WO2017080016A1 - 皮肤激光治疗辅助机器人及其辅助方法 - Google Patents

皮肤激光治疗辅助机器人及其辅助方法 Download PDF

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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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laser
mobile robot
probe
treatment
therapeutic
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PCT/CN2015/097793
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English (en)
French (fr)
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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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    • 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

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  • 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

一种皮肤激光治疗辅助机器人及其辅助方法，包括精确定位移动机器人、治疗仪激光探头（63，85）、视觉识别与控制***、测距装置（62）和安全装置（64）；所述的治疗仪激光探头（63，85）安装于精确定位移动机器人的机械臂（83）末位前端，测距装置（62）安装于治疗仪激光探头（63，85）的侧面，视觉识别与控制***的CMOS探头（65，84）安装于治疗仪激光探头（63，85）的另一侧面，安全装置（64）安装于治疗仪激光探头（63，85）前端；测距装置（62）输出的测量值和安全装置（64）输出的传感信号都连接至视觉识别与控制***的输入端，而视觉识别与控制***的输出连接并控制精确定位移动机器人。由精确定位移动机器人取代人工操作皮肤激光治疗仪，具有自动化程度高，定位、运动精准等优势，保证了高疗效、高效率、安全可靠的皮肤激光治疗。

Description

皮肤激光治疗辅助机器人及其辅助方法 技术领域
本发明涉及医学领域一种重要的治疗辅助机器人，具体涉及一种皮肤激光治疗辅助机器人及其辅助方法。
背景技术
随着皮肤激光治疗、激光美容技术的推广，目前全国开展皮肤激光项目的医疗、美容机构多达98.3万家。从技术水平上看，激光美容治疗基本以手工操作为主，自动化程度底，对激光治疗医生的依赖性高。而我国每千人的医生人数仅为日本的0.79，仅为德国的一半。人们对激光治疗这种高端技术需求不断增加，而相应的高素质激光治疗医生十分缺乏，上述供需矛盾使得研发一种能够替代或提高人工效率的激光治疗辅助机器人迫在眉睫。
