阅读说明：本技术 机器人化激光美容和治疗系统 (Robotized laser cosmetic and therapeutic system ) 是由 丛杨 唐旭 于 2019-01-10 设计创作，主要内容包括：本发明涉及机器人化激光美容和治疗系统,包括：智能视觉系统,用于采集皮肤图像并处理；人机交互系统,用于用户对图像进行操作；末端激光执行系统,用于根据用户操作以及图像处理结果在指定区域内发出激光。本发明能够根据医生给定的皮肤类型、病灶类型,结合皮肤表面视觉技术,利用人工智能方法给出最优的治疗策略,其中包含激光参数、照射时间等等。采用机器化操作根据治疗策略,精准控制激光参数,减少激光对非病灶点的影响；利用机器人辅助治疗方式,提升对病灶点的定位精度,提升医生工作效率。(The invention relates to a robotized laser cosmetic and therapeutic system comprising: the intelligent vision system is used for acquiring and processing skin images; the human-computer interaction system is used for operating the image by a user; and the tail end laser execution system is used for emitting laser in the designated area according to the user operation and the image processing result. The invention can provide an optimal treatment strategy by an artificial intelligence method according to the skin type and the focus type given by a doctor and by combining with a skin surface vision technology, wherein the optimal treatment strategy comprises laser parameters, irradiation time and the like. The laser parameters are accurately controlled by adopting mechanical operation according to a treatment strategy, so that the influence of laser on non-focus points is reduced; the robot-assisted treatment mode is utilized, the positioning precision of focus points is improved, and the working efficiency of doctors is improved.)

1. A robotic laser cosmetic and treatment system, comprising:

the intelligent vision system is used for acquiring and processing skin images;

the human-computer interaction system is used for operating the image and the system state by a user;

and the tail end laser execution system is used for carrying the intelligent vision system and completing the laser operation process.

2. The robotic laser cosmetic and treatment system according to claim 1, wherein the smart vision system employs a camera to perform the steps of:

collecting a skin image; according to the image after the area division, acquiring an observation point set by a human-computer interaction system in each area, and sending the position of the observation point to a terminal laser execution system;

acquiring an image of the designated area, and acquiring the pose of the observation point;

carrying out data analysis on the image in the designated area to obtain image characteristics;

and obtaining a reference execution parameter by using an artificial intelligence method according to the image characteristics.

3. The robotic laser cosmetic and treatment system according to claim 1, wherein the distal laser treatment performing system is disposed at a distal end of a robotic arm, comprising:

the optical filter switching mechanism is used for switching the optical filters so as to realize multispectral image acquisition;

the light source module is used for generating various light sources required in the image acquisition process;

a laser treatment system for emitting laser light according to the reference execution parameter.

4. The robotic laser cosmetic and treatment system according to claim 2, wherein the intelligent vision system collects images of the designated area and acquires the pose of the observation point, comprising the steps of:

acquiring image information of a skin surface layer: firstly, irradiating a multispectral mixed light source on the skin surface of a specified area, and then adding or switching an optical filter between a detection area and a camera to acquire an image so as to realize the separation of different spectral information and further obtain an area image;

local high-precision three-dimensional reconstruction of the skin surface: and acquiring three-dimensional point information in the area image, and estimating the position of the central point of the area to be observed and the normal direction of the central point by using the three-dimensional point cloud to serve as the pose of the observation point.

5. The robotic laser cosmetic and therapeutic system according to claim 4, wherein the area image is a multispectral image that is one of an infrared image and an ultraviolet image.

6. The robotic laser cosmetic and treatment system according to claim 2, wherein the data analysis of the area image to obtain image features comprises the steps of:

acquiring a regional image, and acquiring related characteristic parameters of a focus region and peripheral skin thereof according to one of focus contour geometry, color histogram, L BP and HOG of the image, wherein the related characteristic parameters comprise at least one image feature of skin color, surface texture and focus distribution.

7. The robotic laser cosmetic and treatment system according to claim 2, wherein the reference execution parameters are derived by artificial intelligence based on image characteristics, in particular:

and obtaining a reference execution parameter by using an artificial intelligence method according to the characteristics, wherein the reference execution parameter comprises one or more of laser energy, laser irradiation frequency, laser tail end track and path planning.

8. The robotic laser cosmetic and therapeutic system of claim 1, further comprising a human-machine safety real-time monitoring system; the human-computer safety real-time monitoring system utilizes a binocular vision system, a force feedback module and a touch perception module, and mutually coordinates and guarantees human-computer safety in a scene through information fusion.

9. A robotic laser cosmetic and treatment method, comprising the steps of:

1) the intelligent vision system collects skin images, divides the images into regions through a human-computer interaction system, obtains an observation point of each region, and sends the position of the observation point to a terminal laser execution system;

2) the tail end laser execution system moves the tail end of the laser to an observation point of the designated area;

3) the intelligent vision system collects the image of the area and acquires the pose of the observation point;

4) the intelligent vision system carries out data analysis on the regional image to obtain image characteristics;

5) the intelligent vision system obtains a reference execution parameter by an artificial intelligence method according to the image characteristics;

6) the end laser execution system operates according to the reference execution parameters.

