机器人技术与美容皮肤学相遇：开发一种用于皮肤光嫩肤的新型视觉引导系统
Robotics Meets Cosmetic Dermatology: Development of a Novel Vision-Guided System for Skin Photo-Rejuvenation
摘要：
在本文中，我们提出了一种新的机器人系统的皮肤光子嫩肤程序，它可以均匀地提供激光的能量超过皮肤的脸。机器人程序由机械手执行，其末端执行器装有深度传感器、热成像相机和美容激光发生器。为了规划激光的热刺激轨迹，系统计算面部的表面模型，并将其分割成七个区域，这些区域将自动填充激光照射。我们报告与人类受试者的实验结果，以验证系统的性能。据作者所知，这是第一次，面部皮肤嫩肤已自动化的机器人操纵器。
英文摘要：
In this paper, we present a novel robotic system for skin photo-rejuvenation procedures, which can uniformly deliver the laser's energy over the skin of the face. The robotised procedure is performed by a manipulator whose end-effector is instrumented with a depth sensor, a thermal camera, and a cosmetic laser generator. To plan the heat stimulating trajectories for the laser, the system computes the surface model of the face and segments it into seven regions that are automatically filled with laser shots. We report experimental results with human subjects to validate the performance of the system. To the best of the author's knowledge, this is the first time that facial skin rejuvenation has been automated by robot manipulators.
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