医用机器人得到开发并迅速投入临床应用始自于21世纪初，被认为是医学发展史上的一次革命。医用机器人集医学、生物力学、机械学、机械力学、计算机图形学、计算机视觉、数学分析、机器人等诸多学科为一体的新型交叉研究领域，在军用和民用上有着广泛的应用前景，而医用机器人领域是其中的研究热点。国内外已成功商品化的医疗机器人***包括：达芬奇手术机器人***、国产妙手外科手术机器人等。外科医生透过它所提供的灵巧操控、精准定位以及术前规划，可以使得病患手术伤口减小、术后迅速恢复正常生活等，达到精准性和微创性两大优点。目前医用机器人研发方向主要为辅助腔内手术，而针对体外医用机器人的研发，尤其是进行治疗性操作的医用机器人***，国内外尚处于空白阶段。
医用机器人与传统人工技术相比有许多技术优势，具有精细化、高速化、智能化、微创化的特点，可以更精确地诊断症状，科学分析病理，降低人工操作失误。同时，抗环境干扰、克服术者机能极限等方面较人工操作具有无可比拟的优势。因此，医用机器人在我国经济持续高速发展进入更高层次的时候必定替代一部分传统的人工技术。
目前，以人工操作为主的皮肤激光治疗确实存在如下难以克服的问题：
在临床实践中，合格的激光治疗师往往需要具备多年的理论学习和实践操作经验，才能确保激光治疗的效果。在特殊的情况(如：光线不佳、疲劳、情绪、 周边干扰等)下，即使经验丰富的激光医生也容易出现人为操作失误，严重者可导致治疗失败，甚或毁容。
在激光治疗术中，目前商用的皮肤激光设备大部分为手持式，激光医生在施行操作中必须手动，全程治疗必须保证激光探头与靶部位皮肤的表面垂直、距离恒定；同时，平扫治疗时，单次激光脉冲发射后，激光探头要以恒定间距移动，以确保不遗留治疗死角。纯手工操作难以避免产生偏差，导致治疗过度、不足或不均一等缺陷，在一定程度上影响激光治疗效果。
另一个重要的问题是皮肤激光设备的人机工程学参数设计不合适；或为激光达到某一特定指标，而相关联的另一个指标超过人为控制的极限。如：脉冲激光设备的激光脉冲频率最高达到30HZ以上(过低的频率可能导致治疗时间延长，患者耐受度下降，术者易疲劳)，人手的位移极限频率仅仅3HZ。如果要保证精准位移，人手的位移频率还要大大下降。在这种情况下，医生往往只能凭习惯，牺牲激光治疗设备的某方面优势，来进行“人为干预式”的治疗。
因此，从上述几点来看，目前的激光治疗是经验式的治疗，难以保证激光治疗的规范性，治疗取决于治疗医生的“手法”、“预判”和“估计”，疗效难于保证。
智能化医用机器人具有高效、精确、高速、抗干扰、参数阈值可调等天然优势。因此，科学的开发并合理的设计出激光治疗机器人辅助***，有助于解决上述几个长期困扰激光治疗的“瓶颈”难题。
发明内容
鉴于现有技术，本发明提供一种皮肤激光治疗辅助机器人及其辅助方法，以实现自动化程度高、定位精准、运动智能、高速、高疗效、高效率的皮肤激光治疗目的。
本发明采用的技术方案如下：
一种皮肤激光治疗辅助机器人，包括精确定位移动机器人、治疗仪激光探头、视觉识别与控制***、测距装置和安全装置；所述的治疗仪激光探头安装于精确定位移动机器人的机械臂末位前端，测距装置安装于治疗仪激光探头的侧面，视觉识别与控制***的CMOS探头安装于治疗仪激光探头的另一侧面，安全装置安装于治疗仪激光探头的前端；测距装置输出的测量值和安全装置输出的传感信号 都连接至视觉识别与控制***的输入端，而视觉识别与控制***的输出端连接并控制精确定位移动机器人。
上述技术方案中，所述的精确定位移动机器人采用多自由度机械臂式移动机器人或龙门式移动机器人；本发明优选龙门式移动机器人。
上述技术方案中，所述视觉识别与控制***，包括CMOS探头、图像采集卡和电子计算机，CMOS探头采集治疗区域的图像和边界位置信息，电子计算机对CMOS探头所采集的信息进行处理和存储，CMOS探头通过图像采集卡与电子计算机相连。
