Automatic width adjusting device, method and system for skin taking machine

Abstract

The invention relates to an automatic width adjusting device, method and system for a skin taking machine, and relates to the technical field of medical instruments.The automatic width adjusting device comprises a skin taking knife body, a blade is installed on the skin taking knife body, a skin taking part is formed on one side of the blade, and a bottom plate is arranged on the skin taking knife body; the two bottom plates are oppositely arranged on the side, close to the skin taking part, of the blade. A driving assembly is arranged on the dermatome body and drives the two bottom plates to slide towards the sides close to each other or away from each other. An adjusting rod is rotationally installed on the side, close to the skin taking part, of the skin taking knife body, a rolling wheel is rotationally installed at one end of the adjusting rod, and an encoder is installed in the rolling wheel and used for measuring the angular displacement of the rolling wheel. The cut healthy skin can be better attached to the burn wound skin defect position, waste of the healthy skin in the skin grafting repair operation is reduced, and meanwhile damage to the healthy skin taking position is reduced.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to an automatic width adjustment device, method and system for a skin harvester. Background Art

[0002] Currently, skin grafting is a medical procedure that repairs skin tissue defects by transplanting healthy skin from one part of the body to another. This process is usually used to repair the following situations: large burns and traumatic skin defects that require healthy skin transplantation to promote healing, severe trauma with large skin defects, long-term non-healing ulcers such as diabetic foot ulcers, and skin cancer defects that cannot be closed after excision.

[0003] There are several types of skin grafts:

[0004] Autologous transplantation: Skin is taken from the patient's own body and transplanted to the damaged area. Since it comes from the patient's own body, there is a lower risk of rejection and it is the most common and ideal type.

[0005] Allograft: Skin harvested from a donor, often used to temporarily cover a wound while waiting for an autologous skin transplant.

[0006] Xenograft: Skin harvested from another species, usually for temporary coverage and protection of wounds.

[0007] Synthetic grafts: Use of artificial synthetic materials to temporarily cover and protect wounds.

[0008] Traditional skin grafting involves harvesting healthy skin tissue and transplanting it to the area in need of repair. The success of this procedure relies on several factors, one of which is the width of the grafted tissue. Typically, the width of the grafted tissue must match the width of the damaged area to ensure complete coverage and healing.

[0009] The existing Chinese patent with publication number CN212788632U discloses a dual-mode adjustable and easy-to-control skin grafting machine, including a handpiece, a main unit and a skin thickness adjustment device, a contact-type safety switch is provided at the upper end of the handpiece, one end of the handpiece is connected to the main unit, and a power cord interface is provided at the end of the handpiece away from the main unit, an arc-shaped guide plate is provided at the upper end of the main unit, a skin-grafting blade is connected to the lower end of the main unit, a skin-grafting cover plate is connected to the lower end of the skin-grafting blade, mounting ear plates are provided on both sides of the end of the main unit away from the handpiece, a skin thickness adjustment device is connected between the two groups of the mounting ear plates, the skin thickness adjustment device is composed of a pressure shaft and a pressure shaft adjustment switch, and a limit slot is provided on the mounting ear plate near the pressure shaft adjustment switch.

[0010] Traditional skin transplantation surgery may also involve manually adjusting the effective width of the blade to adapt it to the specific damaged area. However, after the blade is adjusted, the blade cannot be adjusted during the skin harvesting process, so that the skin harvester can only cut rectangular skin of different widths and cannot cut irregularly shaped skin. This leads to the waste of healthy skin during skin transplantation surgery and also expands the wound on the healthy skin. Summary of the invention

[0011] The technical problem to be solved by the present invention is to provide an automatic width adjustment device, method and system for a skin harvesting machine, which solves the technical problem that a skin harvesting knife can only cut rectangular skin of different widths but cannot cut irregularly shaped skin during the skin harvesting process.

[0012] To achieve the above object, the present invention provides the following technical solutions:

[0013] An automatic width adjustment device for a skin removal machine comprises a skin removal knife body, a blade is mounted on the skin removal knife body, a skin removal portion is formed on one side of the blade, a base plate is arranged on the skin removal knife body, two base plates are arranged opposite to each other on the side of the blade close to the skin removal portion; a driving assembly is arranged on the skin removal knife body, and the driving assembly drives the two base plates to slide toward or away from each other; an adjusting rod is rotatably mounted on the side of the skin removal knife body close to the skin removal portion, a roller is rotatably mounted on one end of the adjusting rod, an encoder is mounted inside the roller, and the encoder is used to measure the angular displacement of the roller.

