Robotics Meets Cosmetic Dermatology: Development of a Novel Vision-Guided System for Skin Photo-Rejuvenation

In this study, we present a new approach to improving vocal fold access to perform phonomicrosurgery. It is done by shooting the laser through a mirror to reach the vocal fold hidden parts. A geometrical study of laser shooting path was conducted for vocal fold anatomical constraints, followed by devising a laser-shooting system conceptual design. Control laws were developed and tested by simulation and validated experimentally on a test bench in a monocular and stereoscopic configuration. Simulation and experimental results are provided to demonstrate the effectiveness of the developed approach.

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“…Differentiating Eq. (13) gives the velocity at which the laser is servoed from one point to another in the image. The resultant equation is…”

Section: Scanning Laser Mirror As a Virtual Cameramentioning

confidence: 99%

“…Another example is reported in ref. [13], where a robotic system for skin photo-rejuvenation, which uniformly delivers laser thermal stimulation to a subject's facial skin tissue, was investigated. Yet, as far as we could understand it, none of those work automatically steered laser along hidden paths.…”

Section: Introductionmentioning

confidence: 99%

Visual servoing of a laser beam through a mirror

et al. 2022

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“…wildfires [15] and sunlight [16], or when the source's power should not be varied, e.g. in cosmetic procedures [17].…”

Section: A Related Workmentioning

confidence: 99%

“…To this end, we start by introducing the unknown parameters a 1 = 1 λ1 and a 2 = λ2 λ1 , which are well-defined since λ 1 > 0; We use the superscripts a i 1 and a i 2 to distinguish them between different objects. With these parameters, we construct the following constant vector a 1,2 ∈ R N and matrix A 1,2 ∈ R N ×N structures: By applying the dynamic expression (17) to the multi-object case and dividing it by λ i 1 for each ith object, we obtain:…”

Section: B Adaptive Controllermentioning

confidence: 99%

On Radiation-Based Thermal Servoing: New Models, Controls and Experiments

Hu¹,

Navarro-Alarcon²,

Cherubini³

et al. 2020

Preprint

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In this paper, we introduce a new sensor-based control method that regulates (by means of robot motions) the heat transfer between a radiative source and an object of interest. This valuable sensorimotor capability is needed in many industrial, dermatology and field robot applications, and it is an essential component for creating machines with advanced thermo-motor intelligence. To this end, we derive a geometricthermal-motor model which describes the relation between the robot's active configuration and the produced dynamic thermal response. We then use the model to guide the design of two new thermal servoing controllers (one model-based and one adaptive), and analyze their stability with Lyapunov theory. To validate our method, we report a detailed experimental study with a robotic manipulator conducting autonomous thermal servoing tasks. To the best of the authors' knowledge, this is the first time that temperature regulation has been formulated as a motion control problem for robots.

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“…[17] and sunlight [18], or when the source's power should not be varied, e.g. in cosmetic procedures [19].…”

Section: Introductionmentioning

confidence: 99%