Methods and systems for controlling electromagnetic radiation on skin

Abstract

Systems and methods for treating skin with electromagnetic radiation are described herein. Such a method can comprise placing a handpiece comprising a source of electromagnetic radiation on or adjacent to the skin, in a first pose; detecting a location and an orientation of the handpiece in the first pose; and using the handpiece in the first pose to apply a first dose of electromagnetic radiation to a first region of interest of the skin. The method can further comprise moving the handpiece to a second pose on or adjacent to the skin; detecting a location and an orientation of the handpiece in the second pose; and using the handpiece in the second pose to apply a second dose of electromagnetic radiation to a second region of interest of the skin, wherein the second dose is applied automatically based on a predetermined treatment profile.

Description

RELATED APPLICATION DATA

[0001] This application claims priority pursuant to 35 U.S.C. §119(e) to U.S. Provisional Patent Application Ser. No. 63 / 553,901, filed on February 15, 2024, which is incorporated herein by reference in its entirety. FIELD OF THE INVENTION

[0002] The invention is generally related to methods and systems for treating skin, including with electromagnetic radiation. BACKGROUND

[0003] In plastic and dermatologic therapies, treatments commonly incorporate electromagnetic radiation. Often, these treatments use light emitted from a handheld lamp to heat or treat the skin, which has various effects on the skin. To perform a treatment, the clinician holds the source of electromagnetic radiation against the patient’s skin and triggers the source to apply light, which treats a spot on the patient’s skin in close proximity with the handpiece optics. However, many skin conditions treated with electromagnetic radiation, such as rosacea, telangiectasia, and sun damage are larger than a single treatment spot, requiring multiple treatment spots to be placed side-by-side on the patient’s or subject’s skin. Thus, the clinician is burdened with being aware of the placement of the application of light during the totality of the duration of the treatment so that the patient receives an even and efficacious treatment over the treatment area. If the clinician overtreats a particular area of skin, this can cause blisters and bruising on the patient’s or subject’s skin. In contrast, if the clinician undertreats a particular area, this can cause undesirable stripes and patterns on the patient’s or subject’s skin. The current state of technology offers no safeguards to prevent overtreatment or undertreatment during treatments that incorporate various types of treatment with electromagnetic radiation. Consequently, improved systems and methods are needed for treating skin to provide even treatment of electromagnetic radiation to the skin with less burden to the clinician. SUMMARY

[0004] In one aspect, methods and systems for treating skin with electromagnetic radiation are described herein. Such methods and systems, in some cases, can provide one or more advantages compared to other methods and systems. For example, in some embodiments, a method or system described herein can provide improved control of the application of electromagnetic radiation to the skin. Moreover, a method or system described herein, in some instances, can provide an even application of electromagnetic radiation to the skin of a subject in need thereof without overburdening the clinician or user performing the treatment. A method or system described herein, in some implementations, may improve patient safety and reduce adverse outcomes.

[0005] In some embodiments, a method for treating skin of a subject in need thereof is described herein. Such a method comprises placing a handpiece comprising a source of electromagnetic radiation on or adjacent to the skin, in a first pose, and detecting a location and an orientation of the handpiece in the first pose, relative to a reference location of a datum. In some cases, such a method further comprises using the handpiece in the first pose to apply a first dose of electromagnetic radiation to a first region of interest (ROI) of the skin at a first time; moving the handpiece to a second pose on or adjacent to the skin; and detecting a location and an orientation of the handpiece in the second pose, relative to the first pose and relative to the reference location of the datum. Additionally, such a method, in some implementations, further comprises using the handpiece in the second pose to apply a second dose of electromagnetic radiation to a second ROI of the skin at a second time, wherein the second dose is applied automatically based on a predetermined treatment profile. Further, in some embodiments, detecting a location and an orientation of the handpiece in the first pose and / or second pose comprises inputting the location and orientation into a rotation matrix.

[0006] It is to be generally understood that a predetermined treatment profile described herein can define one or more conditions or requirements for automatic “firing” or application of a dose of electromagnetic radiation to an ROI. That is, the predetermined treatment profile can comprise or define one or more parameters, steps, operations, conditions, or “rules” that determine whether or not a dose of electromagnetic radiation is applied in a given place (e.g., a second ROI) and / or at a given time (e.g., when the handpiece is in the second pose). Such parameters, steps, operations, conditions, or rules are further described below.

[0007] Additionally, it is to be understood that a method described herein is not necessarily limited to two poses or two ROIs. For instance, in some cases, a method described herein further comprises moving the handpiece to an nth pose on or adjacent to the skin; detecting a location and an orientation of the handpiece in the nth pose, relative to the (n-l)th pose and relative to the reference location of the datum; and using the handpiece in the nth pose to apply an / / th dose of electromagnetic radiation to an / / th region of interest (ROI) of the skin at an nth time. In such embodiments, the / / th dose can be applied automatically based on the predetermined treatment profile. Moreover, in such instances, n is an integer equal to 3 or more. For example, n can be an integer ranging from 3 to 10,000, 3 to 9,000, 3 to 8,000, 3 to 7,000, 3 to 6,000, 3 to 5,000, 3 to 4,000, 3 to 3,000, 3 to 2,000, or 3 to 1,000 (or any subrange thereof). Additionally, in some such embodiments, the handpiece is moved continuously from the first pose to the nth pose. In such cases, the predetermined treatment profile can define one or more parameters, steps, operations, conditions, or rules that determine whether or not a dose of electromagnetic radiation is applied in a given location (e.g., an nth ROI) and / or at a given time (e.g., when the handpiece is in an nth pose), including with reference to what has (or has not) occurred at one or more previous locations (e.g., one or more previous ROIs) at one or more previous times.

[0008] Moreover, in some embodiments of a method described herein, a predetermined treatment profile comprises one or more of the following: a spatial relationship between the first ROI and the second ROI (or, more generally, between an (n-1 )th ROI and an nth ROI); a spatial relationship between the handpiece and the skin; a spatial relationship between the handpiece and the datum; a spatial parameter set by the user other than the foregoing spatial relationships; a speed of movement of the handpiece between the first ROI and the second ROI (or, more generally, between an (n-l)th ROI and an nth ROI); a characteristic shape of the first ROI and / or the second ROI (or, more generally, of an nth ROI); a difference between the first time and the second time (or, more generally, between an (n-l)th time and an nth time); a target treatment separation vector; a matrix of target vectors; and a sequential target vector delta. Moreover, in some implementations, a predetermined treatment profile further comprises a target magnitude of the first dose and / or the second dose (or, more generally, of an nth dose).

[0009] Systems for treating skin are also described herein. In one aspect, such a system comprises a handpiece comprising a source of electromagnetic radiation; a datum positioned in a reference location; and a sensor configured to measure a pose of the handpiece relative to the reference location of the datum during treatment. In some instances, the datum is mounted on a boom. Further, in some such embodiments, the boom comprises a plurality of carbon fiber tubes joined by friction hinges. Moreover, in some cases, a sensor described herein is attached to or incorporated into the handpiece. In some instances, the sensor comprises an electromagnet. In some implementations, the electromagnet is an alternating current (AC) electromagnet.

[0010] Additionally, in some embodiments, a handpiece of a system described herein may comprise one or more metal components, ceramic components, or plastic components. In some cases, the handpiece comprises less than 10 wt. % metal components or less than 1 wt. % metal components, based on the total weight of the handpiece. In some implementations, the handpiece comprises at least 30 wt. % ceramic components or plastic components, based on the total weight of the handpiece. In some embodiments, the handpiece comprises at least one non-electronic metal component; and the centroid of the sensor and the centroid of the non-electronic metal component are separated by a distance which is the same or greater than the diameter of the smallest sphere sized to fully enclose the non-electronic metal component.

[0011] In some cases, a handpiece of a system described herein comprises one or more additional subcomponents. For example, in some embodiments, a handpiece of a system further comprises a light distribution component. In some instances, a light distribution component comprises a window formed from sapphire. In some embodiments, a handpiece of a system further comprises an optical pathway between the source of electromagnetic radiation and the light distribution component. Moreover, in some cases, the optical pathway comprises a reflector component. In some implementations, the reflector component provides total internal reflection of electromagnetic radiation traveling between the source of electromagnetic radiation and the light distribution component.

[0012] Further, in some implementations, a handpiece of a system described herein comprises one or more housings for one or more subcomponents of the handpiece. In some embodiments, one or more housing is formed from a ceramic.

[0013] In some cases, a handpiece may further comprise a thermoelectric cooling (TEC) component. A TEC component may be positioned in any configuration with any additional subcomponent of the handpiece not inconsistent with the technical objectives of the present disclosure. For example, in some cases, a TEC component may be immediately adjacent to and / or be in contact with a sensor, a reflector component, a light distribution component, and / or the source of electromagnetic radiation. Moreover, in some implementations, a TEC component may be part of one or more housings. In some cases, the handpiece comprises a housing enclosing a hot side of the TEC component, and the housing comprises a coolant fluid in direct contact with the hot side of the TEC component.

[0014] Further, in some implementations, a system described herein further comprises a control unit. In some cases, a control unit described herein may comprise a user interface. In some instances, the control unit may be enclosed and / or encapsulated, partially or fully, within one or more housings. In some embodiments, the housing may be a magnetic shielding housing. In some instances, the control unit is enclosed in a magnetic shielding housing.

[0015] These and other embodiments are described in more detail in the detailed description which follows. BRIEF DESCRIPTION OF THE FIGURES

[0016] Figure 1 schematically illustrates a flowchart of a method according to an embodiment described herein.

[0017] Figure 2 schematically illustrates a method for treating skin according to an embodiment described herein.

[0018] Figure 3 schematically illustrates a method for treating skin according to an embodiment described herein.

[0019] Figure 4 schematically illustrates a method for treating skin according to an embodiment described herein.

[0020] Figure 5 schematically illustrates a method for treating skin according to an embodiment described herein.

[0021] Figure 6 illustrates a perspective view of an embodiment of a system for treating skin described herein.

[0022] Figure 7 schematically illustrates a block diagram of an embodiment of a system for treating skin described herein.

[0023] Figure 8 schematically illustrates a comparative skin treatment system and method.

[0024] Figure 9 illustrates a thermal image of uneven treatment of skin treated with a comparative system and method.

[0025] Figure 10 schematically illustrates a system and method for treating skin according to an embodiment described herein.

[0026] Figure 11 illustrates a thermal image of skin treated with an embodiment of a system and method described herein.

[0027] Figure 12A illustrates a plot of a measured position of a handpiece in the x plane in mm over time in seconds.

[0028] Figure 12B illustrates a plot of an output of a statistical test in mm over time in seconds.

[0029] Figure 13 illustrates a perspective view of a cross section of a handpiece of a system according to an embodiment described herein.

[0030] Figure 14 illustrates a perspective view of a cross section of a handpiece of a system according to an embodiment described herein.

[0031] Figure 15 illustrates an exploded view of subcomponents of a handpiece of a system according to an embodiment described herein.

[0032] Figure 16 illustrates a perspective view of subcomponents of a handpiece of a system according to an embodiment described herein.

[0033] Figure 17 illustrates a cross section of a handpiece and coolant fluid of a system according to an embodiment described herein.