[0014] Through the above technical solution, during the skin harvesting process, the adjustment rod is rotated to place the roller on the adjustment rod against the patient's skin. As the skin harvesting knife body moves, the encoder in the roller measures the angular displacement of the roller. The encoder can reflect the movement distance of the skin harvesting knife body. During the movement of the skin harvesting knife, the driving assembly drives the two bottom plates to move toward or away from each other. During the movement of the bottom plate, the skin harvesting spacing of the blade is adjusted. This eliminates the need for staff to adjust the blade, and during the skin harvesting process of the skin harvesting knife body, the skin harvesting spacing of the blade can be adjusted at any time, so that the obtained healthy skin can better fit the burn wound skin defect, reducing the waste of healthy skin in the transplantation operation, and also reducing the wound on the healthy skin.

[0015] Furthermore, a mounting groove is formed on the skin removal knife body, and a first slider and a second slider are slidably mounted in the mounting groove of the skin removal knife body, and the two base plates are respectively mounted on the first slider and the second slider.

[0016] Through the above technical solution, the first slider and the second slider slide towards or away from each other in the installation groove, and the two base plates are installed on the first slider and the second slider, so that the base plates can slide on the skin removal knife body.

[0017] Furthermore, the drive assembly includes a first motor and a second motor, and the first motor and the second motor are installed on the skin removal knife body; the skin removal knife body is provided with a first screw rod and a second screw rod, and the first screw rod and the second screw rod are respectively threadedly matched with the first slider and the second slider, and the output shaft of the first motor is connected to the first screw rod, and the output shaft of the second motor is connected to the second screw rod.

[0018] Through the above technical solution, the first motor and the second motor drive the first screw rod and the second screw rod to rotate. Since the first slider, the second slider are threadedly connected to the first screw rod and the second screw rod, the first screw rod and the second screw rod can drive the first slider and the second slider to slide on the skin removal knife body during rotation, thereby improving the convenience of sliding the bottom plate on the skin removal knife body.

[0019] Furthermore, a reducer is installed at one end of the first screw rod and the second screw rod, and the first motor and the second motor are connected to the first screw rod and the second screw rod through the reducer.

[0020] Through the above technical solution, the first motor and the second motor are connected to the first screw rod and the second screw rod through the reducer, and the reducer has the function of increasing the torque and reducing the rotation speed.

[0021] Furthermore, a scanner is provided on one side of the skin removal knife body, and wireless data transmission is adopted between the scanner and the skin removal knife body.

[0022] Through the above technical solution, the scanner scans the surface of the patient's burned and traumatic skin defects, making skin extraction more accurate and also reducing the waste of healthy skin.

[0023] Furthermore, a battery compartment is formed in the skin removal knife body, a battery body is installed in the battery compartment, and a plurality of battery bodies are arranged at intervals in the battery compartment.

[0024] Through the above technical solution, the battery body is installed in the battery compartment, and the skin knife body is powered by the battery body, so that the skin knife body can be separated from the guide, thereby increasing the use range of the skin knife body.

[0025] Furthermore, a rotating shaft is rotatably mounted on the skin removal knife body, a guide roller is sleeved on the rotating shaft, the guide roller corresponds to the bottom plate, and the guide roller is spaced apart from the blade.

[0026] Through the above technical solution, the guide roller is rotatably installed on the rotating shaft, and the guide roller and the blade are arranged at a distance. Therefore, during the skin removal process, healthy skin passes between the blade and the guide roller, thereby reducing the curling of the skin after removal.

[0027] An automatic width adjustment method for a skin removal machine, using the automatic width adjustment device for a skin removal machine as described above, the specific steps are as follows:

[0028] The scanner scans the surface of the skin defect caused by burns and trauma on the human body;

[0029] Set a color threshold A, and extract the burn skin defect area through the color threshold;

[0030] Calculate the shape of the burn wound defect skin surface;

[0031] Set a symmetry axis to measure the distance between the edge and the symmetry axis;

[0032] The roller contacts the skin, and the encoder on the roller measures the angular displacement of the roller, and the length of the cut skin is calculated based on the angular displacement of the roller;

[0033] The first motor and the second motor drive the bottom plate to move during the movement of the skin-picking knife body, and the bottom plate changes the skin-picking width of the blade from time to time.