Technical Field

The invention belongs to the field of medical instruments, and particularly relates to a robotized laser beauty treatment and treatment system.

Background

With the development of laser medical equipment in China, more and more laser medical equipment is put into use. Especially in the fields of medical cosmetology and dermatosis treatment, more and more photoelectric technologies such as strong pulse light and frequency related light are applied to the field. However, most of the existing medical devices have the following problems:

(1) the operation precision is low: the treatment equipment is manually operated by a doctor, and the positioning precision is low.

(2) No personalized treatment is available: because parameters need to be manually set, personalized intelligent treatment scheme setting and treatment cannot be dynamically carried out in real time according to specific conditions of different patients or different parts of the patients, namely, different treatment schemes can not be set according to different people and different diseases according to different parts.

(3) The efficiency is low: manual operation and low efficiency.

(4) Human body injury: certain devices, such as intense lasers, operate for extended periods of time causing injury (even with protective measures) to the physician.

These problems have resulted in the laser-based cosmetic medical devices still having great deficiencies in terms of treatment accuracy, treatment efficiency, and the like. The invention aims to realize the intelligent improvement of laser beauty medical equipment by introducing a robot technology and combining an artificial intelligence technology, improve the universality, accuracy and safety of the beauty medical equipment and improve the working efficiency of doctors at the same time.

Disclosure of Invention

The invention aims to provide a robotized laser cosmetic auxiliary system.

The technical scheme adopted by the invention for realizing the purpose is as follows: a robotic laser cosmetic and treatment system, comprising:

the intelligent vision system is used for acquiring and processing skin images;

the human-computer interaction system is used for operating the image and the system state by a user;

and the tail end laser execution system is used for carrying the intelligent vision system and completing the laser operation process.

The intelligent vision system adopts a camera and executes the following steps:

collecting a skin image; according to the image after the area division, acquiring an observation point set by a human-computer interaction system in each area, and sending the position of the observation point to a terminal laser execution system;

acquiring an image of the designated area, and acquiring the pose of the observation point;

carrying out data analysis on the image in the designated area to obtain image characteristics;

and obtaining a reference execution parameter by using an artificial intelligence method according to the image characteristics.

The terminal laser treatment execution system is arranged at the tail end of the robot arm and comprises:

the optical filter switching mechanism is used for switching the optical filters so as to realize multispectral image acquisition;

the light source module is used for generating various light sources required in the image acquisition process;

a laser treatment system for emitting laser light according to the reference execution parameter.

The intelligent vision system collects images of the designated area and acquires the pose of the observation point, and the method comprises the following steps:

acquiring image information of a skin surface layer: firstly, irradiating a multispectral mixed light source on the skin surface of a specified area, and then adding or switching an optical filter between a detection area and a camera to acquire an image so as to realize the separation of different spectral information and further obtain an area image;

local high-precision three-dimensional reconstruction of the skin surface: and acquiring three-dimensional point information in the area image, and estimating the position of the central point of the area to be observed and the normal direction of the central point by using the three-dimensional point cloud to serve as the pose of the observation point.

The area image is a multispectral image and is one of an infrared image and an ultraviolet image.

The data analysis of the area image to obtain the image characteristics comprises the following steps:

acquiring a regional image, and acquiring related characteristic parameters of a focus region and peripheral skin thereof according to one of focus contour geometry, color histogram, L BP and HOG of the image, wherein the related characteristic parameters comprise at least one image feature of skin color, surface texture and focus distribution.

The method for obtaining the reference execution parameter by using the artificial intelligence method according to the image characteristics specifically comprises the following steps:

and obtaining a reference execution parameter by using an artificial intelligence method according to the characteristics, wherein the reference execution parameter comprises one or more of laser energy, laser irradiation frequency, laser tail end track and path planning.

The robotized laser cosmetic and treatment system also comprises a human-computer safety real-time monitoring system; the human-computer safety real-time monitoring system utilizes a binocular vision system, a force feedback module and a touch perception module, and mutually coordinates and guarantees human-computer safety in a scene through information fusion.

A robotic laser cosmetic and treatment method comprising the steps of:

1) the intelligent vision system collects skin images, divides the images into regions through a human-computer interaction system, obtains an observation point of each region, and sends the position of the observation point to a terminal laser execution system;

2) the tail end laser execution system moves the tail end of the laser to an observation point of the designated area;

3) the intelligent vision system collects the image of the area and acquires the pose of the observation point;

4) the intelligent vision system carries out data analysis on the regional image to obtain image characteristics;

5) the intelligent vision system obtains a reference execution parameter by an artificial intelligence method according to the image characteristics;

6) the end laser execution system operates according to the reference execution parameters.