[0034] Figure 18 schematically illustrates an embodiment of a system described herein wherein a control unit is enclosed within a magnetic shielding housing. DETAILED DESCRIPTION

[0035] Embodiments described herein can be understood more readily by reference to the following detailed description, examples, and figures. Elements, apparatus, and methods described herein, however, are not limited to the specific embodiments presented in the detailed description, examples, and figures. It should be recognized that these embodiments are merely illustrative of the principles of the present invention. Numerous modifications and adaptations will be readily apparent to those of skill in the art without departing from the spirit and scope of the invention.

[0036] In addition, all ranges disclosed herein are to be understood to encompass any and all subranges subsumed therein. For example, a stated range of “1.0 to 10.0” should be considered to include any and all subranges beginning with a minimum value of 1.0 or more and ending with a maximum value of 10.0 or less, e.g., 1.0 to 5.3, or 4.7 to 10.0, or 3.6 to 7.9. Similarly, a stated range of “1 to 10” should be considered to include any and all subranges beginning with a minimum value of 1 or more and ending with a maximum value of 10 or less, e.g., 1 to 5, or 4 to 10, or 3 to 7, or 5 to 8.

[0037] All ranges disclosed herein are also to be considered to include the end points of the range, unless expressly stated otherwise. For example, a range of “between 5 and 10” should generally be considered to include the end points 5 and 10.

[0038] Further, when the phrase “up to” is used in connection with an amount or quantity, it is to be understood that the amount is a non-zero amount or quantity.

[0039] Additionally, in any disclosed embodiment, the terms “substantially,” “approximately,” and “about” may be substituted with “within [a percentage] of’ what is specified, where the percentage could be 0.1, 1, 5, or 10 percent, unless the use of such a term in a given instance indicates otherwise.

[0040] It is also to be understood that the article “a” or “an” refers to “at least one,” unless the context of a particular use requires otherwise.

[0041] Methods and systems for treating the skin are described herein. Such methods and systems, in some cases, can provide one or more advantages and / or benefits compared to other methods and systems. In some embodiments, for example, a method or system described herein can provide increased evenness, homogeneity, and / or consistency of treatment with electromagnetic radiation. Additionally, in some embodiments, a method or system described herein can provide improved safety and / or control of the application of electromagnetic radiation to the skin of a patient or subject in need thereof, such as a human subject. Moreover, a method or system described herein, in some instances, can provide a highly even, highly homogeneous, and / or highly consistent application of electromagnetic radiation to the skin of a subject in need thereof without overburdening the clinician.

[0042] In one aspect, methods for treating the skin are described. In some embodiments, such a method comprises placing a handpiece comprising a source of electromagnetic radiation on or adjacent to the skin in a first pose, and detecting a location and an orientation of the handpiece in the first pose, relative to a reference location of a datum. In some cases, such a method further comprises using the handpiece in the first pose to apply a first dose of electromagnetic radiation to a first region of interest (ROI) of the skin at a first time; moving the handpiece to a second pose on or adjacent to the skin; and detecting a location and an orientation of the handpiece in the second pose, relative to the first pose and relative to the reference location of the datum. Additionally, in some implementations, such a method further comprises using the handpiece in the second pose to apply a second dose of electromagnetic radiation to a second ROI of the skin at a second time, wherein the second dose is applied automatically based on a predetermined treatment profile. Moreover, it is to be understood for reference purposes herein, that the pose of the handpiece comprises the position and orientation of the handpiece.

[0043] Additionally, in some embodiments, it is to be understood that a method described herein is not limited to treatment of only two ROIs at two poses and two time points. That is, the foregoing method steps can be repeated to treat more than two regions of interest (ROIs) on the skin. Thus, a method described herein, in some cases, further comprises moving the handpiece to an / / th pose on or adjacent to the skin; detecting a location and an orientation of the handpiece in the / / th pose, relative to an ( / / -1 )th pose and relative to the reference location of the datum; and using the handpiece in the nth pose to apply an nth dose of electromagnetic radiation to an / / th ROI of the skin at an nth time. In such embodiments, the nth dose is applied automatically based on a predetermined treatment profile, such as discussed below. It is further to be understood that in such instances, n is an integer equal to 3 or more (e.g., 3 to 10,000).

[0044] Methods described herein may also be understood with reference to the figures. In Figure 1, a flow chart illustrates an exemplary embodiment of a method described herein. In step 1, treatment is initiated. In some embodiments, initiating treatment may comprise or include identifying a starting pose or a first ROI on the skin. Moreover, in some cases, a starting pose or a first ROI on the skin may be selected by the user and / or clinician. In some implementations, identifying a starting pose or a first ROI on the skin may be based on the presence of a visual “mark” on the skin that is the target for treatment. Non-limiting examples of a visual mark on the skin may include lesions, veins, capillaries, other blood vessels, redness, acne, acne scarring, skin scarring, moles, birthmarks, changes in skin texture, melasma, and hyperpigmentation.

[0045] In step 2, the handpiece is placed in a first pose on the skin (that is, in a pose in which the handpiece is in contact with an ROI on the skin). It is to be understood that the pose of the handpiece is relative to the reference location of the datum. It is also to be understood for reference purposes herein that the “pose” of the handpiece generally includes both a position and an orientation (such as relative to the datum, or within another frame of reference). For example, the pose of the handpiece can comprise a distance (or, more generally, spatial coordinates) of the handpiece (e.g., as represented by a sensor or the centroid of a sensor attached to or embedded in the handpiece), as well as an orientation of the handpiece, where both the distance and the orientation are relative to the datum. That is, spatial locations / positions and orientations of objects such as the handpiece can be relative to the datum’s frame of reference. Such positions and orientations (i.e., poses) are further described below (e.g., with reference to Figures 2-5). It is further to be understood that, in some cases, it is useful to describe a position or orientation (or a change in position or orientation) within a frame of reference other than the datum’s frame of reference. For instance, in some such cases, a position or orientation (or a change in position or orientation) is relative to the handpiece’s frame of reference.

[0046] Turning again to Figure 1, in step 3, the pose of the handpiece (i.e., its location and orientation of relative to the datum) is detected. It is further to be understood that step 1, step 2, and step 3 may be the same step. That is, in some cases, it is possible for the act of placing the handpiece in a first pose and detecting the handpiece in that location to occur simultaneously. Likewise, it is possible that such placement and detection of the handpiece in a first pose together constitute the beginning of a treatment.

[0047] Alternatively, treatment can be considered to begin when a first dose of light is emitted from the handpiece and directed toward the first ROI, as indicated in step 4 of Figure 1. That is, the first act of “firing” of the handpiece can mark the initiation of a treatment. In step 4, the handpiece applies a first dose or treatment (i.e., as light from the source of electromagnetic radiation) to the first ROI on the skin. In some cases, this first dose or treatment can be considered the introductory treatment or dose. Moreover, this initial or first dose can be applied manually (as opposed to automatically). For example, in some embodiments, the first dose or treatment occurs when the user and / or clinician “manually” actuates the handpiece and / or light source, such as by activating a control or “on” or “fire” switch or button (e.g., by depressing a button or flipping a switch on the handpiece or a control unit of the system (e.g., a foot pedal), by applying a downward (skinward) pressure on the handpiece, by contacting the handpiece with the skin, or by otherwise activating the handpiece in an intentional, human-generated manner. It is also possible for the first dose of electromagnetic radiation to be applied to the first ROI “automatically” instead of “manually.”

[0048] It is further to be understood that “manually” triggering an event or component (such as applying a dose of electromagnetic radiation using a light source) can in some cases comprise triggering the event or component by carrying out an act or step (such as pressing a button or depressing a foot pedal) whose only or primary function is to trigger the event or component, as opposed to also carrying out another useful or relevant function, such as contacting a handpiece with a patient’s skin or disposing the handpiece in a certain location on a patient’s skin. Thus, in some embodiments, a “manual” triggering event is an intentional triggering by the human user at a specific time and / or place, based on a decision by the human user to “fire” the system or apply a dose of therapeutic light. “Automatically” triggering an event or component (such as applying a dose of electromagnetic radiation using a light source), in contrast, can in some instances comprise triggering the event or component by carrying out an act or step whose only or primary function is not to “fire” the system or apply a dose of therapeutic light, but instead to achieve some other necessary or useful step, such as placing the handpiece on or near the skin of the patient, or “scanning” the handpiece over the skin of the patient (e.g., to cover a certain treatment area). Thus, in some cases, an “automatic” triggering event is a triggering that the human user does not necessarily specifically intend or even know in advance will occur at a specific time and / or place. Instead, in some instances, an “automatic” triggering event can be an event that a system described herein carries out automatically on its own (without intentional and specific intervention by a human user) when a certain condition is met (such as placement of the handpiece in a certain location and orientation).

[0049] Turning again to Figure 1, in step 5, the user and / or clinician moves the handpiece to a second pose on the skin. In step 6, the second pose of the handpiece (i.e., its location and orientation relative to the first pose and / or position and relative to the datum) is detected on the skin. A second dose and / or treatment at the second ROI on the skin may or may not be applied automatically. If one or more relationships and / or characteristics of the predetermined treatment profile is fulfilled, the second dose and / or treatment at the second ROI is applied automatically. Thus, in the condition that one or more of these relationships is fulfilled, in step 7, the handpiece applies a second dose or treatment (i.e., as light from the source of electromagnetic radiation) automatically to the second ROI on the skin.

[0050] As previously stated, a method described herein is not limited to applying only two doses at only two times and two locations. Instead, the previous steps can be repeated any desired number of times, as described in steps 8-10 of Figure 1. However, it is to be understood that one or more relationships and / or characteristics of the predetermined treatment profile may not be fulfilled at the second pose (or more generally, any nth pose), as in step 11. In such an instance, the handpiece does not apply a second (or / / th) dose or treatment at that location or at that time.

[0051] A predetermined treatment profile described herein may include one or more relationships or characteristics (as described in more detail elsewhere in the present disclosure). The identity of these relationships and / or characteristics is not limited. For example, in some instances, the predetermined treatment profile may include or comprise positional parameters, such as the spatial relationship between the first ROI and the second ROI (or more generally, between a (w-l)th ROI and / / th ROI), a spatial relationship between the handpiece and the skin, a spatial relationship between the handpiece and the datum, or a spatial parameter set by the user other than these foregoing spatial relationships. In some cases, the predetermined treatment profile may include or comprise the speed the handpiece moved between ROIs, the shape of the ROIs, or the time difference between treatments.

[0052] In some embodiments, if one or more of these relationships and / or characteristics is not fulfilled (e.g., the handpiece is out of range or in an incorrect orientation), the handpiece does not apply a second dose or treatment (or more generally, an / rth dose or treatment). Many ways that one or more of these relationships and / or characteristics may not be fulfilled may be contemplated. For example, in some embodiments, if a handpiece is moved such that the spatial relationship between the first ROI and the second ROI is very close at the detection of the handpiece at the second pose (or more generally, an nth pose), the handpiece will not apply the subsequent dose or treatment. In some instances, if a handpiece is moved to a position or pose far away from the datum (i.e., “out of range” of the spatial relationship between the handpiece and the datum) at detection at the second pose (or more generally, an nth pose), the handpiece will not apply the subsequent dose or treatment. A system described herein may instead, in some embodiments, provide a message or warning to a clinician or user indicated that treatment (e.g., “firing”) did not or could not occur at a specific location or point of time at which the “firing” conditions were not met. Moreover, in some cases, a system described herein may instruct the user or clinician to perform a remedial action, such as altering the location or orientation of the handpiece.