上述技术方案中，所述的测距装置采用激光测距仪、超声波测距仪、电容式测距仪、红外测距仪的一种或多种混合使用。
上述技术方案中，所述的安全装置为电容式传感器、压阻式传感器的一种或两种使用；本发明优选压阻式传感器作为安全装置传感器。当电容式传感器或压阻式传感器接触到人体皮肤并存在一定接触压力时，传感器将信息传递至电子计算机，从而控制精确定位移动机器人的急停。
上述技术方案中，所述的龙门式移动机器人与病床采用导轨式连接，龙门式移动机器人沿着导轨自由滑动，龙门式移动机器人由XYZ轴移动平台及绕X轴和Y轴旋转的机械臂组成；机械臂的动作通过数字控制技术由五轴插补联动实现；所述的XYZ轴移动平台能沿着X、Y、Z轴移动，XYZ轴移动平台由底座、滑台、滚珠丝杠、导柱、步进电机组成，XYZ轴移动平台的直线运动由混合式精密步进电机驱动滚珠丝杠、滚珠丝杠再驱动XYZ轴移动平台来实现，连接于XYZ轴移动平台上的机械臂绕X轴和Y轴旋转均由步进电机驱动，上述混合式精密步进电机和步进电机均由电子计算机输出控制。
一种皮肤激光治疗辅助机器人的辅助方法，包括：
1)所述皮肤激光治疗辅助机器人，包括精确定位移动机器人、治疗仪激光探头、视觉识别与控制***、测距装置和安全装置；所述的治疗仪激光探头安装于精确定位移动机器人的机械臂末位前端，测距装置安装于治疗仪激光探头的侧面，视觉识别与控制***的CMOS探头安装于治疗仪激光探头的另一侧面，安全装置安装于治疗仪激光探头的前端；测距装置输出的测量值和安全装置输出的传感信号都连接至视觉识别与控制***的输入端，而视觉识别与控制***的输出端 连接并控制精确定位移动机器人；
2)所述精确定位移动机器人采用多自由度机械臂式移动机器人或龙门式移动机器人，本发明优选龙门式移动机器人，龙门式移动机器人与病床采用导轨式连接，龙门式移动机器人可沿着导轨自由滑动；人工通过肉眼对治疗区域进行初步定位，然后将龙门式移动机器人移动至相应位置，有益于提高定位效率；
3)龙门式移动机器人配置的视觉识别与控制***，包括CMOS探头、图像采集卡、电子计算机；其中CMOS探头置于治疗仪激光探头的侧面，CMOS探头用于获取待治疗区域的图像和边界位置信息，电子计算机用于对CMOS探头所采集的信息进行处理和存储；CMOS探头通过图像采集卡与计算机相连；
4)准确获得待治疗区域的边界信息，视觉识别与控制***基于图像灰度信息自由曲面图像重构技术，根据CMOS探头采集的图像，对待治疗区域的曲面进行组织重构，获得待治疗区域的准确边界信息和曲面上任意点的位置信息；视觉识别与控制***对待治疗区域的边界信息的准确提取，有效地避免激光照射对健康的伤害；
5)为了使得激光探头的光路与待治疗靶部位的法矢重合，以保证较好的治疗效果；视觉识别与控制***，通过CMOS探头获取待治疗点和相邻不同两点的位置信息，通过电子计算机处理获得治疗点与相邻两点构成微小平面的法矢位置信息，并自动存储该法矢位置信息；计算机通过五轴联动控制卡控制精确定位移动机器人的运动，驱动治疗仪激光探头运动，使得治疗仪激光探头的光路与该法矢重合；
6)激光对皮肤治疗的效果很大程度取决于治疗仪激光探头与治疗点的距离。为了保证较好的治疗效果，需维持激光探头与治疗点恒定的距离；
7)通过视觉识别与控制***获得重构的待治疗区域的曲面信息和治疗要求，初步设定治疗仪激光探头的运动轨迹；同时根据测距装置实时测定激光探头与治疗点的距离信息，及时做出位置调整；所述测距装置为了提高测距精度可以选用至少一个测距仪对同一位置进行测距，取其平均值作为测量值；本发明优选两个相位式激光测距仪进行测距，取两者平均值作为最终测量值；
