WO2022224123A1

WO2022224123A1 - Robotic epilation workplace and method of epilation performed at this workplace

Info

Publication number: WO2022224123A1
Application number: PCT/IB2022/053608
Authority: WO
Inventors: František Okál; František Duchoň; Ľuboš Chovanec; Martin Dekan; Martin Lučan; Daniel Zach
Original assignee: Slovenská Technická Univerzita V Bratislave
Priority date: 2021-04-19
Filing date: 2022-04-18
Publication date: 2022-10-27

Abstract

Robotic epilation workplace includes a robot designed for use in human applications, a projector of the structured light and 3D visual system placed above the working space and control computer of the workplace, which is connected with the projector of the structured light and 3D visual system and the control of the robot. The laser epilator is formed by the head (2) equipped by the handle (9) designed for manual manipulation, and the grip (8) for attachment to the robotic arm (1), whereby the collimator (11), the electric connection (12) to the switch (10), and the optical cable (13) for guidance of the laser discharge are placed in the head (2), and on the operating end there is an effective opening (15) and outlet (16) of the cooling air from the inlet (14) of the air for cooling. The method of the laser epilation involves a control of the end effector of the robot in the manual mode on the basis of manual guiding of the robot's end effector while maintaining the preset distance of the epilator from the treated surface, or in the semi-autonomous mode, where the robot, pursuant to the instructions of the operator through the control computer (6) of the workplace, conducts the epilation autonomously.

Description

ROBOTIC EPILATION WORKPLACE AND METHOD OF EPILATION PERFORMED AT THIS WORKPLACE

Field of technology

The invention belongs to the field of epilation devices, mainly for laser epilation, and it concerns a semi-autonomous robotic epilation workplace and method of epilation (mainly cosmetic epilation) on human or animal body, which is realized on this workplace.

Prior state of the art

During the laser removal of the hairs the highly concentrated light enters the hair follicle, whereby various known laser devices are used for this purpose. The treatment of larger surfaces by these devices is, however, time consuming and it requires qualified personnel and, at the same time, the manual treatment is relatively imprecise. The procedure for permanent removal of the hairs must be repeated 6 to 8 times. There are many producers of laser epilators, for example Syneron Medical Ltd. (Gentle Pro Series device), Sciton Inc. (BroadBand Light device) or Alma Lasers Ltd. (Soprano Titanium device), Cynosure Inc., Cutera Inc., Lumenis Ltd., Lutronic Corp., Lynton Lasers Ltd., Solta Medical Inc., Strata Skin Sciences Inc. Venus Concept Canada Corp. and EpiCare ZenithTM. All these known devices are operated manually. The goal of this invention is to significantly remedy the disadvantages of the prior state of the art, mainly to increase the efficacy of the available treatment of the larger surface, where the treatment must be realized gradually in strips side by side. The goal of the invention is to significantly decrease the time the personnel must spend with the treated person during a single procedure, too.

A device pursuant to publication DE102017116004 A1 is known, which uses a robot for laser removal of tattoos. The robot is equipped by touch and pressure sensors which control the fine touch of the processual head and its movement on the skin. It is difficult in this solution to ensure the safety and comfort of the treated person, where it is necessary to ensure the sufficient fineness of touch of the processual head and also cooling of the treated surface of the skin. A new solution of the epilation workplace is desired and not known, which will produce - using commercially available machines and devices - an autonomous robotized system for epilation with high levels of safety and comfort.

Essence of the invention

The subject matter of this invention is the robotic epilation workplace including an epilator, a robot to be used in human, mainly medical applications and for work with a human in a common space, and a control computer of the workplace with which the control of the robot and the epilator is connected, where the epilator is connected on the robot’s effector, whereby the essence of the invention lies in the fact that it includes a projector of a structured light and 3D visual system where the projector of the structured light is directed onto the treated surface or at least onto one part of the treated and 3D visual system is arranged for scanning (sensing) of the image projected by the projector onto the treated surface, whereby the controlling computer of the workplace and the control of the robot are arranged for assessment of the spatial position of the treated surface and the contactless movement of the epilator above the treated surface in the set distance from the treated surface.

The term “3D visual system” denotes a system, machine or device, which can, on the basis of optical scanning of the treated surface, produce a spatial image of the treated surface, for example in form of point cloud. Point could is a set of points where each point has its position defined in space, usually using three X, Y, Z coordinates. Subsequently the spatial model of the treated model can be produced in the control computer of the workplace from the point cloud. A level set method (LSM) can be used, or other methods. In another arrangement the polynomials, spline curves and surfaces can be generated.

