Homogeneous path generation for automated laser burn debridement

Jun Zhou; Hsu-Chang Liu; Thomas A. Nwodoh; Bartholomew O. Nnaji

doi:10.1117/12.228846

22 December 1995 Homogeneous path generation for automated laser burn debridement

Jun Zhou, Hsu-Chang Liu, Thomas A. Nwodoh, Bartholomew O. Nnaji

Proceedings Volume 2595, Machine Tool, In-Line, and Robot Sensors and Controls; (1995) https://doi.org/10.1117/12.228846
Event: Photonics East '95, 1995, Philadelphia, PA, United States

Abstract

The objective of this work is to generate a path plan for an automatic laser equipped burn debridement robot. A high powered, CO₂ based, pulsed laser transmitted through a kinematic chain to the end effector of a robot is used to ablate burnt tissue on the skin of a burn victim. The generation of the path plan for the robot's end effector is critical for an effective treatment using this automated method. Path planning for this device involves generating the trajectory to be followed by the end effector so that the laser irradiation can be used to treat (ablate) the non-uniform burnt skin without an over- or under-cut. In this application, 3-D body surface points of the human body are measured and modeled using the non-uniform rational B-splines (NURBS) surface modeling technique. The depth of burn is measured along the normal direction to the cutting point on the surface. The homogeneous path is generated under the following constraints: the laser spots cover the burnt area with minimum overlap; the laser beam is incident along the direction normal to the skin; and the laser dosage is varied with the depth of burn. The path traced by the laser treatment head (on the end effector) has a constant offset from the point in the burnt skin being treated. The offset contours on the skin surface are equal in distance. The axis of the laser treatment head is along the normal direction to skin.

Citation Download Citation

Jun Zhou, Hsu-Chang Liu, Thomas A. Nwodoh, and Bartholomew O. Nnaji "Homogeneous path generation for automated laser burn debridement", Proc. SPIE 2595, Machine Tool, In-Line, and Robot Sensors and Controls, (22 December 1995); https://doi.org/10.1117/12.228846

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available

Members: $17.00

Non-members: $21.00 ADD TO CART

PROCEEDINGS
9 PAGES

DOWNLOAD PAPER SAVE TO MY LIBRARY

GET CITATION

RIGHTS & PERMISSIONS

Get copyright permission Get copyright permission on Copyright Marketplace

KEYWORDS

Skin

3D modeling

Lasers

Natural surfaces

Head

Laser therapeutics

Laser tissue interaction

Show All Keywords

Keywords/Phrases

Search In:

Publication Years