WO2017080016A1

WO2017080016A1 - Skin laser treatment assistant robot and assistance method thereof

Info

Publication number: WO2017080016A1
Application number: PCT/CN2015/097793
Authority: WO
Inventors: 康健; 黄进华; 陈翔; 毕志刚; 涂亚庭; 陈静; 宋相志; 柳岸; 黄利华; 熊力; 陈小强; 陈爱军; 朱里; 蔡丽敏; 纪超; 肖哲鹏; 李炯; 林锦雯; 陈学彦
Original assignee: 康健
Priority date: 2015-11-10
Filing date: 2015-12-18
Publication date: 2017-05-18
Also published as: CN105288865B; CN105288865A

Abstract

Disclosed are a skin laser treatment assistant robot and an assistance method thereof, comprising a precisely located and moving robot, laser probes (63, 85) of the therapeutic equipment, a visual identification and control system, a ranging device (62) and a safety device (64), wherein the laser probes (63, 85) of the therapeutic equipment are mounted on the front end of the terminal of the mechanical arm (83) of the precisely located and moving robot, the ranging device (62) is mounted on the side face of the laser probes (63, 85) of the therapeutic equipment, CMOS probes (65, 84) of the visual identification and control system are mounted on the other side face of the laser probes (63, 85) of the therapeutic equipment, the safety device (64) is mounted on the front end of the laser probes (63, 85) of the therapeutic equipment, and the measured value output by the ranging device (62) and the sensing signal output by the safety device (64) are connected to the input end of the visual identification and control system, while the output of the visual identification and control system connects and controls the precisely located and moving robot. The precisely located and moving robot replacing manually operated laser therapeutic equipment for skin has the advantages of a high degree of automation, and can be precisely located and moved, etc., and guarantees highly curative, highly efficient, and safe and reliable skin laser treatment.

Description

Skin laser treatment assisted robot and its auxiliary method

Technical field

The invention relates to an important therapeutic auxiliary robot in the medical field, in particular to a skin laser treatment auxiliary robot and an auxiliary method thereof.

Background technique

With the promotion of skin laser treatment and laser cosmetic technology, there are currently 983,000 medical and beauty institutions that carry out skin laser projects nationwide. From a technical point of view, laser cosmetic treatment is mainly based on manual operation, and the degree of automation is high, and the dependence on laser treatment doctors is high. The number of doctors per 1,000 people in China is only 0.79 in Japan, only half of Germany. The demand for high-end technology such as laser treatment is increasing, and the corresponding high-quality laser treatment doctors are very scarce. The contradiction between supply and demand makes it imperative to develop a laser-assisted robot that can replace or improve artificial efficiency.

The development of medical robots and their rapid clinical application began in the early 21st century and is considered a revolution in the history of medical development. The medical robot integrates many disciplines such as medicine, biomechanics, mechanics, mechanical mechanics, computer graphics, computer vision, mathematical analysis, and robotics. It has a wide range of applications in military and civilian applications, and medical robots. The field is one of the research hotspots. Medical robot systems that have been successfully commercialized at home and abroad include: Da Vinci surgical robot systems, domestically produced surgical robots, and so on. Through the dexterous manipulation, precise positioning and preoperative planning provided by the surgeon, the surgeon can reduce the surgical wounds of the patient and quickly return to normal life after surgery, achieving the two advantages of accuracy and minimal invasiveness. At present, the research and development direction of medical robots is mainly for assisted intracavitary surgery, and the development of in vitro medical robots, especially the medical robot systems for therapeutic operation, is still in a blank stage at home and abroad.

Compared with traditional artificial techniques, medical robots have many technical advantages, such as refined, high-speed, intelligent, and minimally invasive, which can diagnose symptoms more accurately, scientifically analyze pathology, and reduce manual errors. At the same time, anti-environmental interference and overcoming the limitations of the operator's function have unparalleled advantages over manual operation. Therefore, medical robots must replace some traditional artificial techniques when China's economy continues to develop at a higher level.

