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WO2025232726A1 - Appareil de traitement pour système cosmétique et thérapeutique - Google Patents

Appareil de traitement pour système cosmétique et thérapeutique

Info

Publication number
WO2025232726A1
WO2025232726A1 PCT/CN2025/092860 CN2025092860W WO2025232726A1 WO 2025232726 A1 WO2025232726 A1 WO 2025232726A1 CN 2025092860 W CN2025092860 W CN 2025092860W WO 2025232726 A1 WO2025232726 A1 WO 2025232726A1
Authority
WO
WIPO (PCT)
Prior art keywords
surgical apparatus
surgical
holding mechanism
cosmetic
holding
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/CN2025/092860
Other languages
English (en)
Inventor
Yuk Pong TANG
Che Saint Ambrose CHEUNG
Yingnan Wang
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Solution Young Ltd
Original Assignee
Solution Young Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from HK32024091023.4A external-priority patent/HK30106652A2/xx
Application filed by Solution Young Ltd filed Critical Solution Young Ltd
Publication of WO2025232726A1 publication Critical patent/WO2025232726A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
    • A61B18/20—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
    • A61B18/203—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser applying laser energy to the outside of the body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00315—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for treatment of particular body parts
    • A61B2018/00452—Skin
    • A61B2018/0047—Upper parts of the skin, e.g. skin peeling or treatment of wrinkles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00315—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for treatment of particular body parts
    • A61B2018/00452—Skin
    • A61B2018/00476—Hair follicles