8)为了提高皮肤激光治疗仪辅助机器人的安全性，在治疗仪激光探头前端设置安全装置；所述安全装置为电容式传感器、压阻式传感器的一种或两种的混 合使用；本发明优选压阻式传感器作为安全装置传感器，当其接触到人体皮肤并存在一定接触压力时，如果该压力超过限定值，它将信息传递至计算机，从而控制精确定位移动机器人的急停；可以有效地避免设备及治疗仪激光探头在运动过程中对人体造成意外伤害；
9)作为另一种多自由度机械臂式移动机器人，通过特定的算法，对多自由度机械臂式移动机器人的末端执行装置的运动轨迹进行规划，通过末端执行装置驱动治疗仪激光探头的运动；机械臂起始端与支座采用导轨连接；
10)在进行皮肤治疗过程中，若患者有多处不同部位需要治疗，可采用至少两个多自由度机械臂式移动机器人对其同时进行治疗，有效地的提高了治疗效率。
本发明的皮肤激光治疗辅助机器人，通过精确定位移动机器人驱动治疗仪激光探头运动，取代人工操作皮肤激光治疗仪，具有自动化程度高、定位、运动精准等优势，有益于减少人工劳动强度和人工操作误差。采用视觉识别与控制***代替人眼识别，并对待治疗区域进行图像重构，有利于提高待治疗区域的边界识别精度，以及尽可能保证激光探头的光路与治疗点的法矢重合；从而既可以避免激光照射对健康皮肤的伤害，又保证了皮肤激光治疗的疗效。皮肤激光治疗辅助机器人的测距装置实时测定治疗仪激光探头与治疗点的距离，并实时反馈至龙门式移动机器人的控制***，使之及时作出位置调整，维持治疗仪激光探头与治疗点的距离恒定；进一步保障了激光治疗效果。皮肤激光治疗辅助机器人设置了安全传感器装置，避免了设备及治疗仪激光探头对人体造成意外伤害。
应当清楚的是，本发明的皮肤激光治疗辅助机器人具有通用性，同时可作为其它激光治疗仪的辅助机器人。
本发明有益效果：
1、本发明的皮肤激光治疗辅助机器人，通过精确定位移动机器人作为载体，驱动皮肤激光治疗仪激光探头的运动，取代了人工手动操作，有效地提高了激光探头运动的准确性和高效性，同时减少了劳动强度。
2、本发明的皮肤激光治疗辅助机器人配置了视觉识别与控制***和测距装置，保证激光探头与待治疗点的垂直性和距离恒定的，有利于提高治疗效果。另外，视觉识别控制***自动识别病变区域的边界信息，有利于提高对病变组织区域的识别精度和效率，有利于降低激光照射健康皮肤造成伤害的几率。
3、本发明配置了安全装置，避免皮肤激光治疗辅助机器人的运转过程中，其部件对人体造成伤害。
附图说明
图1是龙门式移动机器人结构示意图；
图2是治疗仪激光探头示意图；
图3是多自由度机械臂式移动机器人结构示意图；
图4是本发明皮肤激光治疗辅助机器人工作流程图；
图5是皮肤激光治疗辅助机器人与病床连接示意图；
图6是皮肤激光治疗辅助机器人工作状态示意图。
附图标注说明：
1-步进电机，2-底座，3-导柱，4-滚珠丝杠，5-导轨尾座，61-开关，62-测距装置，63-治疗仪激光探头，64-安全装置，65-CMOS探头，7-龙门式移动机器人，81-基座，82-导轨滑台，83-机械臂，84-CMOS探头，85-治疗仪激光探头，86-测距仪，9-病床。
具体实施方式
参见图1～图6，本发明的皮肤激光治疗辅助机器人，包括精确定位移动机器人、治疗仪激光探头、视觉识别与控制***、测距装置和安全装置；所述的治疗仪激光探头安装于精确定位移动机器人的机械臂末位前端，测距装置安装于治疗仪激光探头的侧面，视觉识别与控制***的CMOS探头安装于治疗仪激光探头的另一侧面，安全装置安装于治疗仪激光探头前端；测距装置输出的测量值和安全装置输出的传感信号都连接至视觉识别与控制***的输入端，而视觉识别与控制***的输出端连接并控制精确定位移动机器人。