The term “effector” in this text denotes the working organ of the robot; it can be any gripper or connecting plate and so on.

The term “epilator” in this text denotes any device for non-invasive epilation, whereby various effective mechanisms with respective medical and/or cosmetic approval can be used.

In the preferable arrangement a laser epilator is used, whereby this is formed by the head equipped by the handle for manual manipulation and grip for attachment to the robotic arm, whereby a collimator, an electric connection to the switch, and an optical cable for laser discharge guidance, are mounted in the head, and an effective opening and the output of the cooling air from the inlet of the air for cooling is on the operating end of the head. The head is boat-shaped and the switch for switching the manual mode of the end effector of the robotic arm is placed on the head.

In one of the realized examples in the invention a robotic arm pursuant to ISO 10218 standard in category of robot-human cooperation denoted as “Power and Force limiting” was used. It holds for this category of robotic systems that it is possible to share the common working space with the human when robot is active and operating. In “Power and Force limiting” category there are many robot producers, the main ones are ABB with YuMi robot, Fanuc with CR iA robots, KUKA with LBR iiwa robot, Motoman Yaskawa with HC10 robot, Staubli with TX2 series robots and Universal Robots with UR series robots. These robots have low payload and lower speeds compared to standard industrial robots, and lower moving matter (variously rounded shapes). The safety of the workplace in cases of such robots is linked not only to the robot’s body, but also to all moving parts, including end effector. If the end effector is a sharp object, it is not possible to realize the sharing of the workplace between human and robot. Moreover, in case these robots are put in action in medical workplaces, a thoroughgoing medical certification is required. In order to verify our invention, we have used KUKA LBR Med robot, which is certified in IECEE CB scheme, being first in the world with such certification. Deploying robotic arms in medical workplaces therefore requires certification pursuant to international standards IEC 60601-1 and IEC 62304.

A sensor of the movement of the treated surface can be part of the workplace, too, whereby the sensor detects the movement of the body or part of the body of the treated person. This sensor can have a form of independent contactless optic sensor or it can be part of the 3D visual system, too. After detecting the eventual movement within the set margin of error, a new visual scanning of the treated surface is realized and the epilation proceeds with amended data, or the treatment is interrupted, the operating arm of the robot moves away and epilation proceeds only after the new position of the treated person is stabilized.

The deficiencies in the prior state of the art are significantly remedied by the epilation method where the epilator moves above the treated surface by means of a robot designed for use in human, mainly medical applications and for work with human in a common space pursuant to this invention which essence lies in the fact that the projector of the structured light shines at least on part of the treated surface; the image produced on the treated surface is scanned by 3D visual system; a spatial image of the treated surface is produced from the scanned image and subsequently the spatial work surface is generated which in the set distance copies the treated surface and is above the treated surface; the work surface is divided into the application strips with the width pursuant to the operating width of the epilator and subsequently the epilator moves alongside application strips on the work surface, whereby basically a constant angle of deviation of the epilator from the normal line of the work surface at a given point is maintained; preferably the epilator is perpendicularly oriented onto the treated surface.

An important feature of the proposed invention is the contactless operation of the action member, that is, an epilator, in the set distance from the treated surface. This not only increases the safety of the operation of the robot in the vicinity of the human, but it also increases the comfort of the treated person. Firstly, a data image depicting the treated surface is produced, and this image discloses the surface of the treated surface in 3D. A projector of the structured light and the 3D visual system are used for this purpose, whereby these are connected with the control computer of the workplace, as disclosed in the description of the workplace. Subsequently, the data depicting the spatial work surface are produced, whereby the work surface copies the treated surface at distance which is set pursuant to special optimal distance of the given epilator. Such produced work surface describes the surfaces where the epilator’s head will subsequently move. The work surface is divided into neighboring application strips whose width basically corresponds to the effective operating width of the epilator. The application strips define the width affected by the epilator in a single transition. Subsequently the instruction for the movement of the end operating member of the robot with the attached epilator is issued in such a way that the head of the epilator moves on the working surface, whereby the epilator moves along lines of application strips, preferably in longitudinal axes of the application strips.

Such method allows for epilation to be realized effectively from the point of view of maintaining the desired effective distance of the head of the epilator from the treated surface and it also achieves that the treated surface is affected by the desired energy or for the desired time, respectively, and it is not treated in undesired way. The edges of the neighboring application strips can be set in such a way that they do not mutually overlap, or that they overlap only in the acceptable level. It can also be set that the treatment does not take place in sequence in individual application strips, but that the treatment leaps between the strips in such a way that the treatment takes place with pauses within a given zone. For example, after the treatment in the first application strip the epilator can move e.g. to the fifth application strip and then move e.g. to the third application strip and them move e.g. to the seventh application strip and then move e.g. to the second application strip and so on. This creates pauses for natural local cooling of the treated surface. Such method cannot be easily realized manually, since the personnel would not remember the exact spatial position of already affected application strips and this would lead to leaving out of application strips or undesired repetition.