[0034] Furthermore, when extracting the burn skin defect area, a clustering algorithm is used to retain the burn skin defect area; the surface integral principle is applied to divide the skin surface into a group of narrow strips of surfaces, each of which has a width of 0.1 mm-0.2 mm and can be regarded as a group of curves. Then, curve integration is performed on each curve to calculate the area of ​​each curve, and then the shape description of the entire skin surface is derived.

[0035] An automatic width adjustment system for a skin removal machine, using the automatic width adjustment device for a skin removal machine as described above:

[0036] It includes a pre-processing module, a control module, a motor drive module and a power supply module;

[0037] The power module supplies power to the control module and the motor drive module;

[0038] The preprocessing module preprocesses the burn trauma data of the burn trauma skin defect epidermis;

[0039] The preprocessing module sends the skin data to the control module;

[0040] The control module drives the bottom plate through the motor drive module to adjust the skin picking range of the blade.

[0041] In summary, the present application includes at least one of the following beneficial technical effects of an automatic width adjustment device, method and system for a skin removal machine:

[0042] 1. During the skin harvesting process, turn the adjustment rod and place the roller on the adjustment rod against the patient's skin. As the skin harvesting knife moves, the encoder in the roller measures the angular displacement of the roller. The encoder can reflect the movement distance of the skin harvesting knife. During the movement of the skin harvesting knife, the drive assembly drives the two bottom plates to move toward or away from each other. During the movement of the bottom plate, the skin harvesting distance of the blade is adjusted. This eliminates the need for staff to adjust the blade, and during the skin harvesting process of the skin harvesting knife, the skin harvesting distance of the blade can be adjusted at any time, so that healthy skin can better fit the burn skin defect, reducing the waste of healthy skin during the transplantation operation, while also reducing the wound on the healthy skin;

[0043] 2. The convenience of moving the two bottom plates is improved by setting the first slider and the second slider as well as the first screw rod and the second screw rod;

[0044] 3. Through the setting of the reducer and the guide roller on the rotating shaft, the reducer reduces the movement and transportation of the base plate, thereby slowing down the skin removal speed of the skin removal knife body. During the skin removal process, the guide roller guides the cut skin, thereby reducing the curling of the cut skin. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 This is a schematic diagram of the overall structure of an automatic width adjustment device for a skin removal machine provided by the present application;

[0046] Figure 2 It is a schematic diagram of the structure of the driving component mainly provided by this application;

[0047] Figure 3 It is the three-dimensional image of simulated skin defect mainly provided by this application;

[0048] Figure 4 This is the skin surface development diagram mainly provided by this application;

[0049] Figure 5 It is the system wide body mainly provided by this application.

[0050] Figure numerals: 1. skin removal knife body; 11. mounting groove; 12. rotating shaft; 121. guide roller; 13. adjusting rod; 131. roller; 132. encoder; 14. battery compartment; 141. battery body; 2. blade; 21. skin removal part; 3. bottom plate; 4. driving assembly; 41. first slider; 411. first motor; 412. first screw rod; 42. second slider; 421. second motor; 422. second screw rod; 43. reducer; 100. pre-processing module; 200. control module; 300. motor driving module; 400. power module. DETAILED DESCRIPTION

[0051] In order to make the technical means, creative features, objectives and effects of the present invention easier to understand, the present invention is further described below in conjunction with specific embodiments.

[0052] The following is combined with Figure 1-5 This application is described in further detail.

[0053] The embodiments of the present application disclose an automatic width adjustment device, method and system for a skin removal machine.

[0054] Reference Figure 1-Figure 2 An automatic width adjustment device for a skin-cutting machine includes a skin-cutting knife body 1, on which a blade 2 is arranged. When in use, the blade 2 is pressed against the skin, and then the skin-cutting knife body 1 is pushed forward. During the advancement of the skin-cutting knife body 1, healthy skin is removed by the blade 2. A bottom plate 3 and a driving component 4 are arranged on the skin-cutting knife body 1. The driving component 4 drives the bottom plate 3 to slide on one side of the blade 2, and the bottom plate 3 adjusts the skin-cutting range of the blade 2.

