烧伤创面多自由度精密激光切痂系统

Precision multi-degree-of-freedom laser therapy system for excision of eschar over burn wound

针对复杂空间创面法向自动聚焦和切痂的关键技术问题,提出了一套由5自由度运动平台和2自由度激光光路控制机构组成的激光切痂控制系统.对激光切痂并联机构进行运动学逆解分析,推导了运动平台和激光光路控制机构的位置对应关系.结合所推导的位置对应关系和复杂创面轮廓三维扫描结果,该系统可实现激光轨迹的自动规划,从而完成激光自动切痂.基于所提出的激光切痂系统,进行了激光切痂实验研究,实验测试结果表明:该激光切痂系统能很好完成人体手部区域的三维轮廓扫描与重建,并自动规划激光焦点光斑运动轨迹并切痂.

Early escharotomy in cases of severely burned patients can reduce infection and shorten the course of treatment.From the treatment effect,the quality of escharotomy operation is critical to the postoperative recovery of burn patients.However,the traditional burn wound escharotomy surgery easily causes bleeding as well as other related complications.Applying high-energy laser cutting can effectively reduce bleeding.Moreover,its treatment cycle is short,and it is highly precise,less prone to related complications,and leads to fast postoperative recovery.Considering that the mechatronics of medical equipment can greatly improve the treatment effect and combining the multi-degree-of-freedom motion platform with laser cutting is more convenient,accurate,and effective,this paper focuses on the key technical issues of normal automatic focusing and cutting in complex space wounds.Considering the advantages of multi-degree-of-freedom motion platform,a set of laser escharotomy control system composed of five-degrees-of-freedom motion platform and two-degrees-of-freedom laser optical path control mechanism was proposed.The degree of freedom of the parallel mechanism was analyzed and coordinate system of the whole mechanism was established.Second,inverse kinematic analysis of the laser eschar cutting parallel mechanism was carried out.Last,the position correspondence between the motion platform and the laser light path control mechanism was derived.The system could realize automatic planning of the laser trajectory and complete the automatic laser cutting by combining the derived corresponding position and the 3D scanning result of the complex wound contour.Based on the proposed laser cutting system,an eschar cutting experiment was carried out,and the experimental test results show that the laser escharotomy system can complete the 3D contour scanning and reconstruction of the human hand region well,and it can also automatically plan the laser focus spot motion track and complete the escharotomy.