The data concerning the realized treatment of the individual parts of the treated surface are stored in the control computer of the workplace, whereby the intensity of the treatment can be set for whole treated surface, or the intensity can vary. This can be achieved by regulation of the epilator’s performance or by change in the speed of the movement of the epilator, which achieves varying times of application in various parts of the treated surface. All realized movements and times of the application can be stored in the memory for later assessment of the effects or for use in next repetition of the intervention. The boundaries of the treated surface are stored in the control computer’s memory also so that epilation can continue after the change of the position of the treated person, for example when turning from the position on the back onto position on the belly. In such case the program in the control computer delimits the boundaries of already treated surface from the opposite side of the limb or other part of the treated person.

On the basis of recognition of skin anomalies in the scanned image, or on the basis of manual input of skin anomalies by the personnel, the epilator can avoid, while moving on the work surface, some points or zones, or the epilator can turn itself off when moving above these points or zones. In this way the epilation in place of birthmark or suspicious pigment spot can be avoided.

The generation of work surface will usually take place in the control computer of the workplace, where the data spatially containing the scanned treated surface are sent from 3D visual system. The control computer of the workplace will cooperate with the control of the robot where the instructions for the movement of the end working member of the robot are sent. At the same time, the required angle of the epilator will be maintained, usually it will be a perpendicular position against treated surface in the given place. At the same time, it will be controlled that there is no collision of any part of the robot with any other parts of the treated person’s body.

The end effector of the robot will in preferable arrangement be designed for a manual operation, too, where in the manual mode the preset distance of the epilator from the treated surface is maintained when the end effector of the robot is manually led above that surface, and this all on the basis of data processed in the control computer of the workplace from the 3D visual system, whereby the overlimit radiation (lighting) of the irradiated (lighted) point is continuously checked. In another mode the robot will autonomously realize the laser operation pursuant to the instructions issued by an operator through the control computer of the workplace, and on the basis of scanning of the treated surface by 3D visual system, whereby the scanning is followed by segmentation of the treated surface where the segmentation includes the setting of limits, then the scanning in multiple steps, where the first scan is used to assess the position of the part with the treated surface and this information is combined with the information about position of limits; epilation points are generated between limits from the scanned surface, whereby the trajectories for the epilation are generated subsequently in the neighboring pairs, whereby the two neighboring trajectories are perpendicular onto the part with the treated surface and shifted by the distance defined as diameter of the epilation head of the laser operator, where each epilation point from the trajectory is defined by its position, orientation and order within trajectory, whereby already treated points are stored in the database of the control computer of the workplace.

The workplace uses the robotized system during laser operation, where a human - an operator - can safely enter the working space of the robot. The robotized system has a safe design of the end effector of the robot, whereby even operation of this part is safe in the shared environment with a human. The system works in two modes. In the first mode the end effector is led manually by the operator, whereby the control computer assesses the distance from the treated surface of the skin and at the same time it checks that the same spot is not irradiated beyond set limit. In the second mode it operates as a semi-autonomous system, where the robot, pursuant to the operator’s instructions issued through the control computer of the workplace, conducts autonomous laser epilation. The robotized system also optimizes its operation and does not return - or prevents an operator from returning - to the same place so that it is irradiated again.

Description of drawings

The invention is further disclosed on figures 1 to 4. The workplace pursuant to this invention is depicted on the attached drawings for illustration purposes, where fig. 1 depicts the overall view of the workplace and fig. 2 is a detail view of the robot’s end effector with the epilator attached. Figure 3 is a schematic depiction of the treated surface, work surface, normal line of the treated surface in the place of treatment. The depicted distance of the work surface from the treated surface is for illustration purposes only and it is amended in order to enhance clarity. Subsequently, figure 4 is a groundplan view of the generation of the application strips. In another example the application strips can be led in another direction, for example, alongside the limb. The lower part of the drawings depicts point cloud scanned by 3D visual system.

