Laser Medical Robot For Superficial Lesion Treatment

Superficial lesions are major category of diseases that threaten human health,which located on the surface of the human body and in superficial subcutaneous areas.At present,manual operation of medical instruments is the main method for the treatment of superficial lesions,and the low precision of treatment tends causes disease recurrence.Robotization of disease treatment is one of the methods to improve the level of medical treatment,and it is also one of the general development trends of modern medicine.Therefore,it is of great clinical value to study medical robot systems suitable for the treatment of superficial lesions.This paper proposes a laser medical robot for superficial lesion treatment.The robot system uses laser as the treatment medium.It mainly consists of a multi-degree-of-freedom collaborative robot arm,a laser treatment terminal,a high-power fiber-coupled laser system,and a multi-image sensor-based treatment object reconstruction and positioning system.A binocular imaging system is used to locate the target area and the end of the robot arm.At the same time,the structured light stereo positioning method is used to complete the three-dimensional contour reconstruction of the arm model.Laser interventional treatment terminal designed for ablation treatment in the shallow layer of the lesion area.Secondly,the thermal field physical simulation is performed on the tissue model of the laser ablation object.On the basis of proposing quantitative indicators to evaluate the effect of laser ablation lesion tissue,the laser ablation treatment planning method is compared,and the optimal index ablation planning method is selected to complete actual laser ablation treatment.Finally,according to the ablation path planning method,the laser terminal treatment robot hardware system is used to complete the ablation treatment of the lesion area.The laser medical robot and the treatment planning method proposed in this paper can achieve high-precision thermal necrosis treatment for superficial lesions.Compared with the manual treatment of superficial lesions,it improves the accuracy of treatment and reduces the damage to surrounding normal tissues.It has important clinical practical value.The work of this thesis advances the depth and breadth of medical robot research.