[0053] Turning again to the figures, exemplary embodiments of technology described herein are illustrated by Figure 2 and Figure 3. In Figure 2 and Figure 3, a patient’s skin (20) has multiple ROIs, specifically including first, second, third, and fourth ROIs (21, 22, 23, and 24, respectively), as depicted in each of Figures 2 and 3. In Figure 2, the region of skin (20) undergoing treatment is depicted as essentially flat or planar. In Figure 3, the region of skin (20) is depicted as curved. It is to be understood that the curvature or topology of a region of skin to be treated with a system or method described herein is not necessarily limited. Figures 2 and 3 depict, respectively, flat and curved surfaces for the sake of aiding understanding, not for the sake of limitation.

[0054] In Figure 2 and Figure 3, the skin (20) is treated with a handpiece described herein (106). As illustrated (for simplicity), the handpiece (106) comprises a source of electromagnetic radiation (107) and a light distribution component (114). Moreover, each of Figure 2 and Figure 3 illustrates movement of the handpiece (106) as a function of time. That is, the handpiece (106) is shown in four different poses or positions: a first pose (31), a second pose (32), a third pose (33), and a fourth pose (34). Similarly, as illustrated in Figures 2 and 3, four different arrows (41, 42, 43, and 44) indicate the orientation vector of the handpiece (106) during treatment at the four poses (31, 32, 33, and 34, respectively). Each orientation vector (41, 42, 43, and 44) of the handpiece (106) in the x-z plane forms an angle (0) with the skin (20). These angles are denoted as 91, 02, 03, and 04 for poses 31, 32, 33, and 34, respectively. Moreover, each orientation vector (41, 42, 43, and 44) corresponds to a direction of propagation of light from the handpiece (106) and toward the ROIs (21, 22, 23, and 24) of the skin (20). For illustration purposes, each orientation vector (41, 42, 43, and 44) is shown as essentially marking the middle of the propagating therapeutic light (which might be BBL light, for instance, as further described hereinbelow).

[0055] In Figure 2 and Figure 3, at the first three poses (31, 32, and 33), 0i, 02, and 03 are each approximately 90°. When the handpiece (106) is placed at pose 31 (at or above the first ROI, denoted as 21), the location and orientation of the handpiece (106) is detected relative to the reference location of the datum. The treatment is then initiated by the user and / or clinician or otherwise initiated (e.g., as described in the context of Figure 1 above).

[0056] Turning again to Figures 2 and 3, the handpiece (106) is then moved to the second pose (pose 32), and the location and orientation of the handpiece (106) is detected relative to the first pose (pose 31) and relative to the reference location of the datum (not shown in Figures 2 and 3). The skin at ROI 22 is automatically treated because one or more relationships and / or characteristics of the predetermined treatment profile is fulfilled. For example, the angle 02 is within 10 degrees of the angle 0i, while the location of the handpiece (106) in the z-direction at pose 32 differs from the location of the handpiece (106) in the z-direction at pose 31 by less than 0.5 cm, and the location of the handpiece (106) in the x-direction at pose 32 differs from the location of the handpiece (106) in the x-direction at pose 31 by at least 5 cm. It is to be understood that the foregoing parameters are non-limiting examples, and other relationships or conditions are contemplated for a predetermined treatment profile described herein.

[0057] After automatically firing at position 32 and ROI 22, the handpiece (106) is moved to pose 33. The skin at ROI 23 is automatically treated because (once again), one or more relationships and / or characteristics of the predetermined treatment profile is fulfilled (e.g., the handpiece has moved a sufficient minimal distance in the plane of the skin while not moving beyond a maximum tolerance distance orthogonal to the skin, and not being tilted beyond a maximum tolerance angle in view of the changes in x- and z- distances). Thus, as illustrated in Figures 2 and 3, treatment is initiated at ROI 21, and then additional therapeutic doses of light are automatically provided at ROI 22 and ROI 23 as the clinician moves the handpiece (106) to poses 32 and 33, because the location and orientation of the handpiece (106) that is detected at each of poses 32 and 33 matches the predetermined treatment profile. In other words, the location and orientation of the handpiece (106) in poses 32 and 33 are “allowed” conditions for automatic “firing” of the therapeutic light.

[0058] However, in this non-limiting example, when the handpiece (106) is moved to pose 34 with orientation vector 44, the skin at ROI 24 is not treated because one or more relationships and / or characteristics of the predetermined treatment profile is not fulfilled, or because the position of the handpiece (106) as a function of time is in a “disallowed” or “do not fire” condition. Such a condition could occur, for instance, if the clinician lifted the handpiece unintentionally or in an undesired manner (e.g., to scratch her nose) or moved the handpiece too quickly or too slowly in between pose 33 (and thus ROI 23) and pose 34 (and thus ROI 24). In the particular embodiments shown in Figure 2 and Figure 3, the predetermined treatment profile comprises the spatial relationship between the handpiece (106) and the skin (20). At poses 31, 32, and 33, the orientation vector of the handpiece (106) forms angles 0i, 02, and 03 of approximately 90° with the skin (20) in Figures 2 and 3, and these angles are within range for the spatial relationship between the handpiece (106) and the skin (20). However, it is to be understood that 9 is not necessarily limited to 90° or approximately 90° for the handpiece to automatically fire. These specific examples are provided for illustration purposes. However, at position 34, the angle 04 is much greater than 90° and out of the allowed range for the predetermined treatment profile comprising the spatial relationship between the handpiece (106) and the skin (20), which prevents the automatic treatment of ROI 24.

[0059] It is to be noted that in Figures 2 and 3 (and also in Figures 4 and 5), it appears that gaps or spaces appear in between sequential ROIs (21, 22, 23, 24). These spaces are to aid clarity of the illustration. In some preferred embodiments, sequential ROIs are contiguous and immediately adjacent and do not have gaps between them. That is, in some preferred embodiments, a series of treated ROIs together form or define or fall within an unbroken, continuous surface of skin of a patient. In some other preferred embodiments, sequential ROIs overlap rather than being contiguous and immediately adjacent. For example, in some cases, immediately sequential ROIs (e g., an (n-l)th ROI and an ??th ROI) overlap on one edge or in one dimension (e g., an x-dimension) by 1-10%, where the percentage is based on the size of the ROI in the relevant dimension (e.g., the x-dimension).

[0060] Other “allowed” or “firing” conditions are also possible and may be different than those described in the context of Figures 2 and 3 above. Moreover, in some cases, a condition may be “disallowed” (that is, the condition is a “do not fire” condition) according to one predetermined treatment profile, but “allowed” (“fire”) according to a different predetermined treatment profile. In some preferred embodiments, a predetermined treatment profile comprises “allowed” movement of the handpiece in a particular manner (i.e., moving the handpiece in a particular manner from the first pose to the second pose or more generally from a ( / / -1 )th pose to an nth pose on or adjacent to the skin). In some such cases, moving the handpiece in an “allowed” manner results in the handpiece “tracing” or defining a continuous two-dimensional surface. That is, when the bottom of the handpiece (the side closest to the skin, from which therapeutic light emanates toward the skin) is moved from one pose to the next, the bottom of the handpiece traces out or defines (as a function of space and time) a continuous, “unbroken” surface. The surface may be flat or curved (and the orientation vector of the handpiece may change relative to the datum, even by a large angle 0), but there is no “break” or discontinuity such as would occur if the handpiece were following along with the contours of a patient’s skin and were then suddenly lifted straight “up” away from the skin perpendicularly. In such an instance (sudden perpendicular movement), there would be a mathematical discontinuity in the function describing the movement of the handpiece in space as a function of time. In some implementations, the handpiece does not “fire” when there is a discontinuity and / or “break” in the two-dimensional surface defined by movement of the handpiece. Such a “disallowed” condition can be conceived as a condition that is not consistent with the contours of an actual human patient, whose skin or exterior body shape does include such mathematical discontinuities. That is, when treatment is carried out by moving the handpiece along the skin of the patient (e.g., in direct contact with the skin, from one ROI to the next), any such discontinuity or break in the movement of the handpiece would be inconsistent with accurate movement along the natural contours of the patient’s skin, and would thus represent an inaccurate or undesired pose of the handpiece for firing. Put another way, in some cases, a predetermined treatment profile comprises movement of the handpiece that does not include any discontinuity and / or break in formation or definition of a two-dimensional surface. Moreover, such a discontinuity and / or break can be described as a substantial change (e.g., of greater than 1 mm, greater than 2 mm, or greater than 5 mm) in pose of the handpiece in an “upward” direction (perpendicularly away from the skin). Further, such a substantial change can be described as a change in spatial coordinate in the z-direction, as defined in the frame of reference of the handpiece (not the frame of reference of the datum, though the pose of the handpiece is “tracked” by the datum).

[0061] Figures 4-5 illustrate an example of the foregoing. Similar to Figures 2-3, in Figures 4-5, the skin (20) is treated with a handpiece described herein (106). In Figure 4, the region of skin (20) undergoing treatment is depicted as essentially flat or planar. In Figure 5, the region of skin (20) is depicted as curved. As shown, in Figures 4-5, the handpiece (106) comprises a source of electromagnetic radiation (107) and a light distribution component (114). Again, each of Figure 4 and Figure 5 illustrates the movement of the handpiece (106) as a function of time, with the handpiece (106) in four different poses or positions (31, 32, 33, and 34). Similar to Figures 2 and 3, in Figures 4 and 5, four different arrows (41, 42, 43, and 44) indicate the orientation vector of the handpiece (106) during treatment at the four poses (31, 32, 33, and 34, respectively). Each orientation vector (41, 42, 43, and 44) of the handpiece (106) in the x-z plane forms an angle (0) with the skin (20). These angles are denoted as 0i, 02, 03, and 04 for poses 31, 32, 33, and 34, respectively. Again, in Figures 4 and 5, each orientation vector (41, 42, 43, and 44) corresponds to a direction of propagation of light from the handpiece (106) and toward the ROIs (21, 22, 23, and 24) of the skin (20). However, unlike in Figures 2 and 3, in Figures 4 and 5, the axes indicating directions x and z (and y, by implication) are relative to the frame of reference of the handpiece, not the frame of reference of a stationary datum (as in Figures 2 and 3)

[0062] In Figures 4, and 5, when the handpiece (106) is placed at pose or position 31, the location and orientation of the handpiece (106) is detected relative to the reference location of the datum (but the axes shown above pose 31 correspond to the reference frame of the handpiece, not the datum). The handpiece (106) is then moved to the second pose (pose 32), and the location and orientation of the handpiece (106) is detected relative to the first pose (pose 31) and relative to the reference location of the datum, as in Figures 2 and 3 (but again, in Figures 4 and 5, the axes shown above each pose are for the frame of reference of the handpiece, not the datum). The skin at ROI 22 is automatically treated because one or more relationships and / or characteristics of the predetermined treatment profile is fulfilled. Specifically, in the exemplary embodiments of Figure 4 and Figure 5, the movement of the handpiece from pose 31 to pose 32 (and from pose 32 to pose 33) may be described as forming a continuous two-dimensional surface on the skin, with no break or discontinuity. The contact of the handpiece on the skin is continuous in its movement from pose 31 to pose 32 to pose 33, and there is no substantial change in the z-direction in the frame of reference of the handpiece.

