Improvement in Laser-Irradiation Efficiency of Robot-Assisted Laser Hair Removal Through Pose Measurement of Skin Surface

• DOI: 10.1089/pho.2015.4018
• Publication Date: 2015-11-23T18:01:34Z
• Authors: Sungwoo Park; Hyoung-woo Lim; Minwoo Cho; Dong-Hun Lee; Wooseok Koh; Youdan Kim; Jin Ho Chung; Sungwan Kim
• Keywords: Position (finance); Feature (linguistics); Root mean square

Objective: This study aims to improve the performance of an automatic laser hair removal (LHR) system by applying algorithm that considers curve and slant skin surface. Background data: In earlier research, a robot-assisted LHR has been developed validated for almost flat or relatively smooth curved part skin. For practical clinical applications, feature is extended real skins. Methods: A novel pose-measurement applied system. detects six-degree freedom (DOF) pose surface using algorithm. The main principle this finding equation plane three noncollinear points, which are obtained sequential movement one dimensional sensor. Results: Evaluation proposed was conducted. During test, we demonstrated device automatically completely contacted targets along contact-accuracy test produced satisfactory outcome. averages root mean square (RMS) position error RMS rotation were 1.4437 mm 1.0982 degrees, respectively. curvature measurement average result 0.0006 error. Conclusions: Using six-DOF algorithm, could be significantly improved from point view because most skins have shapes.