Definitions

  • the present invention relates the field of cosmetic, therapeutic and restorative treatment of the skin of a subject in need thereof, and more particularly a treatment apparatus and system for cosmetic, therapeutic and restorative treatment of the skin of a subject in need thereof, in particular the face of a subject.
  • Cosmetic, therapeutic, treatment and medical procedure technologies typically, have been handled by a human being using hand operated tools in the past.
  • Such tools typically include a laser type device which, is held by the hand of an operator, and which is utilised to perform cosmetic and therapeutic, as well as clinical procedures on the body of the patient.
  • Cosmetic purposes may include removal of blemishes, removal of scarring, treatment of discoloration, removal of unsightly growths or defects, smoothening of and consistency of colour, skin wrinkle and defect restoration and the like.
  • Therapeutic purposes may include restoration from damage such as from chemicals, light, trauma, accidents on a minor scale, or on a larger scale disfigurement from injury or trauma.
  • Therapeutic purposes may also include the removal of lesions from the skin of a patient, cancer therapy, and removal of potential cancer initiation points such as moles or other defects on the body of the subject.
  • the present invention provides a system for interchanging a surgical apparatus with a surgical apparatus of a plurality of surgical apparatus, said surgical apparatus being surgical apparatus for a cosmetic or therapeutic procedure upon a subject in need thereof, said system comprising a first surgical apparatus holding mechanism for holding a surgical apparatus and which is engageable with a working head end of a surgical robot, and having a mechanical locking mechanism being operable to hold and release said surgical apparatus; and a deck having a plurality of second surgical apparatus holding mechanisms, each of the plurality of second surgical apparatus holding mechanisms for holding a surgical apparatus of a plurality of surgical apparatus; wherein upon the first surgical apparatus holding mechanism, when holding a first surgical apparatus is moved by a robot arm such that said first surgical apparatus is disposed adjacent a vacant second surgical apparatus holding mechanism, the second surgical apparatus holding mechanism is activated so as to hold said first surgical apparatus, and the mechanical locking mechanism then releases said first surgical apparatus; and wherein upon the robot arm moving the first surgical apparatus holding mechanism adjacent a further surgical apparatus being held by a second surgical apparatus holding mechanism of the pluralit
  • the first surgical apparatus holding mechanism may include an interface for communication between a surgical apparatus and the robot arm.
  • the surgical apparatus is preferably a surgical laser device and said interface provides for communication between the surgical laser device and the robot arm for at least one of a voltage connector for power supply to the surgical laser device; a data line connector for controlling the power output, timing of laser on/off, and fluid connectors for coolant input and output.
  • the system may further comprise an alignment mechanism, for providing assistance in alignment of the first surgical apparatus holding mechanism and a second surgical apparatus holding mechanism.
  • the system may further comprise a pressure sensor for providing a signal indicative of engagement of a surgical apparatus with the first surgical apparatus holding mechanism.
  • the present invention provides a surgical system including the system for interchanging a surgical apparatus with a surgical apparatus of a plurality of surgical apparatus according to the first aspect, and a robot arm having working head end, said surgical system being for a cosmetic or therapeutic procedure upon a subject in need thereof.
  • the system may further comprise an operational chair, upon which the subject is laid thereupon who is in need of said cosmetic or therapeutic procedure.
  • Figure 1a shows a schematic representation of a system according to the present invention
  • Figure 1b shows a three-dimensional pictorial representation of an embodiment of the system of the present invention in conjunction with an operational chair
  • Figure 1c shows a three-dimensional pictorial representation of an embodiment of a mechanical locking mechanism according to the present invention engaged with the arm of a cobot;
  • Figure 1d shows an enlarged three-dimensional pictorial representation of the interface between the cobot arm and the surgical apparatus of Figures 1b and 1c;
  • the present inventors have identified shortcomings in processes and systems of the prior art, and upon identification of the problems with the prior art, have provided a treatment apparatus and system for cosmetic, therapeutic and restorative treatment of the skin of a subject in need thereof, which overcome the problems of the prior art.
  • the present invention may be implemented within the cosmetic and medical fields, in at least the following applications:
  • the invention includes system allows for different types of therapeutic devices, providing various treatment regimens for particular cosmetic or therapeutic regimes, within a single system, such that the single system may be utilised for providing numerous different types of therapeutic and cosmetic treatment regimens subjects.
  • the present inventors have identified the above problems, and provided a provided a treatment apparatus and system for cosmetic, therapeutic and restorative treatment of the skin of a subject in need thereof, which overcome the problems of the prior art.
  • advantages include cost reduction, time reduction, absence of bespoke equipment, subjects to receive more than one therapeutic or cosmetic procedure in a single session, and ease of manipulation and usage.
  • the present invention when used in conjunction with other automated cosmetic or therapeutic systems, provides for a complete cosmetic and therapeutic treatment system, and mitigates human error or incorrect judgement by an operator.
  • the system 100 is directed to an interchanger system for surgical and therapeutic tools.
  • the system 100 may utilised in conjunction with a system and process for cosmetic and therapeutic treatment of a subject in need thereof, in particular a cobot 140 as described in reference to other technologies developed by the present applicant.
  • a “cobot” or collaborative robot is a robot which is intended for direct human-robot interaction within a shared space, or in situations humans and robots are in close proximity.
  • a cobot is utilised as this is appropriate within such a clinical or cosmetic environment to which the present invention is directed, for numerous reasons including safety and ease of operability and the like.
  • the system 100 includes:
  • a first surgical apparatus holding mechanism 130 which is engageable with the arm of a cobot 140, and a mechanical locking mechanism 135 for holding a surgical apparatus 110, 112, 114, and
  • a second surgical apparatus holding mechanism 150 for holding a surgical apparatus 110, 112, 114.
  • the mechanical locking mechanism 135 is preferably a quick release mechanical locking system. Furthermore, the mechanical locking system 135 is preferably operable by way of electric power.
  • the mechanical locking system 135 may be operable by way of other power systems such as pneumatic power, for example.
  • the second surgical apparatus holding mechanism 150 is preferably operable by way of electrical power.
  • the second surgical apparatus holding mechanism 150 may be operable by way of other power systems such as pneumatic power, for example.
  • different individual surgical apparatus 110, 112, 114 for different cosmetic or therapeutic procedures, are stored at one unique position 122, 124, 126 of the apparatus 110, 112, 114 at the apparatus deck 120, where in the apparatus 110, 112, 114 are surgical or therapeutic tools for cosmetic, surgical or therapeutic procedures on a subject in need thereof.
  • multiple apparatus decks may be provided. Three decks are shown as an example in the Figure 1a.
  • an operational chair 105 is included, upon which the subject is laid thereupon who is in need of a cosmetic or therapeutic procedure.
  • the interface between the cobot arm and the surgical apparatus 110, 112, 114 in an embodiment, may consist of the following:
  • ⁇ alignment pins 132 having a tapered shape, and a flat contact surface for fine alignment
  • ⁇ data line connector 134 for controlling the power output, timing of laser on/off, and
  • valves in the coolant connectors to prevent any remaining coolant inside the laser apparatus from leaking out, wherein a surgical apparatus 110, 112, 114 is a laser device.
  • the procedure of apparatus changing is as follows:
  • the cobot arm 140 will move the surgical apparatus 110, 112, 114 to an empty location on the apparatus deck 120,
  • the second surgical apparatus holding mechanism 150 of the deck 120 turns on to lock the apparatus 110 in position
  • the mechanical locking mechanism 1335 turns on so that the cobot arm 140 is released from the apparatus 110,
  • the cobot arm 140 moves the deck of desired apparatus 110, 112, 114, for example deck 124,
  • the mechanical locking mechanism 135 turns off so that the mechanical locking mechanism 135 and thus the cobot arm 140 is locked up with the apparatus 110, 112, 114, and
  • the second surgical apparatus holding mechanism 150 of deck 122 turns off so that the apparatus 110, 112, 124 can move along with the cobot arm 140.
  • a 3D camera 145 (not shown in Figure 1f however shown in Figure 1c) is mounted beside a laser apparatus at the tip of the cobot arm 140.
  • the checker board 160 is for cobot 140 arm calibration.
  • a replaceable black testing paper 170 is for the verification of the direction of laser emission after changing the equipment.
  • the cobot arm 140 is programmed to move the laser apparatus to fire a laser spot at specified predetermined coordinates. A circular mark is generated on the black paper, and the cobot arm 140 will move to another set of coordinates inside the black paper in next calibration,
  • the 3D camera 145 then acquire an image, and the centre of the laser spot in the 2D image taken by the 3D camera 145 is measured,
  • the mechanical locking mechanism 135 engaged with the cobot arm 140 releases the surgical apparatus 110, 112, 124, and picks it again at its corresponding deck location, and
  • measured offset value will be included during the path generation.
  • the black paper is a consumable. Its area is adequate for a preset amount of calibration. It is necessary to replace the black regularly before its available space used up.
  • a surgical apparatus holding mechanism for holding a surgical apparatus.
  • the present invention provides numerous advantages over systems of the prior part, including versatility and multi-purpose type use hardware, thus allowing a system to be utilised for more than one type of therapeutical cosmetic procedure, reduction, time reduction, absence of bespoke equipment, subjects to receive more than one therapeutic or cosmetic procedure in a single session, and ease of manipulation and usage.