At present, skin laser treatment based on manual operation does have the following insurmountable problems:

In clinical practice, qualified laser therapists often need years of theoretical study and practical experience to ensure the effectiveness of laser treatment. In special situations (eg poor light, fatigue, mood, Under the influence of peripheral interference, etc., even experienced laser doctors are prone to human error, which can lead to treatment failure or even disfigurement.

In laser therapy, most of the current commercial skin laser equipments are hand-held. The laser doctor must perform manual operation during the operation. The whole process must ensure that the laser probe is perpendicular to the surface of the target site and the distance is constant. At the same time, during the plain treatment After a single laser pulse is emitted, the laser probe is moved at a constant pitch to ensure that no treatment dead spots are left. Pure manual operation is difficult to avoid deviations, leading to over-treatment, deficiency or inhomogeneity defects, which affect the laser treatment effect to some extent.

Another important issue is that the ergonomic parameters of the skin laser device are not designed properly; or the laser reaches a certain target, and the associated other indicator exceeds the limits of human control. For example, the pulse frequency of pulsed laser equipment is up to 30HZ or above (the frequency of too low may lead to prolonged treatment time, the patient's tolerance is reduced, the operator is prone to fatigue), and the displacement limit frequency of the human hand is only 3HZ. If you want to ensure accurate displacement, the displacement frequency of the human hand will be greatly reduced. In this case, doctors often rely on the habit of sacrificing some aspect of laser treatment equipment to perform "human intervention" treatment.

Therefore, from the above points, the current laser treatment is an empirical treatment, it is difficult to guarantee the standardization of laser treatment, the treatment depends on the "hand", "pre-judgment" and "estimation" of the treating doctor, the efficacy is difficult to guarantee.

Intelligent medical robots have the natural advantages of high efficiency, accuracy, high speed, anti-interference and adjustable parameter threshold. Therefore, the scientific development and rational design of the laser treatment robot assisted system can help solve the above-mentioned "bottleneck" problems that have long plagued laser treatment.

Summary of the invention

In view of the prior art, the present invention provides a skin laser treatment assisting robot and an auxiliary method thereof, so as to achieve the purpose of high degree of automation, accurate positioning, sports intelligence, high speed, high efficacy, and high efficiency of skin laser treatment.

The technical solution adopted by the present invention is as follows:

A skin laser treatment assisting robot, comprising a precise positioning mobile robot, a therapeutic instrument laser probe, a visual recognition and control system, a distance measuring device and a safety device; the therapeutic device laser probe is installed at a position of a robot arm that precisely positions the mobile robot The front end, the distance measuring device is installed on the side of the laser probe of the therapeutic apparatus, the CMOS probe of the visual recognition and control system is installed on the other side of the laser probe of the therapeutic apparatus, the safety device is installed at the front end of the laser probe of the therapeutic apparatus; the measurement of the output of the distance measuring device Value and sensing signal output by the safety device Both are connected to the input of the visual recognition and control system, and the visual recognition is coupled to the output of the control system and controls the precise positioning of the mobile robot.

In the above technical solution, the precise positioning mobile robot adopts a multi-degree of freedom robot arm type mobile robot or a gantry type mobile robot; the gantry type mobile robot is preferred in the present invention.

In the above technical solution, the visual recognition and control system comprises a CMOS probe, an image acquisition card and an electronic computer, the CMOS probe collects image and boundary position information of the treatment area, and the electronic computer processes and stores the information collected by the CMOS probe. The CMOS probe is connected to the computer via an image capture card.

In the above technical solution, the distance measuring device adopts one or more mixed use of a laser range finder, an ultrasonic range finder, a capacitive range finder, and an infrared range finder.

In the above technical solution, the safety device is one or both of a capacitive sensor and a piezoresistive sensor; the piezoresistive sensor of the present invention is preferably used as a safety device sensor. When a capacitive sensor or piezoresistive sensor contacts human skin and there is some contact pressure, the sensor transmits information to the computer to control the emergency stop of the mobile robot.