上述精确定位移动机器人采用多自由度机械臂式移动机器人或龙门式移动机器人；本发明优选龙门式移动机器人。
上述视觉识别与控制***，包括CMOS探头、图像采集卡和电子计算机，CMOS探头采集治疗区域的图像和边界位置信息，电子计算机对CMOS探头所采集的信息进行处理和存储，CMOS探头通过图像采集卡与电子计算机相连。
上述测距装置采用激光测距仪、超声波测距仪、电容式测距仪、红外测距仪的一种或多种混合使用。
上述安全装置为电容式传感器、压阻式传感器的一种或两种使用；本发明优选压阻式传感器作为安全装置传感器。当电容式传感器或压阻式传感器接触到人体皮肤并存在一定接触压力时，传感器将信息传递至电子计算机，从而控制精确定位移动机器人的急停。
上述龙门式移动机器人与病床采用导轨式连接，龙门式移动机器人沿着导轨自由滑动，龙门式移动机器人由XYZ轴移动平台及绕X轴和Y轴旋转的机械臂组成；机械臂的动作通过数字控制技术由五轴插补联动实现；所述的XYZ轴移动平台能沿着X、Y、Z轴移动，XYZ轴移动平台由底座、滑台、滚珠丝杠、导柱、步进电机组成，XYZ轴移动平台的直线运动由混合式精密步进电机驱动滚珠丝杠、滚珠丝杠再驱动XYZ轴移动平台来实现，连接于XYZ轴移动平台上的机械臂绕X轴和Y轴旋转均由步进电机驱动，上述混合式精密步进电机和步进电机均由电子计算机输出控制。
一种皮肤激光治疗辅助机器人的辅助方法，包括：
1)所述皮肤激光治疗辅助机器人，包括精确定位移动机机器人、治疗仪激光探头、视觉识别与控制***、测距装置和安全装置；所述的治疗仪激光探头安装于精确定位移动机器人的机械臂末位前端，测距装置安装于治疗仪激光探头的侧面，视觉识别与控制***的CMOS探头安装于治疗仪激光探头的另一侧面，安全装置安装于治疗仪激光探头的前端；测距装置输出的测量值和安全装置输出的传感信号都连接至视觉识别与控制***的输入端，而视觉识别与控制***的输出端连接并控制精确定位移动机器人；
2)所述精确定位移动机器人采用多自由度机械臂式移动机器人或龙门式移动机器人，本发明优选龙门式移动机器人，龙门式移动机器人与病床采用导轨式连接，龙门式移动机器人可沿着导轨自由滑动；人工通过肉眼对治疗区域进行初步定位，然后将龙门式移动机器人移动至相应位置，有益于提高定位效率；
3)龙门式移动机器人配置的视觉识别与控制***，包括CMOS探头、图像采集卡、电子计算机；其中CMOS探头置于治疗仪激光探头的侧面，CMOS探头用于获取待治疗区域的图像和边界位置信息，电子计算机用于对CMOS探头所采集的信息进行处理和存储；CMOS探头通过图像采集卡与计算机相连；
4)准确获得待治疗的区域边界信息，视觉识别与控制***基于图像灰度信 息自由曲面图像重构技术，根据CMOS探头采集的图像，对待治疗区域的曲面进行组织重构，获得待治疗区域的准确边界信息和曲面上任意点的位置信息；视觉识别与控制***对待治疗区域的边界信息的准确提取，有效地避免激光照射对健康的伤害；
5)为了使得激光探头的光路与待治疗靶部位的法矢重合，以保证较好的治疗效果；视觉识别与控制***，通过CMOS探头获取待治疗点和相邻不同两点的位置信息，通过电子计算机处理获得治疗点与相邻两点构成微小平面的法矢位置信息，并自动存储该法矢位置信息；计算机通过五轴联动控制卡控制精确定位移动机器人的运动，驱动治疗仪激光探头运动，使得治疗仪激光探头的光路与该法矢重合；
6)激光对皮肤治疗的效果很大程度取决于治疗仪激光探头与治疗点的距离。为了保证较好的治疗效果，需维持激光探头与治疗点恒定的距离；