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Medical Informatics (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Optics & Photonics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Robotics (AREA)
  • Electromagnetism (AREA)
  • Otolaryngology (AREA)
  • Radiation-Therapy Devices (AREA)

Abstract

Système destiné à échanger un appareil chirurgical avec un appareil chirurgical d'une pluralité d'appareils chirurgicaux, ledit appareil chirurgical étant un appareil chirurgical visant à réaliser une procédure cosmétique ou thérapeutique sur un sujet, le système comprenant un premier mécanisme de maintien d'appareil chirurgical pour maintenir un appareil chirurgical en prise avec une extrémité de tête de travail d'un robot chirurgical, et présentant un mécanisme de verrouillage mécanique ; et un pont présentant une pluralité de seconds mécanismes de maintien d'appareil chirurgical permettant chacun de maintenir un appareil chirurgical d'une pluralité d'appareils chirurgicaux. Pour le premier mécanisme de maintien d'appareil chirurgical, lorsque le maintien d'un premier appareil chirurgical est déplacé par un bras de robot de sorte que ledit premier appareil chirurgical est disposé de manière adjacente à un second mécanisme de maintien d'appareil chirurgical vacant, le second mécanisme de maintien d'appareil chirurgical est activé de façon à maintenir ledit premier appareil chirurgical, et le mécanisme de verrouillage mécanique libère ensuite ledit premier appareil chirurgical.
PCT/CN2025/092860 2024-05-06 2025-05-06 Appareil de traitement pour système cosmétique et thérapeutique Pending WO2025232726A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
HK32024091023.4 2024-05-06
HK32024091023.4A HK30106652A2 (en) 2024-05-06 Treatment apparatus for cosmetic and therapeutic system

Publications (1)

Publication Number Publication Date
WO2025232726A1 true WO2025232726A1 (fr) 2025-11-13

Family

ID=97674479

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2025/092860 Pending WO2025232726A1 (fr) 2024-05-06 2025-05-06 Appareil de traitement pour système cosmétique et thérapeutique

Country Status (1)

Country Link
WO (1) WO2025232726A1 (fr)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103037799A (zh) * 2010-08-02 2013-04-10 约翰霍普金斯大学 用于协作手术机器人的工具更换接口和控制算法
US20200315738A1 (en) * 2017-11-15 2020-10-08 Steerable Instruments nv Devices to enhance robotic arm tasks
CN114521965A (zh) * 2020-11-23 2022-05-24 上海微创医疗机器人（集团）股份有限公司 手术器械更换机器人、手术机器人系统及更换系统
CN114668613A (zh) * 2022-01-28 2022-06-28 河南省中医药研究院 一种骨科微创手术用智能机器人系统
CN114983598A (zh) * 2022-06-01 2022-09-02 苏州微创畅行机器人有限公司 末端工具更换装置、手术机器人、更换方法及控制设备
CN115005994A (zh) * 2022-06-01 2022-09-06 湖南医科医工科技有限公司 一种多功能医疗手术装置
GB202319525D0 (en) * 2022-09-02 2024-01-31 First Affiliated Hospital Of Univ Of South China No details

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103037799A (zh) * 2010-08-02 2013-04-10 约翰霍普金斯大学 用于协作手术机器人的工具更换接口和控制算法
US20200315738A1 (en) * 2017-11-15 2020-10-08 Steerable Instruments nv Devices to enhance robotic arm tasks
CN114521965A (zh) * 2020-11-23 2022-05-24 上海微创医疗机器人（集团）股份有限公司 手术器械更换机器人、手术机器人系统及更换系统
CN114668613A (zh) * 2022-01-28 2022-06-28 河南省中医药研究院 一种骨科微创手术用智能机器人系统
CN114983598A (zh) * 2022-06-01 2022-09-02 苏州微创畅行机器人有限公司 末端工具更换装置、手术机器人、更换方法及控制设备
CN115005994A (zh) * 2022-06-01 2022-09-06 湖南医科医工科技有限公司 一种多功能医疗手术装置
GB202319525D0 (en) * 2022-09-02 2024-01-31 First Affiliated Hospital Of Univ Of South China No details

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