In the above technical solution, the gantry type mobile robot and the hospital bed are connected by a rail, and the gantry type mobile robot is free to slide along the guide rail, and the gantry type mobile robot is composed of an XYZ axis moving platform and a mechanical arm rotating around the X axis and the Y axis. The action of the manipulator is realized by five-axis interpolation linkage through digital control technology; the XYZ axis moving platform can move along the X, Y, and Z axes, and the XYZ axis moving platform is composed of a base, a sliding table, a ball screw, and a guide. The column and the stepping motor are composed. The linear motion of the XYZ axis moving platform is realized by the hybrid precision stepping motor driving the ball screw and the ball screw and then driving the XYZ axis moving platform. The mechanical arm connected to the XYZ axis moving platform wraps around the X. Both the shaft and the Y-axis are driven by a stepper motor, and the hybrid precision stepper motor and stepper motor are controlled by an electronic computer output.

A method for assisting a skin laser treatment assisted robot, comprising:

1) The skin laser treatment assisting robot comprises a precise positioning mobile robot, a therapeutic laser probe, a visual recognition and control system, a distance measuring device and a safety device; the therapeutic laser probe is mounted on a robot arm for accurately positioning the mobile robot The front end, the distance measuring device is installed on the side of the laser probe of the therapeutic apparatus, the CMOS probe of the visual recognition and control system is installed on the other side of the laser probe of the therapeutic apparatus, the safety device is installed on the front end of the laser probe of the therapeutic apparatus; the output of the distance measuring device The measured values and the sensing signals output by the safety device are connected to the input of the visual recognition and control system, while the output of the visual recognition and control system Connect and control the precise positioning of the mobile robot;

2) The precise positioning mobile robot adopts a multi-degree-of-freedom robotic arm type mobile robot or a gantry type mobile robot. The gantry type mobile robot is preferred in the present invention, the gantry type mobile robot and the hospital bed are connected by a rail, and the gantry type mobile robot can be along the guide rail. Free sliding; manual positioning of the treatment area by the naked eye, and then moving the gantry mobile robot to the corresponding position, is beneficial to improve positioning efficiency;

3) Visual recognition and control system for gantry mobile robot configuration, including CMOS probe, image acquisition card, electronic computer; CMOS probe is placed on the side of the therapeutic laser probe, and CMOS probe is used to obtain the image and boundary position of the area to be treated Information, an electronic computer is used to process and store information collected by the CMOS probe; the CMOS probe is connected to the computer through the image acquisition card;

4) Accurately obtain the boundary information of the area to be treated, and the visual recognition and control system is based on the image gray-scale information free-form surface image reconstruction technology, according to the image acquired by the CMOS probe, the surface of the treated area is reconstructed to obtain the area to be treated. Accurate boundary information and position information of any point on the surface; accurate extraction of the boundary information of the treatment area by the visual recognition and control system, effectively avoiding the health damage caused by laser irradiation;

5) In order to make the optical path of the laser probe coincide with the normal vector of the target to be treated to ensure a better therapeutic effect; the visual recognition and control system obtains the position information of the point to be treated and two adjacent points through the CMOS probe, and passes The computer process obtains the normal vector position information of the treatment point and the adjacent two points to form a micro plane, and automatically stores the normal vector position information; the computer controls the movement of the mobile robot accurately by the five-axis linkage control card, and drives the laser pointer movement of the therapeutic apparatus , such that the optical path of the therapeutic probe laser probe coincides with the normal vector;

6) The effect of laser on skin treatment depends largely on the distance between the laser pointer of the therapy device and the treatment point. In order to ensure a better therapeutic effect, it is necessary to maintain a constant distance between the laser probe and the treatment point;

