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1. WO2021059255 - DEVICE FOR LASER SKIN TREATMENT

Publication Number WO/2021/059255
Publication Date 01.04.2021
International Application No. PCT/IB2020/059109
International Filing Date 29.09.2020
IPC
A61B 18/20 2006.01
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
18Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
18by applying electromagnetic radiation, e.g. microwaves
20using laser
CPC
A61B 18/201
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
18Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
18by applying electromagnetic radiation, e.g. microwaves
20using laser
201with beam delivery through a hollow tube, e.g. forming an articulated arm
A61B 18/203
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
18Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
18by applying electromagnetic radiation, e.g. microwaves
20using laser
203applying laser energy to the outside of the body
A61B 2018/00458
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
18Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
00315for treatment of particular body parts
00452Skin
00458Deeper parts of the skin, e.g. treatment of vascular disorders or port wine stains
A61B 2034/2065
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
2046Tracking techniques
2065Tracking using image or pattern recognition
A61B 2090/064
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
90Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
06Measuring instruments not otherwise provided for
064for measuring force, pressure or mechanical tension
A61B 34/30
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
Applicants
  • IPCA - INSTITUTO POLITÉCNICO DO CÁVADO E DO AVE [PT]/[PT]
Inventors
  • ARAÚJO MARTINS VILAÇA, João Luís
  • GOMES OLIVEIRA, Bruno Miguel
  • GONÇALVES MORAIS, Pedro André
  • DA SILVA VELOSO, Fernando José
  • JESUS MOREIRA, António Herculano
  • DE AZEVEDO MIRANDA BAPTISTA, António Lúcio
  • CRUZ FONSECA, Jaime Francisco
Agents
  • PATENTREE
Priority Data
11580229.09.2019PT
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) DEVICE FOR LASER SKIN TREATMENT
(FR) DISPOSITIF POUR UN TRAITEMENT CUTANÉ AU LASER
Abstract
(EN)
Device and operation method thereof for laser skin treatment of skin features extending along a path, in particular veins, by collaborative motion between an operator and a robotic support, comprising: a skin, in particular vascular, further in particular vein, treatment laser head having a laser beam target line, and a robotic support of said laser head; further comprising, attached to the laser head or to the robotic support where the laser head is supported: a camera for capturing skin surface images, one or more handles for handling by the operator, a force sensor for sensing the intensity and direction of force applied to the handle or handles by the operator for controlling the robotic support, and an electronic data processor configured for carrying out the steps comprising: capturing an image of skin surface comprising a skin feature to be treated; identifying, from said captured image and proximal to where the laser beam target line intersects the skin surface, the path of the skin feature to be treated; applying, through the robotic support, a transversal force, to the laser head along a transversal direction to said path and towards said path; while allowing freely controllable movement of the robotic support by the operator along the direction of said path.
(FR)
L'invention concerne un dispositif et son procédé de fonctionnement pour un traitement cutané au laser de caractéristiques de la peau s'étendant le long d'un trajet, en particulier des veines, par un mouvement collaboratif entre un opérateur et un support robotique, comprenant : une tête laser de traitement de la peau, en particulier du système vasculaire, en outre en particulier d'une veine, ayant une ligne cible de faisceau laser, et un support robotique de ladite tête laser ; comprenant en outre, fixés à la tête laser ou au support robotique où la tête laser est supportée : une caméra pour capturer des images de surface de la peau, une ou plusieurs poignées pour une manipulation par l'opérateur, un capteur de force pour détecter l'intensité et la direction de la force appliquée à la poignée ou aux poignées par l'opérateur pour commander le support robotique, et un processeur de données électronique configuré pour réaliser les étapes consistant à : capturer une image de la surface de la peau comprenant une caractéristique de la peau à traiter ; identifier, à partir de ladite image capturée et à proximité de l'endroit où la ligne cible de faisceau laser coupe la surface de la peau, le trajet de la caractéristique de la peau à traiter ; appliquer, par l'intermédiaire du support robotique, une force transversale, à la tête laser le long d'une direction transversale audit trajet et vers ledit trajet ; tout en permettant un déplacement pouvant être commandé librement du support robotique par l'opérateur le long de la direction dudit trajet.
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