[0055] Reference Figure 1 The blade 2 is mounted on the skin-cutting knife body 1, and a skin-cutting portion 21 is formed on one side of the blade 2, and the blade 2 cuts the skin of the patient's healthy part through the skin-cutting portion 21. The bottom plate 3 is located on the side of the skin-cutting knife body 1 close to the skin-cutting portion 21 of the blade 2. Two bottom plates 3 are relatively arranged on the skin-cutting knife body 1, and the two bottom plates 3 slide toward one side approaching or moving away from each other on the skin-cutting knife body 1. The skin-cutting range of the blade 2 is 0-10cm. When the two bottom plates 3 are in a closed state, the skin-cutting range of the skin-cutting knife is 0. When the two bottom plates 3 are opened to the maximum state, the skin-cutting range of the skin-cutting knife is 10cm. With the movement of the two bottom plates 3, the skin-cutting range of the blade 2 can be adjusted within the range of 0-10cm.

[0056] Reference Figure 2Further, the skin removal knife body 1 is formed with a mounting groove 11 away from the blade 2, and the first slider 41 and the second slider 42 are slidably mounted in the mounting groove 11 of the skin removal knife body 1, and the two bottom plates 3 are respectively mounted on the first slider 41 and the second slider 42. When in use, the first slider 41 and the second slider 42 drive the two bottom plates 3 to slide on the skin removal knife body 1.

[0057] In order to improve the convenience of the first slider 41 and the second slider 42 sliding on the skin removal knife body 1, the driving assembly 4 includes a first motor 411 and a second motor 421, the first motor 411 and the second motor 421 correspond to the two bottom plates 3, and the first motor 411 and the second motor 421 are respectively installed on the opposite sides of the installation groove 11. Further, the first slider 41 and the second slider 42 are correspondingly provided with a first screw rod 412 and a second screw rod 422, the first screw rod 412 and the second screw rod 422 are rotatably installed on the skin removal knife body 1, and the first slider 41 and the second slider 42 are respectively threadedly connected with the first screw rod 412 and the second screw rod 422.

[0058] Reference Figure 2 A reducer 43 is installed at one end of the first screw rod 412 and the second screw rod 422 close to the first motor 411 and the second motor 421. The first motor 411 and the second motor 421 drive the first screw rod 412 and the second screw rod 422 to rotate through the reducer 43. During use, the reducer 43 can increase the torque of the first screw rod 412 and the second screw rod 422 and reduce the rotation speed of the first motor 411 and the second motor 421 transmitted to the first screw rod 412 and the second screw rod 422.

[0059] The skin removal knife body 1 is provided with a rotating shaft 12, the axis of the rotating shaft 12 is arranged parallel to the blade 2, and the two ends of the rotating shaft 12 are rotatably connected to the skin removal knife body 1. The rotating shaft 12 is provided with a guide roller 121, which is rotatably mounted on the rotating shaft 12, and the guide roller 121 is arranged at a distance from the skin removal knife. When the blade 2 cuts off the healthy skin, the raised end of the skin passes between the guide roller 121 and the blade 2. The skin is guided by the guide roller 121 to prevent the removed skin from curling.

[0060] The skin removal knife body 1 is provided with an adjustment rod 13, one end of which is rotatably mounted on the skin removal knife body 1, and the other end of which is rotatably mounted with a roller 131, and an encoder 132 is installed in the roller 131. When in use, the length of the cut skin is calculated by measuring the angular displacement of the roller 131. The specific calculation formula is as follows:

[0061] Circumference calculation: The roller 131 usually has a known radius r. The circumference C of the roller 131 is calculated using the formula C=2πr.

[0062] Calculate the rolling angle: By reading the encoder 132, the total angular displacement θ is obtained.

[0063] Convert to linear displacement: Use the formula The angular displacement is converted into a rolling length L. Wherein, θ is the angular displacement; and C is the circumference of the roller 131 .