7)通过视觉识别与控制***获得重构的待治疗区域的曲面信息和治疗要求，初步设定治疗仪激光探头的运动轨迹；同时根据测距装置实时测定激光探头与治疗点的距离信息，及时做出位置调整；所述测距装置为了提高测距精度可以选用至少一个测距仪对同一位置进行测距，取其平均值作为测量值；本发明优选两个相位式激光测距仪进行测距，取两者平均值作为最终测量值；
8)为了提高皮肤激光治疗仪辅助机器人的安全性，在治疗仪激光探头前端设置安全装置；所述安全装置为电容式传感器、压阻式传感器的一种或两种的混合使用；本发明优选压阻式传感器作为安全装置传感器，当其接触到人体皮肤并存在一定接触压力时，如果该压力超过限定值，它将信息传递至计算机，从而控制精确定位移动机器人的急停；可以有效地避免设备及治疗仪激光探头在运动过程中对人体造成意外伤害；
9)作为另一种多自由度机械臂式移动机器人，通过特定的算法，对多自由度机械臂式移动机器人的末端执行装置的运动轨迹进行规划，通过末端执行装置驱动治疗仪激光探头的运动；机械臂起始端与支座采用导轨连接；
10)在进行皮肤治疗过程中，若患者有多处不同部位需要治疗，可采用至少两个多自由度机械臂式移动机器人对其同时进行治疗，有效地的提高了治疗效率。

Claims (7)

  1. 一种皮肤激光治疗辅助机器人，其特征在于，包括精确定位移动机器人、治疗仪激光探头、视觉识别与控制***、测距装置和安全装置；所述的治疗仪激光探头安装于精确定位移动机器人的机械臂末位前端，测距装置安装于治疗仪激光探头的侧面，视觉识别与控制***的CMOS探头安装于治疗仪激光探头的另一侧面，安全装置安装于治疗仪激光探头的前端；测距装置输出的测量值和安全装置输出的传感信号都连接至视觉识别与控制***的输入端，而视觉识别与控制***的输出端连接并控制精确定位移动机器人。
  2. 根据权利要求1所述的皮肤激光治疗辅助机器人，其特征在于，所述的精确定位移动机器人采用多自由度机械臂式移动机器人或龙门式移动机器人；本发明优选龙门式移动机器人。
  3. 根据权利要求1所述的皮肤激光治疗辅助机器人，其特征在于，所述视觉识别与控制***，包括CMOS探头、图像采集卡和电子计算机，CMOS探头采集治疗区域的图像和边界位置信息，电子计算机对CMOS探头所采集的信息进行处理和存储，CMOS探头通过图像采集卡与电子计算机相连。
  4. 根据权利要求1所述的皮肤激光治疗辅助机器人，其特征在于，所述的测距装置采用激光测距仪、超声波测距仪、电容式测距仪、红外测距仪的一种或多种混合使用。
  5. 根据权利要求1所述的皮肤激光治疗辅助机器人，其特征在于，所述的安全装置为电容式传感器、压阻式传感器的一种或两种使用；本发明优选压阻式传感器作为安全装置传感器；当电容式传感器或压阻式传感器接触到人体皮肤并存在一定接触压力时，传感器将信息传递至电子计算机，从而控制精确定位移动机器人的急停。
  6. 根据权利要求1所述的皮肤激光治疗辅助机器人，其特征在于，所述的龙门式移动机器人与病床采用导轨式连接，龙门式移动机器人沿着导轨自由滑动，龙门式移动机器人由XYZ轴移动平台及绕X轴和Y轴旋转的机械臂组成；机械臂的动作通过数字控制技术由五轴插补联动实现；所述的XYZ轴移动平台能沿着X、Y、Z轴移动，XYZ轴移动平台由底座、滑台、滚珠丝杠、导柱、步进电机组成，XYZ轴移动平台的直线运动由混合式精密步进电机驱动滚珠丝杠、滚珠丝杠再驱 动XYZ轴移动平台来实现，连接于XYZ轴移动平台上的机械臂绕X轴和Y轴旋转均由步进电机驱动，上述混合式精密步进电机和步进电机均由电子计算机输出控制。