7) Obtaining the curved surface information and treatment requirements of the reconstructed area to be treated by the visual recognition and control system, initially setting the movement trajectory of the laser probe of the therapeutic apparatus; and simultaneously measuring the distance information of the laser probe and the treatment point according to the distance measuring device in real time, timely Position adjustment is performed; the distance measuring device may select at least one range finder to measure the same position in order to improve the ranging accuracy, and take the average value as the measured value; the present invention preferably uses two phase laser range finder to measure Distance, taking the average of the two as the final measured value;

8) In order to improve the safety of the skin laser treatment instrument assisted robot, a safety device is arranged at the front end of the laser pointer of the therapeutic device; the safety device is a mixture of one or two of a capacitive sensor and a piezoresistive sensor. The present invention preferably uses a piezoresistive sensor as a safety device sensor. When it contacts human skin and has a certain contact pressure, if the pressure exceeds a limit value, it transmits information to the computer, thereby controlling the urgency of accurately positioning the mobile robot. Stop; can effectively avoid accidental injury to the human body during the movement of the device and the therapeutic laser probe;

9) As another multi-degree-of-freedom robotic mobile robot, the motion trajectory of the end effector of the multi-degree-of-freedom robotic mobile robot is planned by a specific algorithm, and the motion of the laser probe of the therapeutic instrument is driven by the end effect device. The starting end of the mechanical arm and the support are connected by rails;

10) During the skin treatment process, if the patient has multiple different parts to be treated, at least two multi-degree-of-freedom robotic arm mobile robots can be used for simultaneous treatment, which effectively improves the treatment efficiency.

The skin laser treatment auxiliary robot of the invention replaces the manual operation skin laser treatment instrument by precisely positioning the mobile robot to drive the laser pointer movement of the therapeutic instrument, and has the advantages of high automation degree, positioning and motion precision, and is beneficial to reducing manual labor intensity and manual operation. error. The use of visual recognition and control system instead of human eye recognition, and image reconstruction of the treated area is beneficial to improve the boundary recognition accuracy of the area to be treated, and to ensure that the optical path of the laser probe and the treatment point are coincident as much as possible; Avoid laser damage to healthy skin, and ensure the efficacy of skin laser treatment. The distance measuring device of the skin laser treatment assisted robot measures the distance between the therapeutic probe laser probe and the treatment point in real time, and feeds back to the control system of the gantry mobile robot in real time, so that the position adjustment is made in time to maintain the distance between the therapeutic probe laser probe and the treatment point. Constant; further guarantees the effect of laser treatment. The skin laser treatment assisted robot is equipped with a safety sensor device to avoid accidental injury to the human body caused by the laser pointer of the device and the therapeutic device.

It should be clear that the skin laser treatment assisting robot of the present invention has versatility and can be used as an auxiliary robot for other laser therapeutic instruments.

The beneficial effects of the invention:

1. The skin laser treatment assisting robot of the present invention drives the laser probe of the skin laser therapeutic apparatus by precisely positioning the mobile robot as a carrier, instead of manual manual operation, effectively improving the accuracy and high efficiency of the laser probe movement, and simultaneously Reduced labor intensity.

2. The skin laser treatment assisting robot of the present invention is provided with a visual recognition and control system and a distance measuring device to ensure that the verticality and distance of the laser probe and the point to be treated are constant, which is beneficial to improving the treatment effect. In addition, the visual recognition control system automatically recognizes the boundary information of the lesion area, which is advantageous for improving the recognition accuracy and efficiency of the diseased tissue area, and is beneficial for reducing the risk of damage caused by laser irradiation on healthy skin.

3. The present invention is equipped with a safety device to prevent damage to the human body during the operation of the skin laser treatment assisting robot.

DRAWINGS

1 is a schematic structural view of a gantry type mobile robot;

Figure 2 is a schematic view of a therapeutic laser pointer;

3 is a schematic structural view of a multi-degree-of-freedom robotic arm type mobile robot;

Figure 4 is a flow chart of the work of the skin laser treatment assisting robot of the present invention;

Figure 5 is a schematic view showing the connection between the skin laser treatment assisting robot and the hospital bed;

Fig. 6 is a schematic view showing the working state of the skin laser treatment assisting robot.