Example of realization

The invention according to this example is disclosed with reference to fig. 1 to 4. A semi-autonomous robotic epilation workplace according to this example includes robot designed and certified for use in human - and in this example, in particular, medical - applications which meets the criteria for work with human in shared space; in particular, KUKA LBR Med robot is used. The robot as an existing whole typically includes a base 7, a robotic arm 1 and control 3 of the robot. An end effector with laser epilator is attached to the robotic arm 1 The end effector, as per fig. 2, is formed by a head 2 designed for manual guidance, too. The head is equipped by the grip 8 for attachment to the robotic arm 1 and a handle 9 for manual manipulation with the head 2. A switch 10 for switching of the end effector of the robotic arm 1 to the manual mode is preferably placed on the handle 9.

A collimator 1_1 is attached to the head 2. An electric connection 12 to the switch 10, an optical cable 3 for guidance of the laser discharge, and an inlet 14 of the air for cooling, are led to the head 2. The head 2 contains on the operating end an effective opening 5 and outlet 16 of the cooling air from the inlet 14 of the air for cooling.

The head 2 is basically boat-shaped, whereby the handle 9 is an integral part of this shape and it allows to grasp the head 2 on its operating end where there is an effective opening 15 and outlet 16 of the cooling air.

The workplace further includes projector 5 of the structured light, 3D visual system 4 and control computer 6 of the workplace, which is connected to the control 3 of the robot.

The device uses a navigation system formed by the abovementioned projector 5 of the structured light and 3D visual system 4 with the localization of the areas which are to be treated in connection with the power-flexible robot certified for use in medical applications. This device was tested in the laboratory setting (TRL 4). The device operates in two modes.

In the manual control mode, by the switching of the switch of the manual mode on, the operator manually guides the end effector of the robot, that is, the head 2, by means of the handle 9 above the treated surface of the human body, whereby the algorithms of processing the data from the 3D visual system 4 realized in the control computer 6 of the workplace help the operator to maintain the set distance of the laser epilator, in this example 2 cm, from the treated surface of the human body, and at the same time they check whether the irradiated point was not irradiated beyond limit within the realized procedure.

In the semi-autonomous regime, where treated surface - that is, usually the surface of the skin of the human limb, although the device can also be used for back or chest - is first scanned by the 3D visual system 4 pursuant to the operator’s instructions issued through the control computer 6 of the workplace. Subsequently the segmentation of this surface is realized in the manner disclosed further.

Segmentation of the surface is defined by the limits in form of simple plastic strips containing bar codes, in particular AprilTag.

The scanning takes place in multiple steps in order to ensure the high consistency of the data. The first scan is used as a rough assessment of the position of the limb and this information is connected with the information about the position of bar codes.

Between these limits, that is, between positions of bar codes, the epilation points are generated from the scanned surface, whereby the trajectories for epilation are generated subsequently in neighboring pairs. Two neighboring trajectories are usually perpendicular onto the limb and shifted by the distance of the diameter of the epilation head.

Each epilation point from the trajectory is defined by its position, orientation and order within the trajectory.

The points already treated by the robot are stored in the database.

The operator can in the service software of the control computer 6 of the workplace choose the areas where s/he does not want to conduct laser epilation, too, for example due to the presence of birthmarks and so on. The generated trajectories ensure the perpendicular movement of the end effector with the laser epilator, in this example in distance of 2 cm from the treated surface of the skin. Industrial applicability

Industrial applicability is obvious. The semi-autonomous epilation workplace pursuant to this invention can be repeatedly produced and can be used in dermatological clinics, beauty salons and plastic surgery.

List of symbols 1 robotic arm

2 head designed for manual guidance

3 control of the robot

4 3D visual system

5 projector of the structured light 6 control computer of the workplace

7 robot’s basis with robot’s control system

8 grip for attachment of the head

9 head’s handle

10 switch of the manual mode 11 collimator

12 electric connection

13 optical cable

14 inlet of the air for cooling

15 effective opening in the head 16 outlet of the cooling air from the head

17 treated surface

18 work surface

19 application strip

Claims

PATENT CLAIMS

1. A robotic epilation workplace including an epilator, a robot for use in human, mainly medical applications and for work with a human in a share space, and a control computer (6) of the workplace, with which a control (3) of the robot and a control of the epilator is connected, where the epilator is attached on an end effector of the robot, is characterized by the fact, that it includes a projector (5) of a structured light and a 3D visual system (4), where the projector (5) of the structured light is directed onto a treated surface (17) or at least part of the treated surface (17), and the 3D visual system (4) is designed to scan an image projected by the projector (15) onto the treated surface (17), whereby the control computer (6) of the workplace and the control (3) of the robot are designed for an assessment of a spatial position of the treated surface (17) and for a contactless movement of the epilator above the treated surface (17) in a set distance from the treated surface (17).

