Laser irradiation apparatus and method using robot arm
Provided are a laser irradiation apparatus using a robot arm and a method thereof which can automatically scan an object and irradiate with laser beam to the surface of the object based on the scanned information. The laser irradiation method using a robot, includes: collecting a raw data by scanning an object; constituting a three-dimensional image of the object on the basis of the raw data; setting a region of interest (ROI) on a surface of the object in the three-dimensional image; setting a guide path passing through the region of interest; and irradiating a laser on the surface of the object corresponding to the guide path using the robot arm having an end-effector.
1. A laser irradiation apparatus using a robot comprising:
a scanner for scanning an object to collect a raw data;
a vision controlling unit for constituting a three-dimensional image of the object based on the raw data, and setting a region of interest (ROI) on a surface of the object in the three-dimensional image;
a motion controlling unit for setting a spiral guide path passing through the region of interest; and
a robot arm, having an end-effector, for irradiating a laser on the surface of the object corresponding to the spiral guide path,
wherein the robot arm comprises:
a first base part;
a second base part rotatably coupled to the first base part;
a first link being rotatably coupled to the second base part;
a second link rotatably coupled to the first link;
an auxiliary link having one end thereof coupled to the second base part and the other end thereof coupled to the second link;
a laser unit, disposed on the first base part, for generating the laser;
a first motor part, disposed on the first base part, for rotating the second base part;
a second motor part, disposed on the second base part, for rotating the first link; and
a third motor part, disposed on the second base part, for rotating the second link through the auxiliary link,
wherein when a motion of the object is generated during irradiation process of the laser, the motion controlling unit stops the irradiation process if the motion of object exceeds a preset threshold range, and wherein when the motion of the object does not exceed the preset threshold range, the motion controlling unit modifies the region of interest (ROI) and the spiral guide path based on the motion of the object.
2. The laser irradiation apparatus according to claim 1 , wherein the vision controlling unit detects a region of therapy where at least one of a color or a contrast is different from surroundings on the surface of the object, and sets the region of interest to include the region of therapy.
3. The laser irradiation apparatus according to claim 2 , wherein the spiral guide path passes through the region of therapy, and the robot arm irradiates the laser on the region of therapy.
4. The laser irradiation apparatus according to claim 2 , wherein the motion controlling unit adjusts a least one of a frequency, an irradiation time, a number of irradiations, and a fluence of the laser according to at least one of a degree of a color or a brightness of the region of therapy.
5. The laser irradiation apparatus according to claim 1 , wherein the scanner comprises:
a color sensor for photographing a two-dimensional color image; and
an IR projector and an IR sensor for obtaining a third depth data.
6. The laser irradiation apparatus according to claim 1 , wherein the motion controlling unit stops the irradiation process of the laser when a vibration for the object occurs which is greater than a preset reference value.
7. The laser irradiation apparatus according to claim 1 , wherein the motion controlling unit stops the irradiation process of the laser when a force is applied to the robot arm which is greater than a preset threshold value.
8. The laser irradiation apparatus according to claim 1 , wherein the third motor part moves the auxiliary link in up and down directions, and the second link is rotated by the up and down motion of the auxiliary link.