Method for controlling moving pattern for laser treatment and laser irradiation device using same

1. A method of controlling a motion pattern for a laser treatment, the method comprising:

constituting a three-dimensional image of an object;

setting a region of therapy on which a laser is irradiated on a surface of the object using the three-dimensional image;

setting a guide path passing through the region of therapy;

setting a plurality of laser irradiation points arranged on the guide path; and

sequentially irradiating the laser on a position corresponding to each of the laser irradiation point among the surface of the object;

wherein the guide path includes a first section for entering the region of therapy, a second section for linearly moving at a same speed within the region of therapy, and a third section for reentering to the region of therapy by moving along a curved path while varying a moving speed outside the region of therapy, and the laser is irradiated at a constant frequency in the second section,

wherein the laser irradiation points are arranged horizontally and vertically within the region of therapy to form a plurality of rows, and the third section of the guide path is set to move along the curved path between two rows of the plurality of rows,

wherein the first section is set to enter one side of a first row of the two rows, the second section is set to move along a first direction from the one side to an other side of the first row, and the third section is set to exit from the other side of the first row and enter an other side of a second row of the two rows,

wherein the moving speed in the third section is gradually decreased to a farthest position from the region of therapy, and then is gradually increased to an entering position to the second row, and

wherein, after the third section, the guide path is set to linearly move along a second direction opposite the first direction from the other side to the one side of the second row within the region of therapy.

2. The method of controlling a motion pattern according to claim 1 , wherein the laser is irradiated by a robot arm equipped with an end-effector.

3. The method of controlling a motion pattern according to claim 2 , further comprising adjusting the position of at least one of the plurality of laser irradiation points so that the laser is not irradiated at a position where motion of the robot arm is discontinuous.

4. The method of controlling a motion pattern according to claim 1 , wherein the second section and the third section are repeated a plurality of times in the guide path, and the guide path further include a fourth section for deviating from the region of therapy.

5. The method of controlling a motion pattern according to claim 1 , wherein the third section is set to move along the curved path between two rows adjacent to each other in a vertical direction among the plurality of rows.

6. The method of controlling a motion pattern according to claim 1 , wherein the third section is set to move along the curved path between two rows of the plurality of rows that are not adjacent to each other in a vertical direction.

7. The method of controlling a motion pattern according to claim 1 , wherein the guide path further comprises a spiral guide path passing through the region of therapy.

8. A non-transitory recording medium on which a program for causing a computer to execute the method according to claim 1 is recorded.

9. An apparatus of controlling a motion pattern for a laser treatment, the apparatus comprising:

a vision controlling unit for constituting a three-dimensional image of an object, and for setting a region of therapy on which a laser is irradiated a surface of the object, a guide path passing through the region of therapy, and a plurality of laser irradiation points arranged on the guide path;

a laser unit for sequentially irradiating the laser to a position corresponding to each of the laser irradiation points in the surface of the object; and

a motion controlling unit for controlling movement of the laser unit and laser irradiation based on the set guide path and the laser irradiation points;

wherein the guide path includes a first section for entering the region of therapy, a second section for linearly moving at a same speed within the region of therapy, and a third section for reentering to the region of therapy by moving along a curved path while varying a moving speed outside the region of therapy, and the laser is irradiated at a constant frequency in the second section,

wherein the laser irradiation points are arranged horizontally and vertically within the region of therapy to form a plurality of rows, and the third section of the guide path is set to move along the curved path between two rows of the plurality of rows,

wherein the first section is set to enter one side of the first row of the two rows, the second section is set to move along a first direction from the one side to an other side of the first row, and the third section is set to exit from the other side of the first row and enter an other side of a second row of the two rows,

wherein the moving speed in the third section is gradually decreased to a farthest position from the region of therapy, and then is gradually increased to an entering position to the second row, and

wherein, after the third section, the guide path is set to linearly move along a second direction opposite the first direction from the other side to the one side of the second row within the region of therapy.

10. The apparatus of controlling a motion according to 9 , wherein the laser unit includes a robot arm equipped with an end-effector.

11. The apparatus of controlling a motion according to 10 , wherein the vision controlling unit adjusts the position of at least one of the plurality of laser irradiation points so that the laser is not irradiated at a position where motion of the robot arm is discontinuous.

12. The apparatus of controlling a motion according to 9 , wherein the second section and the third section are repeated a plurality of times in the guide path, and the guide path further include a fourth section for deviating from the region of therapy.

13. The apparatus of controlling a motion according to 9 , wherein the third section is set to move along the curved path between two rows adjacent to each other in a vertical direction among the plurality of rows.

14. The apparatus of controlling a motion according to 9 , wherein the third section is set to move along the curved path between two rows of the plurality of rows that are not adjacent to each other in a vertical direction.

15. The apparatus of controlling a motion according to 9 , wherein the guide path further comprises a spiral guide path passing through the region of therapy.