[0063] For example, in Figure 4 specifically, because the handpiece (106) is staying in contact with the skin (20), in the frame of reference of the handpiece (106), when moving from pose 31 to pose 32 to pose 33, the orientation vector of the handpiece (106) at pose 31, pose 32, and pose 33, specifically along the z-direction, has not changed. In this embodiment, this lack of change in the z-direction is considered in the allowed range for the predetermined treatment profile (an allowed condition) because this non-limiting predetermined treatment profile comprises such movement of the handpiece, forming or tracing a continuous two-dimensional surface (e.g., on the skin, when the two-dimensional surface corresponds to or comprises a series of treated ROIs).

[0064] Similarly, for the embodiment depicted in Figure 5, the handpiece (106) again is staying in contact with the skin (20), even though the surface of the skin (20) is curved instead of flat. Nevertheless, despite the curvature, in the frame of reference of the handpiece (106), when moving from pose 31 to pose 32 and pose 33, the orientation vector of the handpiece (106) at pose 31, pose 32, and pose 33 is perpendicular to the surface of the skin, such that 0i, 02, and 03 are all approximately 90°, despite the curvature in the skin in between ROIs 21, 22, and 23. Additionally, within the frame of reference of the handpiece (106), there is no substantial change in the z-coordinate of the handpiece (106) when moving from pose 31 to pose 32 to pose 33. That is, the “altitude” of the handpiece (106) above the skin (20) is substantially unchanged when comparing poses 31, 32, and 33. This is also true of the embodiment of Figure 4.

[0065] However, in both Figure 4 (flat surface) and Figure 5 (curved surface), at position 34, in the frame of reference of the handpiece (106), there is a discontinuity and / or “break” in the two-dimensional surface formed by the handpiece on the skin. As shown in Figures 4 and 5, at pose 34, in the reference frame of the handpiece (106), the orientation vector 44 of the handpiece (106), specifically along the z-direction, is now extended a distance (indicated as A) beyond the bottom of the handpiece. In this position, the handpiece (106) in Figure 4 and Figure 5 is no longer touching the skin, and in Figure 5, the angle 04 is no longer perpendicular or substantially perpendicular to the skin (20). Moreover, in both Figure 4 and Figure 5, when “tracing” the bottom of the handpiece in poses 31-34 (as indicated by the dashed lines (50) in Figures 4 and 5), the traced line includes a discontinuity (51). Thus, in both Figure 4 and Figure 5, when the handpiece (106) is moved to pose 34 with orientation vector 44, the skin at ROI 24 is not treated because this discontinuity and / or “break” from the skin is a “disallowed” or “do not fire” condition for the predetermined treatment profile. Thus, in some embodiments described herein (as in Figures 4 and 5), the predetermined treatment profile comprises the condition that the orientation vector of the handpiece must always (at all poses) be perpendicular or substantially perpendicular (e.g., within 5 degrees of perpendicular) to the surface of the skin, or to a continuous two-dimensional surface corresponding to the surface of the skin. Additionally, in some cases (as in Figures 4 and 5), the predetermined treatment profile further comprises the condition that the z-coordinate of the handpiece within the frame of reference of the handpiece does not substantially change (e.g., by more than 5 mm, more than 3 mm, or more than 1 mm) when moving from an (n-l)th pose to an nth pose.

[0066] In another aspect herein, systems for treating the skin are described. In some embodiments, a system described herein comprises hardware and / or software for carrying out methods described herein. It is to be understood that any hardware and software not inconsistent with the technical objectives of the present disclosure may be used. For example, in some implementations, a system described herein comprises a handpiece comprising a source of electromagnetic radiation; a datum positioned in a reference location; and a sensor configured to measure the pose (i.e., a location and an orientation) of the handpiece relative to the reference location of the datum during treatment. In some cases, the system further comprises a control unit (e.g., computer). In some embodiments, the system comprises a user interface. In some instances, the system further comprises a tracker base station. In some embodiments, the tracker base station comprises a user interface.

[0067] Figure 6 and Figure 7 illustrate aspects of a system (100) for treating skin to provide treatment with electromagnetic radiation in accordance with various embodiments of the present technology. In this non-limiting embodiment, a control unit (101) with a user interface (113) is linked to a tracker base station (102), which is connected to a datum (103) mounted to a boom (104) attached to the tracker base station (102). The tracker base station (102) emits a magnetic field from the datum (103), which varies at some frequencies. A clinician control switch (116) is attached to the control unit (101). A sensor (105) is attached to or embedded in a handpiece (106). The sensor (105) measures the magnetic field of the tracker base station (102), more specifically with reference to the datum (103). In some cases, the sensor (105) inputs location and orientation data several times per second. In some implementations, a sensor (105) is an electromagnet. A source of electromagnetic radiation (107) is mounted in the handpiece (106). The light distribution component (114) may form a window in the handpiece between the source (107) and the skin to allow electromagnetic radiation from the source of electromagnetic radiation (107) to penetrate through to the skin. The sensor (105) is attached to the tracker base station (102) via a sensor cable (108). The handpiece (106) is attached to the base unit (112) comprising the control unit (101) and the tracker base station (102) through a handpiece cable (109). The sensor (105) detects a signal emitted from the datum (103) (the signal is not specifically shown in Figure 6 or Figure 7). In some instances, the signal emitted from the datum (103) is an AC electromagnetic field. The tracker base station (102) processes this signal into location and orientation data and sends the data to the control unit (101). The control unit (101) determines the location and orientation of the handpiece (106) based on the data and initiates a dose of electromagnetic radiation automatically (or not) based on a predetermined treatment profile.

[0068] To further aid understanding, Figure 8 and Figure 9 illustrate a comparison between some comparative systems and methods, as compared to some embodiments of a system and method in accordance with the present disclosure. In Figure 8, a comparative system (200) applying two “pulses” of electromagnetic radiation per second is shown. “Fast” and “slow” in Figure 8 indicate the motion of the handpiece (206) as being relatively fast or relatively slow in the direction indicated by the arrows. The handpiece (206) includes a source of electromagnetic radiation (207) and a light distribution component (214). The blocks or boxes (60) in Figure 8 indicate areas of treatment or ROIs. As seen in Figure 8, in some comparative systems (200), a clinician moving the handpiece (206) at an inconsistent speed will perform an inconsistent treatment, overtreating (with overlapping areas of treatment) when the handpiece (206) is moved too slowly, and undertreating (with gaps between areas of treatment) when the handpiece (206) is moved too quickly. A thermal image of such undertreatment and overtreatment on the skin of a subject is shown in Figure 9. In Figure 9, the treatment areas or ROIs are shown in boxes (60).

[0069] Despite the same inconsistent motion as shown in Figure 8 and Figure 9, a method and system according to the present disclosure can nevertheless provide improved treatment (with the understanding once again that gaps between ROIs are illustrated for convenience, though in some preferred embodiments, sequential ROIs would be contiguous or overlapping). As illustrated in Figure 10, one embodiment of a method and / or system (100) described herein uses data (not shown) from a sensor (105) of a handpiece (106) relative to the reference location of the datum (103) to control each application of electromagnetic radiation based on a predetermined treatment profde. It is to be understood that the reference location of the datum (103) need not be static. Instead, the datum (103) is movable (e.g., using a boom described herein). Regardless of the position of the datum (103), the system (100) keeps track of the datum (103) and uses it as a reference location during various steps of a treatment. Figure 11 illustrates a thermal image showing the treatment of the skin of a subject with an embodiment described herein. In Figure 10 and Figure 11, the ROIs are shown in boxes (25). As shown in this nonlimiting example, when the handpiece (106) is moved slow or fast, the skin is treated with even, homogenous, and / or consistent treatment, with little to no overlap. Thus, systems and methods described herein can avoid errors associated with variations in quality or consistency of clinician performance.

[0070] Certain aspects and steps of methods and systems will now be described in more detail.

[0071] It is to be understood that methods and systems described herein can be used to treat any treatment area or portion of a subject or a patient, without particular limitation. For instance, in some cases, the treatment area is located on the face of the subject. In other cases, the treatment area is located on the neck, chest, back, or legs of the subject.

[0072] The total treatment area can be any size not inconsistent with the technical objectives of this disclosure. For example, in some embodiments, the total treatment area can have an area of 10 mm2 to 1,000 cm2; 20 mm2 to 1,000 cm2; 30 mm2 to 1,000 cm2; 40 mm2 to 1,000 cm2; 40 mm2 to 1,000 cm2; 50 mm2 to 1,000 cm2; 60 mm2 to 1,000 cm2; 70 mm2 to 1,000 cm2; 80 mm2 to 1,000 cm2; 90 mm2 to 1,000 cm2; 100 mm2 to 1,000 cm2; 200 mm2 to 1,000 cm2; 300 mm2 to 1,000 cm2; 400 mm2 to 1,000 cm2; 500 mm2 to 1,000 cm2; 600 mm2 to 1,000 cm2; 700 mm2 to 1,000 cm2; 800 mm2 to 1,000 cm2; 900 mm2 to 1,000 cm2; or 1 cm2 to 1,000 cm2.

[0073] Similarly, the area of a specific region of interest (ROI) described herein may vary. Any sized area not inconsistent with the technical objectives of the present disclosure may be used. In some cases, for instance, the area of an ROI is up to 100 mm2, 200 mm2, 300 mm2, 400 mm2, 500 mm2, 600 mm2, or 700 mm2. Other areas may also be used. Additionally, an ROI may have a characteristic shape. The characteristic shape may be any shape not inconsistent with the technical objectives of this disclosure. For example, in some embodiments, the characteristic shape of a region of interest may be a circle, a square, a rectangle, a polygon, or some other shape.

[0074] Also, it is to be understood that any source of electromagnetic radiation not inconsistent with the objectives of the present disclosure may be used. Many suitable sources of electromagnetic radiation will be readily apparent to those of ordinary skill in the art. In some embodiments, the source of electromagnetic radiation comprises a laser. It is to be understood that a “laser” can refer to a single lasing device that produces a single beam of laser light from a single lasing medium. In some embodiments, a laser described herein can be a pulsed laser or a continuous wave (CW) laser. Moreover, when a pulsed laser is used, the laser can produce time-modulated pulses of the laser beam. For instance, in some cases, the laser beam comprises an ablative laser beam and the laser produces time-modulated pulses of the ablative laser beam. In other cases, the laser beam comprises a coagulative laser beam and the laser produces time-modulated pulses of the coagulative laser beam.

[0075] Further, a laser or laser beam described herein can have any power and any peak or average emission wavelength not inconsistent with the objectives of this disclosure. For example, in some embodiments, a laser or laser beam of a device described herein has a peak or average emission wavelength in the infrared (IR) region of the electromagnetic spectrum. In some such cases, the laser or laser beam has a peak or average emission wavelength in the range of 1-4 pm, 1-3 pm, 2-4 pm, 2-3 pm, 8-12 pm, or 9-11 pm. For example, in some embodiments, the laser or laser beam comprises an erbium-doped yttrium aluminum garnet (Er:YAG) laser or laser beam or a neodymium-doped YAG (Nd:YAG) laser or laser beam having a peak or average emission wavelength of 2940 nm or 1064 nm. In other cases, the laser or laser beam comprises a carbon dioxide laser or laser beam. A laser beam described herein can also have a peak or average emission wavelength in the visible region of the electromagnetic spectrum. Non-limiting examples of peak or average emission wavelengths suitable for use in some embodiments described herein include 532 nm, 695 nm, 755 nm, 1064 nm, and 1470 nm, or 2940 nm. In some other embodiments, the laser beam can have an average wavelength X between 700 and 1500 nm. In some other instances, the laser beam can have an average wavelength X between 900 and 1300 nm. Also, in some instances, a laser or laser beam of a device described herein has an average power of 1 to 10 W, 10 W to 50 W, or 50 to 200 W.

