROT1 is referred to as a sixth point X6 and the boundary point between the first treatment region ROT1 and the second treatment region ROT2 is referred to as a seventh point X6, And the boundary point between the second treatment region ROT2 and the first treatment region ROT1 is the eighth point X8.

The laser can be turned off between the starting point Ps of the laser and the first point X1 and between the third point X3 and the fourth point X4 as shown in Fig. In other words, since the Ps-X1 section and the X3-X4 section are included in the second general area RON2, the robot arm 100 may not irradiate the laser.

The frequency of the laser can be set to the first frequency f1 in a period from the X1-X2 section, the X4-X5 section, the X6-X7 section and the eighth point X8 to the start of the deceleration section D3.

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

In such a case, a stronger laser can be irradiated to the second treatment area ROT2, so that the treatment efficiency can be improved.

Referring to FIG. 18 (A), in the section from X1 to X3, X4 to X8, and the eighth point X8 to the beginning of the deceleration section D3, the laser frequency is set to the first frequency f1 The same setting can be made.

As shown in Fig. 18 (B), in the state where the laser frequency is maintained, the section from the end of the acceleration section D1 to the second point X2, the section from X3 to X5, the section from X6 to X7, The moving speed of the robot arm 100 can be set to the first speed V1 in the section from the eighth point X8 to the beginning of the deceleration section D3. On the other hand, the movement speed of the robot arm 100 can be set to the second speed V2 which is slower than the first speed V1 in the X2-X3 section, the X5-X6 section, and the X7-X8 section.

In this case, the laser can be irradiated for a relatively longer time in the second treatment area ROT2, so that the treatment efficiency can be improved.

On the other hand, for the second treatment area ROT2, the number of treatments can be set to be larger than that of the first treatment area ROT1. This will be described with reference to Fig. 19 attached hereto. 19A shows that the robot arm 100 irradiates the surface of the object 400 along the guide path GP within the region of interest ROI and performs laser treatment one time, (B) may correspond to a second treatment after the first treatment is completed.

19A, in the first treatment, the robot arm 100 is moved in the section from X1-X3 section, X4-X8 section and the eighth point X8 to the start of the deceleration section D3, The laser is irradiated, and the frequency of the laser can be set equal to the first frequency f1.

Referring to FIG. 19B, in the second treatment process, the robot arm 100 irradiates the laser in the X2-X3 section, the X5-X6 section, and the 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, in the second treatment area ROT2, a therapeutic effect similar to that of the laser of the second frequency f2 may occur.

On the other hand, it may be desirable to set the guide path GP to a spiral. The following is a look at this.

Referring to FIG. 20, it is possible to set the helical guide path GP to start from the central region of the ROI and end at the outer periphery. That is, the starting point Ps of the guide path GP may be located in the central region of the ROI relatively more than the end point Pt.

In this way, if the guide path GP is set to be helical, the robot arm 100 is prevented from suddenly changing directions, so that the laser beam can be irradiated more uniformly on the surface of the object 400. [

Even in the case of setting the helical guide path GP, as in the case of FIG. 21, the guide path GP can pass the second general area RON2 and the treatment area ROT together.

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

Referring to FIG. 22, it is also possible that the guide path GP is out of the ROI. In such a case, it is possible to irradiate the treatment area (ROT) more densely to enhance the therapeutic effect.

It is possible to turn off the laser corresponding to a portion of the guide path GP that deviates from the region of interest (ROI).

The shape of the guide path GP can be variously changed under a spiral condition.

For example, as in the case of FIG. 23, it is possible to set the guide path GP to an elliptical shape when the treatment area ROT is elliptical.

In the present invention, it is preferable that the end effector 101 of the robot arm 100 irradiate the laser beam substantially perpendicularly to the surface of the object 400, as in the case of Fig. 24, in order to enhance the therapeutic effect and improve the treatment precision can do.

To this end, the robot arm 100 may desirably have a degree of freedom (DOF). In particular, it may be desirable for the robot arm 100 to have at least five degrees of freedom, and it may be more desirable to have six degrees of freedom for exceptional circumstances.

A laser irradiation experiment using the laser irradiation apparatus 10 according to the present invention is shown in Figs. 25 to 26. Fig.

25, a robot arm 100 including a laser emitter, a motor, a motor drive, a reflection mirror, and an end effector EE is mounted on a human hair- There is disclosed an example of a case in which a laser is irradiated to the surface of the object 400 in FIG.

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

When the laser firing unit fires the laser, the reflection mirror can reflect it at a predetermined angle to reach the end effector.

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

Referring to FIG. 26, it can be seen that the guide path GP is set spirally on the surface of the object 400. FIG. 26 shows that the laser is irradiated to the surface of the object 400 for a predetermined period of time and is implemented in the form of a guide path GP.

On the other hand, it is possible to stop the laser irradiation or modify the guide path depending on the situation. The following is a look at this.

Referring to FIG. 27, it is possible to determine whether the object 400 is moving (S200) after setting a guide path GP or irradiating a laser beam. For example, in the case of a human head of the object 400, it is possible to determine whether or not there is movement in a specific region by observing a specific region such as nose, both eyes, and the like. Alternatively, when the surface of the object 400 moves, for example, the skin of the person 400 may move even if there is movement of the skin due to a seizure or the like in the face skin of a person.

