Wang Xingtao, Tian Chunlai, Duan Xingguang, Gu Ying, Huang Naiyan
State Nuclear Power Technology Research & Development Centre, Floor 7, Building A, South Area of Future Science and Technology Park, Beiqijia Town, Changping District, State Nuclear Power Research Institute, Beijng 102209, China.
Intelligent Robotics Institute, Beijing Institute of Technology, 5 Nandajie, Zhongguancun, Haidian, Beijing 100081, China.
Biomed Res Int. 2014;2014:384646. doi: 10.1155/2014/384646. Epub 2014 Aug 14.
Port wine stains (PWS) are a congenital malformation and dilation of the superficial dermal capillary. Photodynamic therapy (PDT) with lasers is an effective treatment of PWS with good results. However, because the laser density is uneven and nonuniform, the treatment is carried out manually by a doctor thus providing little accuracy. Additionally, since the treatment of a single lesion can take between 30 and 60 minutes, the doctor can become fatigued after only a few applications. To assist the medical staff with this treatment method, a medical manipulator system (MMS) was built to operate the lasers. The manipulator holds the laser fiber and, using a combination of active and passive joints, the fiber can be operated automatically. In addition to the control input from the doctor over a human-computer interface, information from a binocular vision system is used to guide and supervise the operation. Clinical results are compared in nonparametric values between treatments with and without the use of the MMS. The MMS, which can significantly reduce the workload of doctors and improve the uniformity of laser irradiation, was safely and helpfully applied in PDT treatment of PWS with good therapeutic results.
葡萄酒色斑（PWS）是一种先天性的真皮浅层毛细血管畸形和扩张。激光光动力疗法（PDT）是治疗PWS的一种有效方法，效果良好。然而，由于激光密度不均匀，治疗由医生手动进行，因此准确性较低。此外，由于单个病变的治疗可能需要30至60分钟，医生在进行几次治疗后就会感到疲劳。为了辅助医护人员采用这种治疗方法，构建了一个医疗机械手系统（MMS）来操作激光。机械手握住激光光纤，通过主动关节和被动关节的组合，可以自动操作光纤。除了医生通过人机界面进行控制输入外，双目视觉系统的信息还用于指导和监督操作。对使用和不使用MMS进行治疗的非参数值的临床结果进行比较。MMS能够显著减轻医生的工作量并提高激光照射的均匀性，已安全有效地应用于PWS的PDT治疗，取得了良好的治疗效果。