[0064] When using the skin-cutting knife body 1 to cut the healthy skin of the patient, the skin-cutting knife body 1 needs to be connected to an external power supply, and the power supply guide limits the use scope of the skin-cutting knife body 1. Therefore, a battery compartment 14 is formed in the skin-cutting knife body 1, and a battery body 141 is installed in the battery compartment 14. When in use, the skin-cutting knife body 1 is powered by connecting the battery body 141, which can greatly improve the use scope of the skin-cutting knife body 1. Preferably, a single battery body 141 has a diameter of 10 mm, a height of 28 mm, and a capacity of 1000 mAh. The no-load current of the first motor 411 and the second motor 421 is 118 mA, and the two battery bodies 141 connected in parallel are sufficient to make the skin-cutting machine work for more than half an hour.

[0065] A scanner is connected to one side of the skin removal knife body 1, and the scanner scans the patient's burn skin defect. The scanner sends the scanned patient's skin to the skin removal knife body 1, and then the skin removal knife body 1 removes the patient's healthy skin according to the received graphic signal.

[0066] Reference Figure 3-Figure 4 , an automatic width adjustment method for a skinning machine, the specific steps are as follows:

[0067] The scanner scans the surface of the human burn wound skin defect. The scanner is a RevopointRANGE binocular dual-camera infrared light scanner in the prior art. The scanner simulates a 3D scanning model of the human burn wound surface. Open3D is used to visualize the scanned human skin.

[0068] A color threshold A is set to distinguish between burnt skin defect areas and healthy skin areas, and then a clustering algorithm in the prior art is used to extract the burnt skin defect areas to retain only the areas representing the burnt skin defect areas in the 3D model.

[0069] By applying the existing surface integral principle, the skin surface is divided into a group of narrow strips of curved surfaces, each of which has a width of 0.1 mm to 0.2 mm, preferably, each of which has a width of 0.1 mm, and can be regarded as a group of curves. Then, curve integrals are performed on each curve to calculate the area of ​​each curve, and then the shape description of the entire skin surface is derived.

[0070] Set a symmetry axis to measure the distance between the edge and the symmetry axis;

[0071] The roller 131 is in contact with the skin, and the encoder 132 on the roller 131 measures the angular displacement of the roller 131 , and the length of the cut skin is calculated according to the angular displacement of the roller 131 ;

[0072] The first motor 411 and the second motor 421 drive the bottom plate 3 to move during the movement of the skin-removing knife body 1 , and the bottom plate 3 changes the skin-removing width of the blade 2 according to the rolling spacing of the roller 131 .

[0073] Reference Figure 5 , an automatic width adjustment system for a skin removing machine, adopting the above automatic width adjustment device for a skin removing machine: including a preprocessing module 100, a control module 200, a motor driving module 300 and a power supply module 400.

[0074] The power module 400 supplies power to the control module 200 and the motor driving module 300 .

[0075] The preprocessing module 100 preprocesses the burn trauma data of the burn trauma skin defect epidermis.

[0076] The preprocessing module 100 sends the skin data to the control module 200. Preferably, the preprocessed data is sent to the control module 200 via Bluetooth and WiFi.

[0077] The control module 200 controls the motor drive module 300 to drive the bottom plate 3 to adjust the skin removal range of the blade 2 through the SPI communication protocol.

[0078] When the doctor uses the skin-cutting knife body 1 to cut the skin, he only needs to push the skin-cutting knife body 1 from top to bottom, because the skin-cutting knife body 1 is equipped with a control module 200. Before cutting the skin, the shape of the cut skin has been programmed and input into the control module 200. The encoder 132 on the roller 131 feeds back the distance traveled by the skin-cutting knife body 1 to the control module 200 in real time. The control module 200 controls the rotation of the first motor 411 and the second motor 421 according to the message sent back by the encoder 132, ensuring that the length traveled by the skin-cutting knife body 1 corresponds to the width of the skin, that is, the relative distance between the two bottom plates 3. In this way, it can be ensured that the skin-cutting machine can cut the skin shape required by the doctor.

[0079] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. An automatic width adjustment device for a skin-picking machine, comprising a skin-picking knife body (1), a blade (2) being mounted on the skin-picking knife body (1), a skin-picking portion (21) being formed on one side of the blade (2), and characterized in that: The skin removal knife body (1) is provided with a bottom plate (3), and two bottom plates (3) are arranged opposite to each other on the side of the blade (2) close to the skin removal part (21); the skin removal knife body (1) is provided with a driving component (4), and the driving component (4) drives the two bottom plates (3) to slide towards or away from each other; An adjusting rod (13) is rotatably mounted on one side of the skin removal knife body (1) close to the skin removal part (21); a roller (131) is rotatably mounted on one end of the adjusting rod (13); an encoder (132) is mounted inside the roller (131); and the encoder (132) is used to measure the angular displacement of the roller (131).

