WO2017080016A1 - Robot d'assistance au traitement cutané laser et son procédé d'assistance - Google Patents

Robot d'assistance au traitement cutané laser et son procédé d'assistance Download PDF

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Publication number
WO2017080016A1
WO2017080016A1 PCT/CN2015/097793 CN2015097793W WO2017080016A1 WO 2017080016 A1 WO2017080016 A1 WO 2017080016A1 CN 2015097793 W CN2015097793 W CN 2015097793W WO 2017080016 A1 WO2017080016 A1 WO 2017080016A1
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Prior art keywords
laser
mobile robot
probe
treatment
therapeutic
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PCT/CN2015/097793
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English (en)
Chinese (zh)
Inventor
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
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康健
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Publication of WO2017080016A1 publication Critical patent/WO2017080016A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
    • A61B18/20—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls

Definitions

  • 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.
  • medical robots 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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, 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:
  • 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;
  • 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;
  • 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;
  • 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;
  • 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;
  • 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;
  • 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;
  • 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.
  • 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 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.
  • 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.
  • 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.
  • 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.
  • FIG. 1 is a schematic structural view of a gantry type mobile robot
  • Figure 2 is a schematic view of a therapeutic laser pointer
  • FIG. 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.
  • 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.
  • 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:
  • 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
  • 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
  • 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;
  • 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;
  • 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;
  • 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;
  • 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;
  • 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;
  • 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;
  • 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;
  • At least two multi-degree-of-freedom robotic arm mobile robots can be used for simultaneous treatment, which effectively improves the treatment efficiency.

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Abstract

L'invention concerne un robot d'assistance au traitement cutané laser et son procédé d'assistance, comprenant un robot mobile et précisément localisé, des sondes laser (63, 85) de l'équipement thérapeutique, un système d'identification visuelle et de commande, un dispositif de télémétrie (62) et un dispositif de sécurité (64), les sondes laser (63, 85) de l'équipement thérapeutique sont montées sur l'extrémité avant de la borne du bras mécanique (83) du robot mobile et précisément localisé, le dispositif de télémétrie (62) est monté sur la face latérale des sondes laser (63, 85) de l'équipement thérapeutique, des sondes CMOS (65, 84) du système d'identification visuelle et de commande sont montées sur l'autre face latérale des sondes laser (63, 85) de l'équipement thérapeutique, le dispositif de sécurité (64) est monté sur l'extrémité avant des sondes laser (63, 85) de l'équipement thérapeutique, et la valeur mesurée délivrée en sortie par le dispositif de télémétrie (62) et le signal de détection délivré en sortie par le dispositif de sécurité (64) sont liés à l'extrémité entrée du système d'identification visuelle et de commande, alors que la sortie du système d'identification visuelle et de commande est reliée au robot mobile et précisément localisé et le commande. Le robot mobile et précisément localisé remplaçant un équipement thérapeutique laser manuel pour la peau a l'avantage de présenter un degré élevé d'automatisation, et peut être précisément localisé et déplacé, etc., et garantit un traitement cutané laser hautement curatif, très efficace, sûr et fiable.
PCT/CN2015/097793 2015-11-10 2015-12-18 Robot d'assistance au traitement cutané laser et son procédé d'assistance WO2017080016A1 (fr)

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CN201510757714.1A CN105288865B (zh) 2015-11-10 2015-11-10 皮肤激光治疗辅助机器人及其辅助方法
CN201510757714.1 2015-11-10

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