2. The robotic epilation workplace pursuant to the claim 1 is characterized by the fact, that it includes a head (2) equipped by a handle (9) for a manual manipulation and a grip (8) for an attachment to a robotic arm (1 ).

3. The robotic epilation workplace pursuant to the claim 1 or 2 is characterized by the fact, that the epilator is a laser epilator; the workplace also includes an optical cable (13) for a guidance of a laser discharge from a source placed outside the effector of the robot, preferably outside the robot, too, whereby a collimator (11) is placed in the epilator’s head (2).

4. The robotic epilation workplace pursuant to any of the claims 1 to 3 is characterized by the fact, that the epilator has on its operating end an effective opening (15) and an outlet of a cooling air from an inlet (14) of an air for cooling.

5. The robotic epilation workplace pursuant to any of the claims 1 to 4 is characterized by the fact, that the epilator has an electric connection (12) to a switch (10); the switch (10) for switching of the end effector of the robotic arm (1) into a manual mode is placed on the, preferably boat-shaped, head (2).

6. A method of an epilation of a treated surface on a human or animal body, where an epilator moves above the treated surface (17) by means of a robot designed for use in human, preferably medical, applications, and for a work with a human in a shared space, is characterized by the fact, that a projector (5) of a structured light shines at least on a part of the treated surface (17); an image produced on the treated surface (17) is scanned by a 3D visual system (4); a spatial image is produced from the scanned image of the treated surface (17); subsequently a work surface (18) is generated, which copies the treated surface (17) in a set distance and is above the treated surface (17); the work surface (18) is divided into application strips (19) with a width pursuant to operating width of the epilator; and subsequently the epilator moves alongside the application strips (19) on the work surface (18).

7. The method of the epilation of the treated surface on the human or animal body pursuant to the claim 6 is characterized by the fact, that during the operating movement of the epilator basically a constant angle of a deviation of the epilator from a normal line of the work surface (18) is maintained in a given point; preferably the epilator is continuously directed perpendicularly onto the treated surface (17).

8. The method of the epilation of the treated surface on the human or animal body pursuant to the claim 6 or 7 is characterized by the fact, that an end effector of the robot is controlled in a manual mode on a basis of a manual guiding of the end effector of the robot above the treated surface (17) and maintained in the present distance of the epilator from this surface (17) on a basis of data processed in a control computer (6) of the workplace from the 3D visual system (4) together with simultaneous checking of an overlimit radiation of an irradiated point, or in a semi- autonomous mode where the robot pursuant to instructions of an operator from the control computer (6) of the workplace realizes the laser epilation autonomously, on the basis of scanning of the treated surface by the 3D visual system (4), which is followed by a segmentation of the treated surface (17), where the segmentation involves setting of limits, then the scanning in multiple steps, where the first scan is used to assess a position of the part with the treated surface (17), and this information is connected with an information concerning the position of the limits, whereby trajectories for the epilation are generated subsequently in neighboring pairs, whereby the two neighboring trajectories are perpendicular onto the part with the treated surface (17) and shifted by the distance equal to a diameter of an epilation head of the laser epilator, where each epilation point from the trajectory is defined by is position, orientation and order within the trajectory, whereby already treated points are stored in a database of the control computer (6) of the workplace.

9. The method of the epilation of the treated surface on the human or animal body pursuant to any of the claims 6 to 8 is characterized by the fact, that the epilator moves in a center line of the application strips (19).

10. The method of the epilation of the treated surface on the human or animal body pursuant to any of the claims 6 to 9 is characterized by the fact, that, after the operating movement within the single application strip (19), the epilator moves to the application strip (19) that is not neighboring with the just finished application strip (19) and later the epilator returns to the left-out application strip (19).

11. The method of the epilation of the treated surface on the human or animal body pursuant to any of the claims 6 to 10 is characterized by the fact, that continuously measured physical or biochemical values on the treated surface (17) are used in order to control a speed of the movement and/or a performance of the epilator.

12. The method of the epilation of the treated surface on the human or animal body pursuant to any of the claims 6 to 11 is characterized by the fact, that points or zones marked up by workplace’s personnel are left out of a treatment, whereby the epilator during the movement avoids the respective points or zones, or the epilator is temporarily turned off during the movement above the respective points or zones.

13. The method of the epilation of the treated surface on the human or animal body pursuant to any of the claims 6 to 12 is characterized by the fact, that values defining an intensity of the radiation of individual parts or points of the treated surface (17) are stored in the control computer (6); mainly a speed of the movement of the epilator in the given point and value of the performance of the epilator in the given point are stored.