2. The automatic width adjustment device for a skin removal machine according to claim 1, characterized in that: A mounting groove (11) is formed on the skin removal knife body (1), and a first slider (41) and a second slider (42) are slidably mounted in the mounting groove (11) of the skin removal knife body (1), and the two base plates (3) are respectively mounted on the first slider (41) and the second slider (42).

3. The automatic width adjustment device for a skin removal machine according to claim 2, characterized in that: The driving assembly (4) includes a first motor (411) and a second motor (421), and the first motor (411) and the second motor (421) are installed on the skin removal knife body (1); the skin removal knife body (1) is provided with a first screw rod (412) and a second screw rod (422), and the first screw rod (412) and the second screw rod (422) are respectively threadedly matched with the first slider (41) and the second slider (42), and the output shaft of the first motor (411) is connected to the first screw rod (412), and the output shaft of the second motor (421) is connected to the second screw rod (422).

4. The automatic width adjustment device for a skin removal machine according to claim 3, characterized in that: A reducer (43) is installed at one end of the first screw rod (412) and the second screw rod (422), and the first motor (411) and the second motor (421) are connected to the first screw rod (412) and the second screw rod (422) via the reducer (43).

5. The automatic width adjustment device for a skin removal machine according to claim 1, characterized in that: The skin removal knife body (1) is connected to a scanner, and wireless data transmission is adopted between the scanner and the skin removal knife body (1).

6. The automatic width adjustment device for a skin removal machine according to claim 1, characterized in that: A battery compartment (14) is formed in the skin removal knife body (1), a battery body (141) is installed in the battery compartment (14), and a plurality of battery bodies (141) are arranged at intervals in the battery compartment (14).

7. The automatic width adjustment device for a skin removal machine according to claim 1, characterized in that: A rotating shaft (12) is rotatably mounted on the skin removal knife body (1), and a guide roller (121) is sleeved on the rotating shaft (12). The guide roller (121) corresponds to the bottom plate (3), and the guide roller (121) and the blade (2) are spaced apart.

8. An automatic width adjustment method for a skinning machine, characterized in that: The automatic width adjustment device for a skin removal machine according to any one of claims 2 to 7 is used, and the specific steps are as follows: The scanner scans the surface of the skin defect caused by burns and trauma on the human body; Set a color threshold A, and extract the burn skin defect area through the color threshold; Calculate the shape of the burn wound defect skin surface; Set a symmetry axis to measure the distance between the edge and the symmetry axis; The roller (131) contacts the skin, and the encoder (132) on the roller (131) measures the angular displacement of the roller (131), and the length of the cut skin is calculated according to the angular displacement of the roller (131); The first motor (411) and the second motor (421) drive the bottom plate (3) to move during the movement of the skin removal knife body (1), and the bottom plate (3) changes the skin removal width of the blade (2) from time to time.

9. The automatic width adjustment method for a skin removal machine according to claim 9, characterized in that: When extracting the skin defect area caused by burn trauma, a clustering algorithm is used to retain the skin defect area caused by burn trauma; the surface integral principle is applied to divide the skin surface into a group of narrow strips of surfaces, each of which has a width of 0.1 mm-0.2 mm and can be regarded as a group of curves. Then, curve integration is performed on each curve to calculate the area of ​​each curve, and then the shape description of the entire skin surface is derived.

10. An automatic width adjustment system for a skinning machine, characterized in that: Using the automatic width adjustment device for a skin removal machine as described in any one of claims 2 to 7: It comprises a pre-processing module (100), a control module (200), a motor driving module (300) and a power supply module (400); The power module (400) supplies power to the control module (200) and the motor drive module (300); The preprocessing module (100) preprocesses the burn trauma data of the burn trauma skin defect epidermis; The preprocessing module (100) sends the skin data to the control module (200); The control module (200) drives the bottom plate (3) to adjust the skin-picking range of the blade (2) through the motor drive module (300).

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