Description of the drawing:

1-stepper motor, 2-base, 3-poster, 4-ball screw, 5-track tailstock, 61-switch, 62-ranging device, 63-therapy laser probe, 64-safety device, 65 - CMOS probe, 7-gantry mobile robot, 81-base, 82-rail slide, 83-mechanical arm, 84-CMOS probe, 85-therapeutic laser probe, 86-rangefinder, 9-bed.

detailed description

1 to 6, the skin laser treatment assisting robot of the present invention comprises a precise positioning mobile robot, a therapeutic instrument laser probe, a visual recognition and control system, a distance measuring device and a safety device; the therapeutic device laser probe is mounted on the precise Positioning the distal end of the robotic arm of the mobile robot, the distance measuring device is mounted on the side of the laser probe of the therapeutic apparatus, the CMOS probe of the visual recognition and control system is mounted on the other side of the laser probe of the therapeutic apparatus, and the safety device is installed at the front end of the laser probe of the therapeutic apparatus The measured value output by the distance measuring device and the sensing signal output by the safety device are both connected to the input of the visual recognition and control system, and the visual recognition is connected to the output of the control system and controls the precise positioning of the mobile robot.

The above-mentioned precise positioning mobile robot adopts a multi-degree-of-freedom robotic arm type mobile robot or a gantry type mobile robot; the gantry type mobile robot is preferred in the present invention.

The above visual recognition and control system comprises a CMOS probe, an image acquisition card and an electronic computer, the CMOS probe collects image and boundary position information of the treatment area, the electronic computer processes and stores the information collected by the CMOS probe, and the CMOS probe passes the image acquisition card. Connected to a computer.

The above-mentioned distance measuring device adopts one or a mixture of a laser range finder, an ultrasonic range finder, a capacitive range finder and an infrared range finder.

The above safety device is one or both of a capacitive sensor and a piezoresistive sensor; the piezoresistive sensor of the present invention is preferably used as a safety device sensor. When a capacitive sensor or piezoresistive sensor contacts human skin and there is some contact pressure, the sensor transmits information to the computer to control the emergency stop of the mobile robot.

The gantry-type mobile robot and the hospital bed are connected by a rail, and the gantry-type mobile robot is free to slide along the guide rail. The gantry-type mobile robot is composed of an XYZ-axis moving platform and a mechanical arm rotating around the X-axis and the Y-axis; the movement of the mechanical arm passes the number The control technology is realized by five-axis interpolation linkage; the XYZ axis moving platform can move along the X, Y and Z axes, and the XYZ axis moving platform is composed of a base, a sliding table, a ball screw, a guide column and a stepping motor. The linear motion of the XYZ axis moving platform is realized by the hybrid precision stepping motor driving the ball screw, the ball screw and then the XYZ axis moving platform. The robot arm connected to the XYZ axis moving platform rotates around the X axis and the Y axis. Stepper motor drive, the above hybrid precision stepper motor and stepper motor are controlled by electronic computer output.

A method for assisting a skin laser treatment assisted robot, comprising:

1) The skin laser treatment assisting robot comprises a precise positioning mobile robot, a therapeutic laser probe, a visual recognition and control system, a distance measuring device and a safety device; the therapeutic laser probe is mounted on a machine for accurately positioning the mobile robot At the end of the arm, the distance measuring device is mounted on the side of the laser probe of the therapeutic apparatus, the CMOS probe of the visual recognition and control system is mounted on the other side of the laser probe of the therapeutic apparatus, and the safety device is installed at the front end of the laser probe of the therapeutic apparatus; the distance measuring device The measured values of the output and the sensing signals output by the safety device are both connected to the input of the visual recognition and control system, and the visual recognition is coupled to the output of the control system and controls the precise positioning of the mobile robot;