[0076] Moreover, in other embodiments, the source of electromagnetic radiation comprises a broadband light or “BBL” source or beam. As understood by one of ordinary skill in the art, the terms “BBL” source and “BBL beam” can refer to a source and beam, respectively, of intense, broad-spectrum pulses of light, including as defined and approved by the U.S. Food and Drug Administration. More particularly, in some embodiments, a BBL beam produced by a BBL source can comprise pulses of non-coherent or non-laser light having a wavelength from 500 nm to 1200 nm, as described, for instance, in Raulin et al., “IPL technology: a review,” Lasers Surg. Med. 2003, 32:78-87. Any laser, BBL source, laser beam, or BBL beam not inconsistent with the objectives of this disclosure can be used. Moreover, the choice of laser, BBL source, or laser or BBL beam can be based on a desired effect of the laser or BBL beam and / or on a desired target of the laser or BBL beam. A BBL source described herein generally produces a pulsed light output. In some cases, the BBL source comprises a xenon gas-filled chamber. In such instances, the BBL source can produce a BBL beam by the application of bursts or pulses of electrical current through the xenon-containing chamber.

[0077] Further, in other instances, the source of electromagnetic radiation comprises a source of intense pulsed light (IPL). As understood by one of ordinary skill in the art, IPL sources are non-laser high intensity light sources that employ filtered flashlamps to produce non-coherent pulsed light across a broad wavelength spectrum of approximately 400 nm to 1400 nm.

[0078] Now turning to certain other aspects of methods described herein, in some embodiments, as stated previously, it is to be understood that a method described herein is not limited to a first and second pose. Thus, a method described herein, in some cases, further comprises moving the handpiece to an / / th pose on or adjacent to the skin; detecting a location and an orientation of the handpiece in the nth pose, relative to an (n-l)th pose and relative to the reference location of the datum; and using the handpiece in the nth pose to apply an nth dose of electromagnetic radiation to an nth ROI of the skin at an nth time. In such embodiments, the nth dose is applied automatically (or not applied) based on a predetermined treatment profile. In such instances, n is an integer equal to 3 or more. However, n can be an integer ranging from 3 to 10,000, 3 to 9,000, 3 to 8,000, 3 to 7,000, 3 to 6,000, 3 to 5,000, 3 to 4,000, 3 to 3,000, 3 to 2,000, 3 to 1,000, 10 to 10,000, 10 to 1,000, 10 to 500, 10 to 100, 100 to 10,000, or 100 to 1,000 (or any subrange of the foregoing).

[0079] Additionally, in some such embodiments, the handpiece is moved continuously from the first pose to the nth pose. It is to be understood that continuous movement of the handpiece from the first position to the nth pose is movement in which the clinician does not stop or pause the movement of the handpiece between the first pose and the nth pose. That is, the movement is fluid, in contrast to the movement of some traditional or comparative methods between poses and / or positions in which the clinician is required to stop and start the movement of the handpiece in a disjointed or step-like manner between poses and / or positions to ensure an even treatment of the skin.

[0080] In some embodiments, methods and systems described herein detect the location and orientation (i.e., pose) of the handpiece relative to a reference location of a datum. It is to be understood that in some embodiments, the reference location (i.e., the pose and / or spatial position and orientation) of the datum is not necessarily static. Stated differently, in some cases, the reference location (i.e., the pose and / or spatial position and orientation) of the datum is able to change and / or be altered during treatment. However, it is also to be understood in some instances, when detecting a location and an orientation of the handpiece, the detection of the handpiece is in reference to the location of the datum (i.e., the reference location) at the time of the detection of the handpiece.

[0081] Moreover, it is to be understood that in some implementations, methods and systems described herein detect the location and orientation of the handpiece relative to a reference location of a datum. Thus, it is also to be understood that in some cases, methods and systems described herein do not detect the location and orientation of the handpiece using a camera-based navigation system. Further, in some embodiments, methods and systems described herein do not detect the location and orientation of the handpiece using a system based upon skin response (i.e., monitoring skin in response to treatment).

[0082] In some instances, detecting a location and an orientation of the handpiece in the first pose and / or position, second pose and / or position, and / or nth pose and / or position relative to a reference location of a datum comprises detecting a location and an orientation of the handpiece m times per second, where m is an integer from 10 to 1,000. For example, in some cases, m can be an integer ranging from 10 to 100, 10 to 200, 10 to 300, 10 to 400, 10 to 500, 10 to 600, 10 to 700, 10 to 800, 10 to 900, 100 to 200, 100 to 300, 100 to 400, 100 to 500, 100 to 600, 100 to 700, 100 to 800, 100 to 900, 100 to 1,000, 200 to 300, 200 to 400, 200 to 500, 200 to 600, 200 to 700, 200 to 800, 200 to 900, 200 to 1,000, 300 to 400, 300 to 500, 300 to 600, 300 to 700, 300 to 800, 300 to 900, 300 to 1,000, 400 to 500, 400 to 600, 400 to 700, 400 to 800, 400 to 900, 400 to 1,000, 500 to 600, 500 to 700, 500 to 800, 500 to 900, 500 to 1,000, 600 to 700, 600 to 800, 600 to 900, 600 to 1,000, 700 to 800, 700 to 900, 700 to 1,000, 800 to 900, 800 to 1,000, or 900 to 1,000 (or any subrange of the foregoing).

[0083] Additionally, in some cases, detecting a location and an orientation of the handpiece in the first pose, second pose, and / or nth pose comprises inputting the location and the orientation into a rotation matrix. In some cases, the rotation matrix is used by the system to determine elements of the predetermined treatment profile, including but not limited to a spatial relationship between the first ROI and the second ROI (or, more generally, between an (n-l)th ROI and an nth ROI), a spatial relationship between the handpiece and the skin, and a spatial relationship between the handpiece and the datum. In other instances, the rotation matrix is used by the system to determine spatial relationships of the system, such as a spatial relationship among a plurality of regions of interest (e.g., between two ROIs), or a spatial relationship between an nth ROI (e.g., a first ROI or a second ROI) and the datum. In other cases, the rotation matrix is used by the system to determine a speed of movement of the handpiece between the first ROI and the second ROI (or, more generally, a speed of movement of the handpiece between an (n-1 )th ROI and an nth ROI) and a difference between the first time and the second time (or, more generally, a difference between an (n-1 )th time and an nth time). It is to be understood that in some embodiments, a rotation matrix may use one or more calculations to determine these relationships.

[0084] In some embodiments, the pose data (i.e., the location / position and orientation data) of the handpiece are filtered before putting such data in a rotation matrix. For example, in some cases, location and orientation data are filtered in real time with a weighted moving average. In some cases, this filtering removes high-frequency noise. In some implementations, data is partially filtered at given time points, while other data is maintained, over the course of treatment. For example, in some instances, data immediately before and after an application of electromagnetic radiation is excluded from the filter to prevent feedback from the application disrupting the data. In some embodiments, the filtered location and orientation data of the handpiece is input into a rotation matrix.

[0085] Moreover, in some embodiments, orientation data (such as filtered orientation data) is input into a rotation matrix, which can allow the system to find the vector between the sensor and the treatment position (or ROI) in the reference frame of the datum. This vector can be added to the location of the sensor to obtain the location of the treatment spot (or ROI) in the reference frame of the datum. Similar calculations can be done to find the orientation of the treatment spot (or ROI). Other than the first treatment / dose (which can occur, for example) when the clinician first depresses the clinician control switch regardless of handpiece position), the control unit of the system can pulse or “fire” the light source (e.g., a BBL lamp) if the treatment position (the position of the handpiece) has moved more than the set treatment separation from the previous treatment location (the previous position of the handpiece, such as at a previous ROI). In some cases, this calculation can be done by finding the vector between the previous treatment position (or ROI) and the current treatment position (or ROI) in the reference frame of the handpiece, which can have the advantage of intrinsically correcting for motion along curved surfaces. When the control unit triggers a pulse or dose of therapeutic light, the system can store the current treatment location for computing the location of the next pulse. The three-dimensional nature of the tracking system allows for features such as detection and compensation for angled motion, motion around three-dimensional surfaces, and recording of treatment positions. Moreover, features of systems and methods described herein can permit automatic firing or pulsing to occur only if the handpiece is in a pose (i.e., position and orientation) that corresponds to a predetermined treatment profile (e.g., corresponding to providing a certain dose of electromagnetic radiation to each of a series of ROIs (which may be contiguous or slightly overlapping), without substantially overdosing or underdosing any ROI).

[0086] A predetermined treatment profile described herein can be defined in any manner not inconsistent with the technical objectives of the present disclosure (e.g., in a manner described above in the context of Figures 2, 3, 4, and / or 5). For example, in some cases, a predetermined treatment profile described herein comprises one or more of: a spatial relationship between the first ROI and the second ROI (or, more generally, between an ( / / -l)th ROI and an / / th ROI); a spatial relationship between the handpiece and the skin; a spatial relationship between the handpiece and the datum; a spatial parameter set by the user other than the foregoing spatial relationships; a speed of movement of the handpiece between the first ROI and the second ROI (or, more generally, between an ( / / -1 )th ROI and an / / th ROI); a characteristic shape of the first region of interest and / or the second region of interest (or, more generally, of an / / th ROI); a difference between the first time and the second time (or, more generally, between an (n-1 )th time and an / / th time); and a target treatment separation vector (such as described above); a matrix of target vectors; and a sequential target vector delta.

[0087] Thus, in some embodiments, a predetermined treatment profile comprises a spatial relationship between a first ROI and a second ROI (or, more generally, between an ( / / -l)th ROI and an / / th ROI), wherein the spatial relationship comprises or is defined by a vector having a magnitude and a direction between the first ROI and the second ROI (or, more generally, between an ( / / -1 )th ROI and an / / th ROI). It is to be understood that the vector is to be measured from the center of the first region of interest to the center of the second region of interest (or, more generally, from the center of an ( / / -l)th ROI and to the center of an / / th ROI). In some embodiments, the second dose (or, more generally, the / / th dose) is applied automatically only if the magnitude of the vector between the first region of interest and the second region of interest (or, more generally, the vector between the (n-1 )th ROI and the nth ROI) is greater than or equal to a magnitude of a target treatment separation vector. In some such embodiments, it is to be understood that the target treatment separation vector is a measurement of the desired minimum vector between a first ROI and a second ROI (or, more generally, between an (n-l)th ROI and a / zth ROI). In some such cases, it is also to be understood that the input of the target treatment separation vector is a measurement that is controlled by the clinician or user of the method and system. Such a target treatment separation vector can have any magnitude not inconsistent with the technical objectives of the present disclosure. For example, in some cases, the magnitude of the target treatment separation vector can be in the range of 0.5-100 mm, 0.5-50 mm, 0.5-40 mm, 0.5-30 mm, 0.5-20 mm, 0.5-10 mm, 0.5-5 mm, 0.5-1 mm, 1-100 mm, 1-50 mm, 1-40 mm, 1-30 mm, 1-20 mm, 1-10 mm, 1-5 mm, 5-100 mm, 5-50 mm, 5-40 mm, 5-30 mm, 5-20 mm, 5-10 mm, 10-100 mm, 10-50 mm, 10-40 mm, 10-30 mm, 10-20 mm, 20-100 mm, 20-50 mm, 20-40 mm, 20-30 mm, 30-100 mm, 30-50 mm, 30-40 mm, 40-100 mm, 40-50 mm, or 50-100 mm.