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

On the other hand, if it is determined that there is motion of the object 400, the amount of motion of the object 400 may be measured (S220). Measuring the amount of motion of the object 400 can be seen as determining how much the object 400 has moved.

As a result of measuring the amount of motion, it is possible to determine whether the amount of motion exceeds a predetermined threshold range (S230).

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

On the other hand, when the amount of motion of the object 400 does not exceed the threshold range, the ROI may be reset (S250) by considering the amount of motion.

Here, when the scanner 300 captures the motion of the object 400 and the vision control unit 210 newly sets the ROI, it can be seen that the motion controller 220 compensates / corrects the guide path .

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

For example, as in the case of FIG. 28, if the object 400 moves 1 cm to the upper left, the ROI can also be shifted 1 cm to the upper left. Corresponding to this, the guide hardness GP can also be moved 1 cm to the upper left side.

Thereafter, the surface of the object 400 may be irradiated with laser (S270) corresponding to the corrected guide path GP.

As described above, when the movement of the object 400 occurs during the laser procedure, it is possible to modify the guide path GP according to the movement of the object 400. [

The emergency stop mode can be triggered even when vibration occurs or when a force is applied to the laser irradiation apparatus 10. [

For example, as shown in Fig. 29, it is possible to determine whether the laser irradiation apparatus 10 is caused to vibrate or apply a force (S300) 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, when vibration or vibration is generated as a result of the determination, vibration and / or force may be measured (S320).

As a result of the measurement, it is possible to judge whether or not a vibration exceeding a preset reference value occurs or a force exceeding a predetermined threshold value is applied (S330).

As a result of the determination, in a case where vibration equal to or larger than the reference value occurs or a force exceeding a threshold value is applied, the emergency stop mode S340 can be invoked. In this case, the laser irradiation can be stopped urgently.

On the other hand, if the generated vibration is below the reference value or the applied force is below the threshold value, the ROI may be reset (S350) considering vibration and / or force.

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

Thereafter, the surface of the object 400 may be irradiated with laser (S370) corresponding to the corrected guide path GP.

For example, when an earthquake occurs during the procedure and vibration of the robot arm 100 exceeds a reference value, the laser irradiation apparatus 10 is stopped urgently and the laser irradiation can be stopped. Or, if a user (physician, etc.) finds a procedure error during the procedure and grasps the robot arm 100 by hand and urges the laser irradiation apparatus 10 to stop when the force exceeding the threshold value is applied to the robot arm 100 The laser irradiation can be stopped.

As described above, it is to be understood that the technical structure of the present invention can be embodied in other specific forms without departing from the spirit and essential characteristics of the present invention.

It should be understood, therefore, that the embodiments described above are to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than the foregoing description, And all changes or modifications derived from equivalents thereof should be construed as being included within the scope of the present invention.

Claims (16)

Constructing a three-dimensional image of the object;
Setting a region of interest (ROI) on the surface of the object on the three-dimensional image;
Setting a guide path of a spiral passing through the region of interest; And
Irradiating a surface of the object with a laser corresponding to the guide path;
≪ / RTI > The method according to claim 1,
Wherein the irradiation of the laser is terminated at a periphery starting from a central region of the region of interest. The method according to claim 1,
Wherein the 3D image is composed of a 2D image and depth information. The method according to claim 1,
The step of setting the ROI
Detecting a treatment portion in which at least one of a color or a brightness of a surface of the object is different from the surroundings; And
Setting the region of interest to include the treatment region;
≪ / RTI > 5. The method of claim 4,
Wherein the guide path passes through the treatment zone and the laser is irradiated onto the treatment zone. 5. The method of claim 4,
Adjusting at least one of the frequency, irradiation time, number of times of irradiation, or intensity of the laser according to at least one of the color or brightness of the treatment area. The method according to claim 1,
And modifying the guide path in accordance with movement of the object when movement of the object occurs during a procedure. The method according to claim 1,
Wherein the laser is irradiated by a robot arm equipped with an end-effector. A vision control unit for constructing a three-dimensional image of the object and setting a region of interest (ROI) on the surface of the object on the three-dimensional image;
A motion controller for setting a guide path of a spiral passing through the region of interest; And
A laser unit for irradiating a laser on a surface of the object corresponding to the guide path;
/ RTI > 10. The method of claim 9,
Wherein the laser begins at a central region of the region of interest and ends at an outer region. 10. The method of claim 9,
Further comprising a scanner that scans an object to obtain a 2D image and depth information,
Wherein the three-dimensional image is configured based on the two-dimensional image and the depth information. 10. The method of claim 9,
The vision control unit
Detecting a treatment portion in which at least one of a color or a brightness of the surface of the object is different from the surrounding portion, and sets the region of interest to include the treatment region. 13. The method of claim 12,
Wherein the guide path passes through the treatment zone and the laser is irradiated onto the treatment zone. 13. The method of claim 12,
Wherein the controller adjusts at least one of a frequency, an irradiation time, an irradiation count, and an intensity of the laser according to at least one of a color or brightness of the treatment area. 10. The method of claim 9,
And modifying the guide path in accordance with movement of the object when motion of the object occurs during a procedure. 10. The method of claim 9,
Wherein the laser unit comprises a robot arm equipped with an end-effector.

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