Int J Med Robot - Development and clinical evaluation of medical robot assisted photodynamic therapy of port wine stains.

Tópicos

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Resumo

CKGROUND: Port wine stains (PWS) are a kind of skin disease for which photodynamic therapy (PDT) has already achieved good results. With manual operation of clinical PDT, the laser density is uneven and laser irradiation of the lesion is arbitrary and non-uniform. In addition, lengthy manual operation tires doctors; thus a robot system has been developed to assist them.METHODS: First, a novel medical manipulator consisting of five passive joints (robot arm) and two active joints (robot wrist) was developed to automatically improve the uniformity of laser irradiation. Second, image processing of the lesion was introduced. Third, kinematics and path planning of the robot were analysed, and safety precautions were introduced. Then, accuracy tests of the robot wrist and robot system were conducted separately before clinical application. Finally, a total of 50 PWS cases were treated using the robot system. The clinical outcomes and comparison of non-parametric values were employed to evaluate the robot system.RESULTS: The accuracies of the robot wrist and robot system were shown to meet the requirements of clinical PDT treatment. The robot system performed successfully in 50 PWS cases. Doctors can devote more energy to clinical judgments during treatment with the assistance of the robot system. All the PWS have shown different degrees of improvement. The results show that the robot system is useful in assisting doctors for the PDT treatment of PWS.CONCLUSIONS: The experiments show the feasibility and usefulness of the robot system in assisting doctors giving PDT treatment for PWS. The robot system can lighten the load on doctors and improve the therapeutic effect.

Resumo Limpo

ckground port wine stain pws kind skin diseas photodynam therapi pdt alreadi achiev good result manual oper clinic pdt laser densiti uneven laser irradi lesion arbitrari nonuniform addit lengthi manual oper tire doctor thus robot system develop assist themmethod first novel medic manipul consist five passiv joint robot arm two activ joint robot wrist develop automat improv uniform laser irradi second imag process lesion introduc third kinemat path plan robot analys safeti precaut introduc accuraci test robot wrist robot system conduct separ clinic applic final total pws case treat use robot system clinic outcom comparison nonparametr valu employ evalu robot systemresult accuraci robot wrist robot system shown meet requir clinic pdt treatment robot system perform success pws case doctor can devot energi clinic judgment treatment assist robot system pws shown differ degre improv result show robot system use assist doctor pdt treatment pwsconclus experi show feasibl use robot system assist doctor give pdt treatment pws robot system can lighten load doctor improv therapeut effect

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