[0088] As another example, in some cases, a predetermined treatment profile comprises a matrix of target vectors. In some such embodiments, a matrix of target vectors comprises n vectors for each of n ROIs, wherein each vector has a magnitude and a direction, and n is an integer (such as 3 or higher). More particularly, in some cases, the direction of each of the n target vectors within the matrix is orthogonal or substantially orthogonal to a surface of a corresponding ROI (e.g., an / / th ROI). Further, each of the n target vectors extends to its corresponding ROI along an axis or direction of illumination associated with a dose of electromagnetic radiation provided to the ROI. That is, in some embodiments, a matrix of target vectors comprises a set of vectors that each indicate a desired position and direction of dosing with therapeutic light, for a set or series of ROIs. The orientation vectors depicted in Figure 2, Figure 3, Figure 4, or Figure 5 (e g., orientation vectors 41, 42, and 43) could form such a matrix, for instance.

[0089] It is also possible for a predetermined treatment profile to comprise a sequential target vector delta. Such a “sequential target vector delta” can be a difference (in terms of a mathematical difference of vectors) between an “nth” orientation vector and an “(z?-l )th” orientation vector. That is, a sequential target vector delta can quantify a change from one orientation vector to the next as a treatment progresses from one handpiece position (or ROI) to the next handpiece position (or ROI). In some cases, a system or method described herein “fires” only if the sequential target vector delta is within a range set by the user or clinician.

[0090] Further, in some embodiments, the predetermined treatment profile comprises a spatial relationship between the handpiece and the skin. In some such embodiments, the spatial relationship between the handpiece and the skin comprises or is defined by a vector having a magnitude and direction between the center of the current location of the region of interest (e.g., an nth ROI) to the center of a previously treated region of interest (e.g., an (n-l)th ROI). In some cases, the second dose (or, more generally, an nth dose) is applied automatically only if the component of the vector of the spatial relationship between the handpiece and the skin, which indicates an undesired direction of motion, is less than or equal to a certain limit. This limit can be determined by the sum of the measurement uncertainty and the amount of motion that may occur during a treatment but not cause undesirable outcomes, such as applying the treatment with the handpiece out of contact with the skin. In some embodiments, this limit can be in the range of 1-50 mm, 1-40 mm, 1-30 mm, 1-20 mm, 1-10 mm, 1-5 mm, 5-50 mm, 5-40 mm, 5-30 mm, 5-20 mm, 5-10 mm, 10-50 mm, 10-40 mm, 10-30 mm, 10-20 mm, 20-50 mm, 20-40 mm, 20-30 mm, 30-50 mm, 30-40 mm, or 40-50 mm.

[0091] Moreover, in some cases, the predetermined treatment profile of a method described herein comprises a spatial relationship between the handpiece and the datum. In some such cases, a spatial relationship between the handpiece and the datum comprises or is defined by a vector having a magnitude and a direction between the handpiece and the datum. In some such cases, it is to be understood this vector is measured from the center of the handpiece to the center of the datum. In some embodiments, the second dose (or, more generally, an nth dose) is applied automatically only if the magnitude of the vector of the spatial relationship between the handpiece and the datum is less than or equal to a magnitude of the maximum distance detection vector of the datum. In some such embodiments, it is to be understood that the magnitude of the maximum distance detection vector of the datum is the maximum distance measurement allowed by the system, measured between the center of the datum and center of the handpiece. In some embodiments, for example, the magnitude of the maximum distance detection vector is in the range of 500-650 mm, 525-650 mm, 550-650 mm, 575-650 mm, 600-650 mm, 625-650 mm, 500-625 mm, 525-625 mm, 550-625 mm, 575-625 mm, 600-625 mm, 500-600 mm, 525-600 mm, 550-600 mm, 575 mm-600 mm, 500-575 mm, 525-575 mm, 550-575 mm, 500-550 mm, 525-550 mm, or 500-525 mm.

[0092] Additionally, in some cases, the predetermined treatment profile of a method described herein comprises a spatial parameter set by the user other than the foregoing spatial relationships. Non-limiting examples of other spatial parameters include a spatial relationship among a plurality of regions of interest, a spatial relationship between a first region of interest and the datum, and a spatial relationship between a second region of interest and the datum.

[0093] Also, in some embodiments, the predetermined treatment profile comprises a speed of movement of the handpiece between the first region of interest and the second region of interest (or, more generally, between an (n-1 )th ROI and an nth ROI). In some embodiments, it is to be understood that a speed of movement of the handpiece between the first region of interest and the second region of interest (or, more generally, between an (n-l)th ROI and an nth ROI) is the speed at which the handpiece is moved by the clinician or user from the first ROI on or adjacent to the skin to the second ROI on or adjacent to the skin (or, more generally, a speed at the which the handpiece is moved by the clinician or user from an (n-l)th ROI on or adjacent to the skin to an nth ROI on or adjacent to the skin). In some cases, the second dose (or, more generally, an nth dose) is applied automatically only if a speed of movement of the handpiece between the first ROI and the second ROI (or, more generally, between an (n-l)th ROI and an nth ROI) is less than 75 mm per second, less than 100 mm per second, less than 125 mm per second, or less than 150 mm per second, or between 100 and 200 mm per second. Moreover, in some instances, the treatment separation vector is determined based on user settings and a speed of movement of the handpiece. In some such embodiments, for example, the treatment separation vector is determined based upon the feedback between a measurement that is controlled by the clinician or user of the method or system and a speed of movement of the handpiece between the first region of interest and the second region of interest (or, more generally, between an (n-l)th ROI and an nth ROI).

[0094] Further, in some instances, the predetermined treatment profile comprises a difference between the first time and the second time (or, more generally, a difference between an (n-l)th time and an / / th time). In some embodiments, the second dose (or, more generally, an nth dose) is applied automatically only if the difference between the first time and the second time (or, more generally, the difference between an (n-l)th time and an nth time) is greater than 40 ms, 50 ms, 60 ms, 70 ms, 80 ms, 90 ms, or 100 ms. In some embodiments, the second dose (or, more generally, an nth dose) is applied automatically only if the difference between the first time and the second time (or, more generally, the difference between an (n-1 )th time and an nth time) is between 40 ms and 100 ms, between 40 ms and 90 ms, between 40 ms and 80 ms, between 40 ms and 70 ms, between 40 ms and 60 ms, between 40 ms and 50 ms, between 50 ms and 100 ms, between 50 ms and 90 ms, between 50 ms and 80 ms, between 50 ms and 70 ms, between 50 ms and 60 ms, between 60 ms and 100 ms, between 60 ms and 90 ms, between 60 ms and 80 ms, between 60 ms and 70 ms, between 70 ms and 100 ms, between 70 ms and 90 ms, between 70 ms and 80 ms, between 80 ms and 100 ms, between 80 ms and 90 ms, or between 90 ms and 100 ms.

[0095] In some implementations, the predetermined treatment profile further comprises a target magnitude of the first dose and / or the second dose of electromagnetic radiation (or, more generally, a target magnitude of zzth dose). The dose of electromagnetic radiation can have various properties, such as a determined intensity, fluence and / or duration. It is to be understood, for reference purposes herein, that a “dose” (or “application”) of electromagnetic radiation is generally not synonymous with a “pulse” of electromagnetic radiation, particularly not with respect to the “pulses” of light inherently produced by a pulsed laser (as opposed to a continuous wave laser). Instead, a “dose” of electromagnetic radiation in the context of the present disclosure refers to light emitted by a source of electromagnetic radiation during a single, discrete “on” time of the source of electromagnetic radiation, during which the light is directed to the relevant region of interest. Moreover, the “dose” of electromagnetic radiation can have a duration that is greater than the pulse duration of a pulsed laser or source (if a pulsed laser or source is used). For example, in some cases, a single “dose” of electromagnetic radiation is at least 1 ms, at least 5 ms, at least 10 ms, at least 100 ms, at least 0.5 seconds, or at least 1 second in duration. In some cases, a “dose” of electromagnetic radiation described herein has a duration of 1 ms to 10 seconds, 1 ms to 5 seconds, 1 ms to 1 second, 100 ms to 10 seconds, 100 ms to 5 seconds, or 100 ms to 1 second. Moreover, a “dose” of electromagnetic radiation is temporally bounded on both sides by an “off’ period of time during which the source of electromagnetic radiation is “off.” Further, this “off’ period of time is longer than (and different from) the time between pulses generated by a pulsed source in continuous operation (if a pulsed source is used).

[0096] In some embodiments, in response to a dose of electromagnetic radiation, a given region of interest or plurality of regions of interest that is treated can produce a response. For example, in some instances, the response may be heat generation, measured as thermal response or surface temperature. In other instances, the response could be fluorescence or other luminescence, altered light absorption or scattering, or change in electrical and / or mechanical properties, among other properties. In some instances, the thermal response of a region of interest (or plurality of regions of interest) can be directly measured or otherwise sensed, for instance via an infrared (IR) optical input or an imaging device. In some cases, the response may be indirectly measured (e.g., using a surface temperature analogue).

[0097] Further, in some embodiments, methods and systems described herein may further comprise mechanisms to detect and / or mitigate the effects of interference on the system. In some cases, interference may occur in detecting the location and orientation of the handpiece. In some implementations, interference may be caused by one or more sources of interference, such as one or more sources of AC fields or magnetic fields. For example, in some cases, interference may be caused by one or more sources in the environment (i.e., an environmental source) of an AC field or magnetic field. In some embodiments, interference may be caused by electrical components in the system. Moreover, in some cases, detecting interference may be based on statistical tests applied to the position data. In some implementations, these tests may be designed to discriminate between actual motions of the handpiece, including measurement of noise when no interference is present, and motions measured incorrectly because of interference. For example, in some embodiments, one such statistical test could compare the range of positions measured over a certain timespan to a threshold, as illustrated in Figures 12A-12B. In Figure 12A, a plot of a measured position of a handpiece in the x plane in mm over time in seconds is shown. Using statistical tests, such as the output plot of a statistical test shown in Figure 12B, a threshold is used to detect the interference in the position data shown in Figure 12A. Once an interference is detected, in some cases, this approach and / or mechanism would then ensure that the system does not apply treatments incorrectly, such as by not firing when interference is present or by directing the user (e.g., clinician) to take remedial action (such as removing or reducing the interference).

[0098] Turning again to systems, in some embodiments, systems described herein may have various components. In some implementations, a system described herein may comprise a datum positioned in a reference location. In some instances, the datum of a system described herein is mounted on a boom. Further, in some such embodiments, the boom comprises a plurality of carbon fiber tubes joined by friction hinges. In a preferred embodiment, the friction hinges maintain a set position of the boom against gravity if the boom is not touched. However, in such an embodiment, the boom may be easily manipulated by a single hand, if desired.

[0099] Moreover, in some embodiments, the handpiece comprises a sensor configured to measure a pose (i.e., a location and an orientation) of the handpiece relative to the reference location of the datum during treatment. The sensor may be attached to or incorporated into the handpiece in any manner not inconsistent with the technical objectives of the current disclosure. For example, in some implementations, the sensor may be an external detachable sensor on the outside of the handpiece. However, in some embodiments, the sensor may be embedded and / or may be a subcomponent of the handpiece. Moreover, in some cases, the sensor comprises an electromagnet. In some implementations, the electromagnet of the sensor is an alternating current (AC) electromagnet.