  7. 一种皮肤激光治疗辅助机器人的辅助方法，其特征在于，包括：
    1)所述皮肤激光治疗辅助机器人，包括精确定位移动机器人、治疗仪激光探头、视觉识别与控制***、测距装置和安全装置；所述的治疗仪激光探头安装于精确定位移动机器人的机械臂末位前端，测距装置安装于治疗仪激光探头的侧面，视觉识别与控制***的CMOS探头安装于治疗仪激光探头的另一侧面，安全装置安装于治疗仪激光探头的前端；测距装置输出的测量值和安全装置输出的传感信号都连接至视觉识别与控制***的输入端，而视觉识别与控制***的输出端连接并控制精确定位移动机器人；
    2)所述精确定位移动机器人采用多自由度机械臂式移动机器人或龙门式移动机器人，本发明优选龙门式移动机器人，龙门式移动机器人与病床采用导轨式连接，龙门式移动机器人可沿着导轨自由滑动；人工通过肉眼对治疗区域进行初步定位，然后将龙门式移动机器人移动至相应位置；
    3)龙门式移动机器人配置的视觉识别与控制***，包括CMOS探头、图像采集卡、电子计算机；其中CMOS探头置于治疗仪激光探头的侧面，CMOS探头用于获取待治疗区域的图像和边界位置信息，电子计算机用于对CMOS探头所采集的信息进行处理和存储；CMOS探头通过图像采集卡与计算机相连；
    4)准确获得待治疗区域的边界信息，视觉识别与控制***基于图像灰度信息自由曲面图像重构技术，根据CMOS探头采集的图像，对待治疗区域的曲面进行组织重构，获得待治疗区域的准确边界信息和曲面上任意点的位置信息；视觉识别与控制***对待治疗区域的边界信息的准确提取；
    5)为了使得激光探头的光路与待治疗靶部位的法矢重合，以保证较好的治疗效果；视觉识别与控制***，通过CMOS探头获取待治疗点和相邻不同两点的位置信息，通过电子计算机处理获得治疗点与相邻两点构成微小平面的法矢位置信息，并自动存储该法矢位置信息；计算机通过五轴联动控制卡控制精确定位移动机器人的运动，驱动治疗仪激光探头运动，使得治疗仪激光探头的光路与该法矢重合；
    6)激光对皮肤治疗的效果很大程度取决于治疗仪激光探头与治疗点的距离；为了保证较好的治疗效果，需维持激光探头与治疗点恒定的距离；
    7)通过视觉识别与控制***获得重构的待治疗区域的曲面信息和治疗要求，初步设定治疗仪激光探头的运动轨迹；同时根据测距装置实时测定激光探头与治疗点的距离信息，及时做出位置调整；所述测距装置为了提高测距精度可以选用至少一个测距仪对同一位置进行测距，取其平均值作为测量值；本发明优选两个相位式激光测距仪进行测距，取两者平均值作为最终测量值；
    8)为了提高皮肤激光治疗仪辅助机器人的安全性，在治疗仪激光探头前端设置安全装置；所述安全装置为电容式传感器、压阻式传感器的一种或两种的混合使用；本发明优选压阻式传感器作为安全装置传感器，当其接触到人体皮肤并存在一定接触压力时，如果该压力超过限定值，它将信息传递至计算机，从而控制精确定位移动机器人的急停；可以有效地避免设备及治疗仪激光探头在运动过程中对人体造成意外伤害；
    9)作为另一种多自由度机械臂式移动机器人，通过特定的算法，对多自由度机械臂式移动机器人的末端执行装置的运动轨迹进行规划，通过末端执行装置驱动治疗仪激光探头的运动；机械臂起始端与支座采用导轨连接；
    10)在进行皮肤治疗过程中，若患者有多处不同部位需要治疗，可采用至少两个多自由度机械臂式移动机器人对其同时进行治疗，有效地的提高了治疗效率。
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