Research On Laser Robot Navigation Method Fused With Treatment Planning

The lesions on the skin surface are complex and diverse,and laser heating is often used for treatment in clinical medicine.At present,most laser treatments for skin diseases are done by medical staff manually controlling the laser.The treatment effect has a lot to do with the personal experience of the medical staff.This makes the accuracy of manual laser treatment inconsistent and may cause greater damage to normal tissues.Therefore,it is necessary to classify skin lesions with different shapes and plan corresponding laser treatment methods for different types of lesions.At the same time,it is also necessary to develop an automated laser treatment equipment.First,the skin lesions were classified according to their geometric shapes,and the corresponding laser heating treatment paths were designed.In the study of this article,6 different morphological lesions were selected for laser heating treatment simulation study,and the corresponding heating treatment path was planned.The temperature distribution of biological tissues,the thermal damage of diseased tissues and normal tissues,and the changes of quantitative evaluation indicators,namely ablation rate and accidental ablation rate,were analyzed during the heating treatment process.And the feasibility of path planning was verified.Then,an optical navigation system was designed and built to realize the spatial positioning of the lesion area of the arm model.In this study,the binocular camera was calibrated first and the internal and external parameters of the camera were obtained.Then use it to photograph the lesion area and extract the pixel coordinates of the contour of the lesion.The coordinates of the contour of the lesion in the world coordinate system were calculated using the internal and external parameters of the camera.Finally,the laser treatment robot system was designed,and the simulation experiment of the laser treatment robot heating treatment on the lesion area of the arm model was completed.The system is mainly composed of three parts:laser,UR5 mechanical arm and optical navigation system.At the same time,the laser connector was designed to fix the laser on the robot flange.Under the guidance of the optical navigation system,the three-dimensional coordinates of the lesion contour in the coordinate system of the laser treatment robot were obtained.The heating path of the laser to the lesion area of the arm model was planned,and the feasibility of path planning was verified by simulation experiments.In summary,under the guidance of the self-built optical navigation system,the laser treatment robot can automatically heat the diseased area of the biological tissue along the planned heating path,which can reduce the accidental damage caused by manual treatment.And it has important clinical application value.