[0100] Not intending to be bound by theory, it is believed that because of the use of a magnetic system-based navigation system, nearby metallic objects may distort the magnetic field of the system because of eddy currents. In some cases, large metal components within the handpiece may not be present. Moreover, in some cases, to avoid this disadvantage, the handpiece may comprise or include one or more non-metal components, such as ceramic components, where they can be used instead of metal components. However, in some instances, some components are metal for adequate reliability and performance, such as mechanical hardware and electrical wires. Not intending to be bound by theory, it is believed that the distortions from these components are small enough to be mitigated by calibrating the system together with the handpiece. Additionally, in some embodiments, the sensor is mounted in a position in the handpiece that is a compromise among the requirements for the sensor to be close to the skin during treatment to minimize angular error but far enough from the largest metal component in the handpiece to minimize distortions.

[0101] A handpiece described herein, in some cases, may comprise one or more nonelectronic metal components. It is to be understood that in some cases, the sensor and the nonelectronic metal component may have a particular spatial relationship. In some embodiments, the handpiece comprises at least one non-electronic metal component; and the centroid of the sensor and the centroid of the non-electronic metal component are separated by a distance which is the same as or greater than the diameter of the smallest sphere sized to fully enclose the nonelectronic metal component.

[0102] An example configuration of a handpiece showing this positioning is shown in Figure 13. In Figure 13, the handpiece (106) comprises a sensor (105), ceramic components (110), and a non-electronic metal component (111). In this exemplary embodiment, the centroid of the sensor (105) and the centroid of the non-electronic metal component (111) are separated by a distance, which is the same as or greater than the diameter of the smallest sphere sized to fully enclose the non-electronic metal component.

[0103] As stated above, in some embodiments, a handpiece described herein may comprise one or more metal components. In some implementations, a metal component described herein may be a non-electronic metal component or an electronic metal component. A handpiece described herein, in some cases, comprises less than 1 wt. %, 5 wt. %, less than 10 wt. %, less than 20 wt. %, or less than 30 wt. % metal components, based on a total weight of the handpiece. In some instances, a handpiece described herein comprises metal components in the range of 130 wt. %, 1-20 wt. %, 1-10 wt. %, 1-5 wt. %, 5-30 wt. %, 5-20 wt. %, 5-10 wt. %, 10-30 wt. %, 10-20 wt. %, or 20-30 wt. %, based on a total weight of the handpiece.

[0104] Moreover, in some implementations, a handpiece described herein may comprise a plastic component. In some cases, the handpiece comprises at least 20 wt. %, at least 30 wt. %, at least 40 wt. %, or at least 50 wt. % plastic components, based on the total weight of the handpiece. In some embodiments, the handpiece comprises 20-50 wt. %, 20-40 wt. %, 20-30 wt. %, 30-50 wt. %, 30-40 wt. %, or 40-50 wt. % plastic components, based on the total weight of the handpiece.

[0105] Further, in some instances, a handpiece described herein may comprise a ceramic component. In some implementations, the handpiece comprises at least 20 wt. %, at least 30 wt. %, at least 40 wt. %, or at least 50 wt. % ceramic components, based on the total weight of the handpiece. In some embodiments, the handpiece comprises 20-50 wt. %, 20-40 wt. %, 20-30 wt. %, 30-50 wt. %, 30-40 wt. %, or 40-50 wt. % ceramic components, based on the total weight of the handpiece.

[0106] In some instances, a handpiece described herein may comprise a light distribution component. It is to be understood that in some embodiments, the light distribution component may form or comprise a window in the handpiece to allow electromagnetic radiation from the source of electromagnetic radiation to penetrate through to the skin. The material of the light distribution component is not necessarily limited. However, in some embodiments, the material of the light distribution component comprises or is formed from glass or sapphire. In some instances, a light distribution component may be adjacent and / or touch the skin during treatment.

[0107] In some implementations, a handpiece may comprise an optical pathway between the source of electromagnetic radiation and the light distribution component. In some cases, the optical pathway comprises a reflector component. It is to be understood that in some embodiments, a reflector component may comprise one or more mirrors to manipulate and / or direct electromagnetic radiation from the source. In some instances, the reflector component provides total internal reflection of the electromagnetic radiation traveling between the source of electromagnetic radiation and the light distribution component.

[0108] In some instances, a handpiece described herein may comprise one or more housings for one or more subcomponents of the handpiece. It is to be understood that for reference purposes herein, in some implementations, a housing may enclose or encase, partially or fully, one or more subcomponents of a handpiece. Further, in some cases, a housing may sequester one or more subcomponents away from other subcomponents in the handpiece, protect one or more subcomponents from other subcomponents in the handpiece, assist with cooling one or more subcomponents, and / or act as a mount for one or more subcomponents. For example, in some implementations, a housing may enclose or encase, partially or fully, a reflector component. In some cases, a housing may enclose or encase, partially or fully, a light distribution component. In some implementations, a housing may enclose or encase, partially or fully, the source of electromagnetic radiation.

[0109] Further, in some embodiments, a housing may comprise, consist of, or consist essentially of, or is formed from a ceramic. The identity of the ceramic component is not necessarily limited. For example, in some cases, the ceramic may comprise, consist of, consist essentially of, or be formed from a non-magnetic ceramic.

[0110] In some implementations of a handpiece described herein, a handpiece may further comprise a thermoelectric cooling (TEC) component. Any configuration for a TEC component may be used. For example, in some embodiments, a TEC component comprises two conductors (or semiconductors) that are connected electrically in series but thermally in parallel (e g., by legs). In some cases, when voltage (such as DC voltage) is applied, heat is transferred from one side of the TEC component to the other, creating a “hot side” and a “cold side” of the TEC component. In some embodiments of a handpiece described herein, a TEC component may be positioned in any configuration relative to any additional subcomponent of the handpiece not inconsistent with the technical objectives of the present disclosure. For example, in some cases, a TEC component may be immediately adjacent to and / or be in contact with a sensor, a reflector component, a light distribution component, and / or the source of electromagnetic radiation. [OUl] Moreover, in some implementations, a TEC component may be adjacent to and / or in contact with one or more housings. In some cases, a TEC component may be part of one or more housings. Stated differently, in some instances, a TEC component may comprise or form one or more sides of a housing. Additionally, in some embodiments, a TEC component may be enclosed and / or encapsulated by one or more housings. In some cases, one or more housings may enclose and / or encapsulate the hot side of a TEC component. In some cases, one or more housings may enclose and / or encapsulate the cold side of a TEC component.

[0112] Additionally, as stated previously, in some embodiments, a housing may assist and / or provide cooling to a subcomponent of a handpiece and / or the handpiece as a whole. For example, in some embodiments, a housing may comprise one or more coolant fluid conduits. In some implementations, coolant fluid may flow through such a conduit. In some implementations, a housing may be partially or completely filled with coolant fluid. The identity of the coolant fluid is not limited. In some cases, the coolant fluid may comprise water.

[0113] Moreover, in some instances, a housing may work in combination with a TEC component to cool a subcomponent of a handpiece and / or the handpiece as a whole. In some embodiments, a housing may comprise a coolant fluid in direct contact with the hot side of a TEC component. In some instances, a housing may comprise a coolant fluid in direct contact with the cold side of a TEC component. In some instances, a housing comprising a coolant fluid in direct contact with the hot side of a TEC component may enclose and / or encapsulate the hot side of a TEC component. Moreover, in some such embodiments, such a housing may enclose one or more subcomponents of the handpiece. For example, in some such cases, a housing may enclose or encapsulate a light distribution component.

[0114] A cross section of an exemplary embodiment of the subcomponents of a handpiece (106) comprising a TEC component is shown in Figure 14. The sensor (105) is shown at the top of the handpiece (106). A first housing (117) partially encloses the light distribution component (114). A second housing (119) partially encloses a reflector component (not shown). A third housing (120) partially encloses the source of electromagnetic radiation (not shown). A TEC component with the cool side positioned outward (121a) is shown.

[0115] An exploded view and a perspective view of an exemplary embodiment of the subcomponents of the handpiece including a TEC component are shown in Figure 15 and Figure 16. A light distribution component (114) formed from sapphire is partially enclosed by a first housing (117). Moreover, the cool side of a TEC component (121a) is on the side of this housing (117). High current connectors (124) are connected to the TEC component. A reflector component (118) is partially enclosed by a second housing (119). The source of electromagnetic radiation (107) is a Xenon flash lamp. The connectors for the source (130) are shown. The third housing (120), the housing of the source (107), comprises a coolant fluid conduit (122) with a coolant fluid inlet (123). Temperature sensors (125) are also shown.

[0116] Figure 17 illustrates a cross section view of an exemplary embodiment of a handpiece with coolant fluid conduits and water flow for cooling. Cool coolant fluid enters through the coolant fluid inlet (123), as shown by the arrows. Several screws (127) hold the first housing (117) and the second housing (119) together and the second housing (119) and the third housing (120) together. An optical filter (128) for the source (not shown) permits filtering of the therapeutic electromagnetic radiation as may be desired in a given instance. During treatment, the light distribution component (114) becomes heated. A TEC component (121a, 121b) is immediately adjacent to and in contact with the light distribution component (114). Moreover, the coolant fluid conduit (126) in the first housing (117) is in direct contact with the hot side (121b) of the TEC component. The cool side (121a) of the TEC is on the outside of the housing. During treatment, because of the heat of the light distribution component (114), heat is transferred to the TEC component. The hot side (121b) of the TEC component is cooled by the coolant fluid moving through the coolant fluid conduits (126). Thus, the coolant moving into the coolant fluid conduits (126) of the third housing (120) comprising the inlet, the second housing (119), and the first housing (117) enclosing the light distribution component (114) also becomes heated. The heated coolant fluid exits through the coolant fluid conduit (122) in the second housing (119) and out of the outlet (129).

[0117] Turning to other components of a system described herein, in some implementations, a system described herein may further comprise a control unit. It is to be understood that in some cases, the control unit may comprise the hardware (i.e., the computer) for controlling the system, such as user input. Moreover, in some cases, a control unit and / or system described herein may comprise a user interface. In some embodiments, the user interface communicates with the hardware and / or the computer controlling the system. Moreover, in some instances, the user interface may allow the user and / or clinician to set the one or more relationships and / or characteristics of the predetermined treatment profile. In some embodiments, the user interface may display a message (i.e., a warning message) when one or more relationships and / or characteristics of the predetermined treatment profile are not met, preventing treatment with a dose of electromagnetic radiation. It is to be understood that in some instances, this may help serve as a safeguard during treatment. In some cases, the user interface may also provide the reason for that treatment did not proceed. For example, in some embodiments, the user interface may state that the movement of the handpiece is too slow or too fast. Moreover, in some instances, the system may not provide an additional dose if the system detects that the location of the handpiece is greater than a certain threshold above or below the previous region of interest, which would occur if the clinician lifted the handpiece.