The invention has the following beneficial effects and advantages:

1. according to the invention, the optimal treatment parameters including laser parameters, irradiation time and the like can be given by an artificial intelligence method according to the skin type and focus type given by a doctor in combination with a skin surface vision technology, so that the intellectualization of the laser cosmetic medical equipment is improved, and the universality, accuracy and safety of the cosmetic medical equipment are improved.

2. The invention can adopt mechanical operation to accurately control laser parameters according to treatment strategies, reduce the influence of laser on non-focus points and improve the mechanical operation effect.

3. The invention can utilize the robot auxiliary treatment mode, improve the positioning precision of focus points, simultaneously liberate doctors and improve the working efficiency of the doctors.

Drawings

FIG. 1 is a schematic diagram of the operation of a robotic laser cosmetic and treatment system of the present invention;

FIG. 2 is a schematic diagram of a hardware module distribution;

the system comprises a vision module 21, a filter switching mechanism 22, a light source module 23, a laser tail end 24 and a robot arm tail end 25, wherein the vision module is connected with the robot arm;

FIG. 3 is a flow chart of the operation of the robotic laser cosmetic and treatment system;

FIG. 4 is a diagram of a real-time human-machine safety monitoring system;

fig. 5 is a schematic diagram of multispectral different skin layer image acquisition.

Detailed Description

The present invention will be described in detail with reference to the accompanying drawings.

The intelligent visual system is an intelligent system capable of completing the functions of focus area multispectral imaging, focus area segmentation, focus positioning, skin surface analysis and the like.

The skin multispectral imaging is to obtain image information of different depths of the skin surface by utilizing the physical characteristics of reflection, scattering, absorption and the like of skin tissues of the skin surface under the multispectral imaging; the multispectral image pixels can be thresholded, and an assumed lesion area can be obtained.

The intelligent vision system can carry out local three-dimensional reconstruction on the skin surface, and then acquires the coordinates and the postures of the treatment points by combining the focus segmentation results.

The treatment point can select the geometric center of gravity of the outline of the lesion area.

The skin surface analysis function is used for acquiring the characteristics of a focus area, such as the contour geometric shape, the color histogram, L BP, HOG and the like of the focus according to the focus area segmentation result by combining an image, and providing an optimal treatment scheme by using an artificial intelligence technology by combining patient information set by a human-computer interaction system, such as the age, the general condition of facial skin, the physical condition and the like of a patient, such as specific focus position, focus type and classification, laser treatment parameter estimation, treatment time, treatment planning of a plurality of treatment points and the like.

The skin surface analysis is used for predicting the treatment effect and scientifically evaluating the skin state and the treatment effect before and after treatment; the skin state refers to the proportion of the lesion area on the surface of the skin in all detection areas is obtained according to the multispectral imaging result, and a reasonable analysis result is given according to the proportion.

An artificial intelligence method, such as an online learning algorithm, a neural network, deep learning, logistic regression analysis and the like, is used for constructing an analysis model of a skin surface analysis result, lesion analysis data and a laser treatment strategy, and specifically comprises the following steps:

taking the characteristic information of the skin as input, taking the control parameter as output, and obtaining an artificial intelligence model through artificial intelligence training; the control parameters comprise laser energy, laser irradiation frequency and the like;

and obtaining control parameters through an artificial intelligence model according to the characteristic information of the skin in the region to be processed, which is acquired in real time.

The man-machine interaction system is used for manually carrying out operations such as adding, deleting, modifying, replanning and the like on the personalized treatment scheme given by the system, such as adding and deleting focus points, modifying laser treatment intensity, replanning the treatment sequence of different focus points and the like.

The terminal laser treatment execution system comprises the following modules: the vision module 21 is used for acquiring image information required by the intelligent vision system, and necessary vision technologies include multispectral imaging, three-dimensional reconstruction and the like; the optical filter switching mechanism 22 is used for rapidly switching optical filters so as to realize multispectral image acquisition; the light source module 23 is used for generating various light sources required in the image acquisition process, including but not limited to an infrared light source, an ultraviolet light source, and the like; the laser tail end 24 is used for emitting laser; the robot arm end 25 is a six-degree-of-freedom intelligent robot end for carrying hardware equipment of the treatment system of the embodiment.

The terminal laser treatment execution system comprises an automatic working mode and a semi-automatic working mode: in the automatic working mode, after all treatment contents contained in the optimal treatment strategy are confirmed manually, the robot completes all treatment contents automatically; the semi-automatic working mode is that the doctor remotely controls the robot to finish the appointed treatment content.

The man-machine safety real-time monitoring system calculates the relative positions of each part of a human body and the space of the robot at the main positions (such as the head, the shoulders, the wrists, the thighs, the knees, the feet and the like) of the body surface of a patient, and pre-judges the occurrence of safety accidents such as collision and the like in advance.

The man-machine safety real-time monitoring system utilizes a computer vision technology, a force feedback technology, a touch perception technology and the like, and mutually coordinates and ensures man-machine safety in a scene through information fusion.