4) Accurately obtain the boundary information of the area to be treated, and the visual recognition and control system is based on the image gray scale letter Free-form surface image reconstruction technology, according to the image acquired by the CMOS probe, the surface of the treated area is reconstructed, and the accurate boundary information of the area to be treated and the position information of any point on the curved surface are obtained; the visual recognition and control system treats the area The accurate extraction of the boundary information effectively avoids the health damage caused by laser irradiation;

8) In order to improve the safety of the skin laser treatment instrument auxiliary robot, a safety device is arranged at the front end of the laser pointer of the therapeutic device; the safety device is a mixture of one or two of a capacitive sensor and a piezoresistive sensor; The piezoresistive sensor acts as a safety device sensor. When it contacts the human skin and has a certain contact pressure, if the pressure exceeds the limit value, it transmits information to the computer, thereby controlling the precise stop of the mobile robot; it can effectively avoid Equipment and therapeutic instrument laser probes cause accidental injury to the human body during exercise;

Claims

A skin laser treatment assisting robot, comprising: a precise positioning mobile robot, a therapeutic instrument laser probe, a visual recognition and control system, a distance measuring device and a safety device; the therapeutic device laser probe is mounted on a precise positioning mobile robot The distal end of the arm, the distance measuring device is mounted on the side of the laser probe of the therapeutic device, the CMOS probe of the visual recognition and control system is mounted on the other side of the laser probe of the therapeutic device, and the safety device is installed at the front end of the laser probe of the therapeutic device; The measured values output by the device and the sensing signals output by the safety device are both connected to the input of the visual recognition and control system, while the visual recognition is coupled to the output of the control system and controls the precise positioning of the mobile robot.
The skin laser treatment assisting robot according to claim 1, wherein the precise positioning mobile robot employs a multi-degree-of-freedom robotic arm type mobile robot or a gantry type mobile robot; the gantry type mobile robot is preferred in the present invention.
The skin laser treatment assisting robot according to claim 1, wherein the visual recognition and control system comprises a CMOS probe, an image acquisition card, and an electronic computer, and the CMOS probe collects image and boundary position information of the treatment area, and the electronic computer The information collected by the CMOS probe is processed and stored, and the CMOS probe is connected to the electronic computer through the image acquisition card.
The skin laser treatment assisting robot according to claim 1, wherein the distance measuring device adopts one or more of a laser range finder, an ultrasonic range finder, a capacitive range finder, and an infrared range finder. Mixed use.
The skin laser treatment assisting robot according to claim 1, wherein the safety device is one or both of a capacitive sensor and a piezoresistive sensor; and the piezoresistive sensor of the present invention is preferably used as a safety device sensor. When a capacitive sensor or a piezoresistive sensor contacts human skin and there is a certain contact pressure, the sensor transmits information to the electronic computer to control the emergency stop of the mobile robot.
The skin laser treatment assisting robot according to claim 1, wherein the gantry type mobile robot and the hospital bed are connected by a rail, the gantry type mobile robot is free to slide along the guide rail, and the gantry type mobile robot is moved by the XYZ axis. And a mechanical arm rotating around the X-axis and the Y-axis; the movement of the mechanical arm is realized by a five-axis interpolation linkage by a digital control technique; the XYZ-axis moving platform can move along the X, Y, and Z axes, and the XYZ axis moves. The platform consists of a base, a slide table, a ball screw, a guide column, and a stepping motor. The linear motion of the XYZ axis moving platform is driven by a hybrid precision stepping motor to drive the ball screw and the ball screw. The moving XYZ axis moving platform is realized. The mechanical arm connected to the XYZ axis moving platform is driven by the stepping motor around the X axis and the Y axis. The hybrid precision stepping motor and the stepping motor are controlled by the electronic computer output.
A method for assisting a skin laser treatment assisted robot, comprising:

