Study On A Precision Multi Degree Of Freedom Laser Therapy System For Excision Of Scab In Burn Wound

Excision of the scab during the early treatment of severe burns can reduce infection and shorten the course of treatment.It is easy to cause massive bleeding and related complications in traditional excision of scab operation for burn wounds,but using high energy laser to cut scab can reduce bleeding effectively.Human burn wounds are usually complex space surfaces,so there are three key technical problems that need to be addressed,including efficient laser treatment trajectory planning on complex space surface,laser automatic focusing and excision of scab.A laser escharectomy system,which have seven degree of freedom,is designed for excision of scab on complicated space surfaces.And three-dimensional scanning,trajectory planning and automatic cut scab control are studied,involving multi-body dynamics simulation.The main contents of this paper include the following aspects:1)In order to meet the need of automatic focusing and laser cutting technique for wound on complex space surface,the serial-parallel mechanism and control system of laser escharectomy system and various components are designed;2)The inverse kinematics analysis and simulation research of serial-parallel mechanism of laser escharectomy system are carried out,and the corresponding relationship between the platform and the degrees of freedom is obtained;3)The control strategy and control algorithm of laser escharectomy system are studied;4)The experiment of laser escharectomy system was carried out,including the movement mechanism precision,auto focus,simulated cut scab,and the control optimization was carried according to the experimental results.