1) The skin laser treatment assisting robot comprises a precise positioning mobile robot, a therapeutic laser probe, a visual recognition and control system, a distance measuring device and a safety device; the therapeutic laser probe is mounted on a robot arm for accurately positioning the mobile robot The front end, the distance measuring device is installed on the side of the laser probe of the therapeutic apparatus, the CMOS probe of the visual recognition and control system is installed on the other side of the laser probe of the therapeutic apparatus, the safety device is installed on the front end of the laser probe of the therapeutic apparatus; the output of the distance measuring device The measured values and the sensing signals output by the safety device are both connected to the input of the visual recognition and control system, and the visual recognition is coupled to the output of the control system and controls the precise positioning of the mobile robot;

2) The precise positioning mobile robot adopts a multi-degree-of-freedom robotic arm type mobile robot or a gantry type mobile robot. The gantry type mobile robot is preferred in the present invention, the gantry type mobile robot and the hospital bed are connected by a rail, and the gantry type mobile robot can be along the guide rail. Free sliding; manual positioning of the treatment area by the naked eye, and then moving the gantry mobile robot to the corresponding position;

3) Visual recognition and control system for gantry mobile robot configuration, including CMOS probe, image acquisition card, electronic computer; CMOS probe is placed on the side of the therapeutic laser probe, and CMOS probe is used to obtain the image and boundary position of the area to be treated Information, an electronic computer is used to process and store information collected by the CMOS probe; the CMOS probe is connected to the computer through the image acquisition card;

4) Accurately obtain the boundary information of the area to be treated, and the visual recognition and control system is based on the image gray-scale information free-form surface image reconstruction technology, according to the image acquired by the CMOS probe, the surface of the treated area is reconstructed to obtain the area to be treated. Accurate boundary information and position information of any point on the surface; accurate extraction of boundary information of the treatment area by the visual recognition and control system;

5) In order to make the optical path of the laser probe coincide with the normal vector of the target to be treated to ensure a better therapeutic effect; the visual recognition and control system obtains the position information of the point to be treated and two adjacent points through the CMOS probe, and passes The computer process obtains the normal vector position information of the treatment point and the adjacent two points to form a micro plane, and automatically stores the normal vector position information; the computer controls the movement of the mobile robot accurately by the five-axis linkage control card, and drives the laser pointer movement of the therapeutic apparatus , such that the optical path of the therapeutic probe laser probe coincides with the normal vector;

6) The effect of laser on skin treatment depends largely on the distance between the laser pointer of the therapeutic device and the treatment point; in order to ensure a better therapeutic effect, it is necessary to maintain a constant distance between the laser probe and the treatment point;

7) Obtaining the curved surface information and treatment requirements of the reconstructed area to be treated by the visual recognition and control system, initially setting the movement trajectory of the laser probe of the therapeutic apparatus; and simultaneously measuring the distance information of the laser probe and the treatment point according to the distance measuring device in real time, timely Position adjustment is performed; the distance measuring device may select at least one range finder to measure the same position in order to improve the ranging accuracy, and take the average value as the measured value; the present invention preferably uses two phase laser range finder to measure Distance, taking the average of the two as the final measured value;

8) In order to improve the safety of the skin laser treatment instrument auxiliary robot, a safety device is arranged at the front end of the laser pointer of the therapeutic device; the safety device is a mixture of one or two of a capacitive sensor and a piezoresistive sensor; The piezoresistive sensor acts as a safety device sensor. When it contacts the human skin and has a certain contact pressure, if the pressure exceeds the limit value, it transmits information to the computer, thereby controlling the precise stop of the mobile robot; it can effectively avoid Equipment and therapeutic instrument laser probes cause accidental injury to the human body during exercise;

9) As another multi-degree-of-freedom robotic mobile robot, the motion trajectory of the end effector of the multi-degree-of-freedom robotic mobile robot is planned by a specific algorithm, and the motion of the laser probe of the therapeutic instrument is driven by the end effect device. The starting end of the mechanical arm and the support are connected by rails;

10) During the skin treatment process, if the patient has multiple different parts to be treated, at least two multi-degree-of-freedom robotic arm mobile robots can be used for simultaneous treatment, which effectively improves the treatment efficiency.