[0118] In some embodiments, the control unit may be enclosed and / or encapsulated, partially or fully, within one or more housings. In some embodiments, the housing may be a magnetic shielding housing. It is to be understood that in some embodiments, a magnetic shield housing may be used to shield and / or redirect magnetic fields produced and / or generated by the electrical components of the system (e.g., the subcomponents of the handpiece, such as the source of electromagnetic radiation, and / or other components). In some instances, the control unit is enclosed fully, with all sides covered by the magnetic shielding housing. In some embodiments, a magnetic shielding house may only partially enclose and / or encapsulate the control unit. For example, in some embodiments, a magnetic shielding housing may be a panel in the base unit of the system. In some such embodiments, the control unit is adjacent to the magnetic shielding housing.

[0119] An exemplary embodiment of a magnetic shielding housing is shown in Figure 18. In Figure 18, the datum (103) on a boom (104) and sensor (105) on the handpiece (106) comprising a source of electromagnetic radiation (107) and a light distribution component (114) are in communication with the tracker base station (102). However, the control unit (101) is fully enclosed in a magnetic shielding housing (115) within a base unit (112) attached to a clinician control switch (116). The tracker base station (102) is not enclosed within the magnetic shielding housing. The user interface (113) is also not enclosed within the magnetic shielding housing.

[0120] In some implementations, the control unit may prevent the application of a dose of electromagnetic radiation to an ROI of the skin. In some embodiments, the control unit may prevent the application of a dose of electromagnetic radiation to an ROI of the skin if an interference is present. For example, in some cases, the control unit prevents the application of a dose of electromagnetic radiation to an ROI of the skin of a subject treated with the system if an environmental alternating current (AC) field is detected. In some embodiments, to overcome an interference, the control unit instructs (i.e., through a warning message) a user to reposition one or more components of the system. For example, in some instances, the control unit instructs a user of the system to reposition the handpiece relative to the datum in response to the detection of the environmental AC field. In some embodiments, the control unit instructs a user of the system to reposition the datum in response to the detection of the environmental AC field.

[0121] Further, in some implementations, a system described herein may further comprise a tracker base station. It is to be understood that in some embodiments, a tracker base station is configured to communicate with the sensor on the handpiece and the datum. Moreover, in some cases, the tracker base station may be positioned anywhere on the system not inconsistent with the technical objectives of the current disclosure. For example, in some instances, the tracker base station may be enclosed by the base unit. However, in some cases, the tracker base station may not be enclosed by the base unit. In some embodiments, the tracker base station may further comprise a user interface.

[0122] It is to be understood that specific user interfaces, displays, processing software and hardware, and other components and elements of systems and methods described herein can be formed from any materials, using any programming language, and employing any other components now or in the future known to one of ordinary skill in the art, and the present disclosure is not limited to any particular manner of carrying out the disclosed systems and methods, within the scope of the claimed subject matter.

[0123] Additional exemplary embodiments contemplated herein are as follows.

[0124] Embodiment 1. A system for treating skin of a subject in need thereof, the system comprising: a handpiece comprising a source of electromagnetic radiation; a datum positioned in a reference location; and a sensor configured to measure a pose of the handpiece relative to the reference location of the datum during treatment.

[0125] Embodiment 2. The system of Embodiment 1, wherein the datum is mounted on a boom.

[0126] Embodiment 3. The system of Embodiment 2, wherein the boom comprises a plurality of carbon fiber tubes joined by friction hinges.

[0127] Embodiment 4. The system of any of Embodiments 1-3, wherein the sensor is attached to or incorporated into the handpiece.

[0128] Embodiment 5. The system of any of Embodiments 1-4, wherein the sensor comprises an electromagnet.

[0129] Embodiment 6. The system of Embodiment 5, wherein the electromagnet is an alternating current (AC) electromagnet.

[0130] Embodiment 7. The system of any of Embodiments 1-6, wherein the handpiece comprises less than 10 wt. % metal components, based on a total weight of the handpiece.

[0131] Embodiment 8. The system of Embodiment 7, wherein the handpiece comprise less than 1 wt. % metal components, based on the total weight of the handpiece.

[0132] Embodiment 9. The system of any of Embodiments 1-8 wherein the handpiece comprises at least 30 wt. % ceramic components or plastic components, based on the total weight of the handpiece.

[0133] Embodiment 10. The system of Embodiment 4, wherein: the handpiece comprises at least one non-electronic metal component; and the centroid of the sensor and the centroid of the non-electronic metal component are separated by a distance which is the same or greater than the diameter of the smallest sphere sized to fully enclose the non-electronic metal component.

[0134] Embodiment 11. The system of any of Embodiments 1-10, wherein the handpiece comprises one or more housings for one or more subcomponents of the handpiece.

[0135] Embodiment 12. The system of Embodiment 11, wherein at least one housing is formed from a ceramic.

[0136] Embodiment 13. The system of any of Embodiments 1-12, wherein the handpiece comprises a light distribution component and an optical pathway between the source of electromagnetic radiation and the light distribution component.

[0137] Embodiment 14. The system of Embodiment 13, wherein the optical pathway comprises a reflector component.

[0138] Embodiment 15. The system of Embodiment 14, wherein the reflector component provides total internal reflection of electromagnetic radiation traveling between the source of electromagnetic radiation and the light distribution component.

[0139] Embodiment 16. The system of Embodiment 13, wherein the light distribution component comprises a window formed from sapphire.

[0140] Embodiment 17. The system of Embodiment 16, wherein the handpiece comprises a thermoelectric cooling (TEC) component immediately adjacent to and in contact with the light distribution component.

[0141] Embodiment 18. The system of Embodiment 17, wherein: the handpiece comprises a housing enclosing a hot side of the TEC component; the housing comprises a coolant fluid in direct contact with the hot side of the TEC component.

[0142] Embodiment 19. The system of any of Embodiments 1-18 further comprising a control unit.

[0143] Embodiment 20. The system of Embodiment 19, wherein the control unit is enclosed within a magnetic shielding housing.

[0144] Embodiment 21. The system of Embodiment 19, wherein: the control unit prevents application of a dose of electromagnetic radiation to a region of interest (RO I) of the skin of a subject treated with the system if an environmental alternating current (AC) field is detected.

[0145] Embodiment 22. The system of Embodiment 21, wherein: the control unit instructs a user of the system to reposition the handpiece relative to the datum in response to detection of the environmental AC field.

[0146] Embodiment 23. A method for treating skin of a subject in need thereof, the method comprising: placing a handpiece comprising a source of electromagnetic radiation on or adjacent to the skin, in a first pose; detecting a location and an orientation of the handpiece in the first pose, relative to a reference location of a datum; using the handpiece in the first pose to apply a first dose of electromagnetic radiation to a first region of interest (ROI) of the skin at a first time; moving the handpiece to a second pose on or adjacent to the skin; detecting a location and an orientation of the handpiece in the second pose, relative to the first pose and relative to the reference location of the datum; and using the handpiece in the second pose to apply a second dose of electromagnetic radiation to a second region of interest (ROI) of the skin at a second time, wherein the second dose is applied automatically based on a predetermined treatment profile.

[0147] Embodiment 24. The method of Embodiment 23, wherein the predetermined treatment profile comprises one or more of: a spatial relationship between the first ROI and the second ROI; a spatial relationship between the handpiece and the skin; a spatial relationship between the handpiece and the datum; a spatial parameter set by the user other than the foregoing spatial relationships; a speed of movement of the handpiece between the first (ROI) and the second (ROI); a characteristic shape of the first ROI and / or the second ROI; a difference between the first time and the second time; a target treatment separation vector; a matrix of target vectors; and a sequential target vector delta.

[0148] Embodiment 25. The method of Embodiment 24, wherein the predetermined treatment profile comprises a matrix of target vectors.

[0149] Embodiment 26. The method of Embodiment 25, wherein the second dose is applied automatically only if the second location and second orientation of the handpiece corresponds to a target vector of the matrix.

[0150] Embodiment 27. The method of any of Embodiments 25-26, wherein the matrix of target vectors is determined based on user settings and a speed of the movement of the handpiece.

[0151] Embodiment 28. The method of any of Embodiments 23-27, wherein detecting the location and the orientation of the handpiece in the first pose and / or second pose comprises inputting the location and the orientation into a rotation matrix.

[0152] Embodiment 29. The method of any of Embodiments 23-28 further comprising: moving the handpiece to an / / th pose on or adjacent to the skin; detecting a location and an orientation of the handpiece in the nth pose, relative to the (n-1 )th pose and relative to the reference location of the datum; and using the handpiece in the wth pose to apply an / / th dose of electromagnetic radiation to an nth region of interest (ROI) of the skin at an / / th time, wherein the / / th dose is applied automatically based on the predetermined treatment profile, and wherein n is an integer equal to 3 or more.

[0153] Embodiment 30. The method of Embodiment 29, wherein the predetermined treatment profile comprises: a condition that an orientation vector of the handpiece in the / / th pose must be perpendicular or substantially perpendicular to the exterior surface of the skin in order for the / / th dose to be applied to the / / th ROI; and / or a condition that the z-coordinate of the handpiece within the frame of reference of the handpiece does not substantially change when moving from the ( / / -1 )th pose to the / / th pose of the handpiece.

[0154] Embodiment 31. The method of Embodiment 29 or Embodiment 30, wherein the handpiece is moved continuously from the first pose to the / / th pose.

[0155] Various implementations of systems and methods have been described, and exemplary embodiments are described below in fulfillment of various objectives of the present disclosure. It should be recognized that these implementations are merely illustrative of the principles of the present disclosure. Numerous modifications and adaptations thereof will be readily apparent to those skilled in the art without departing from the spirit and scope of the present disclosure. For example, individual steps of methods described herein can be carried out in any manner not inconsistent with the objectives of the present disclosure, and various configurations or adaptations of methods and systems described herein can be used.

Claims

1. A system for treating skin of a subject in need thereof, the system comprising:a handpiece comprising a source of electromagnetic radiation;a datum positioned in a reference location; anda sensor configured to measure a pose of the handpiece relative to the reference location of the datum during treatment.

2. The system of claim 1, wherein the datum is mounted on a boom.

3. The system of claim 2, wherein the boom comprises a plurality of carbon fiber tubesjoined by friction hinges.

4. The system of claim 1, wherein the sensor is attached to or incorporated into the handpiece.

5. The system of claim 1, wherein the sensor comprises an electromagnet.

6. The system of claim 5, wherein the electromagnet is an alternating current (AC)electromagnet.

7. The system of claim 1, wherein the handpiece comprises less than 10 wt. % metal components, based on a total weight of the handpiece.

8. The system of claim 7, wherein the handpiece comprise less than 1 wt. % metal components, based on the total weight of the handpiece.

9. The system of claim 7, wherein the handpiece comprises at least 30 wt. % ceramic components or plastic components, based on the total weight of the handpiece.

10. The system of claim 4, wherein:the handpiece comprises at least one non-electronic metal component; andthe centroid of the sensor and the centroid of the non-electronic metal component are separated by a distance which is the same or greater than the diameter of the smallest sphere sized to fully enclose the non-electronic metal component.

11. The system of claim 1, wherein the handpiece comprises one or more housings for one or more subcomponents of the handpiece.

12. The system of claim 11, wherein at least one housing is formed from a ceramic.

13. The system of claim 1, wherein the handpiece comprises a light distribution componentand an optical pathway between the source of electromagnetic radiation and the light distribution component.

14. The system of claim 13, wherein the optical pathway comprises a reflector component.

15. The system of claim 14, wherein the reflector component provides total internalreflection of electromagnetic radiation traveling between the source of electromagnetic radiation and the light distribution component.

16. The system of claim 13, wherein the light distribution component comprises a window formed from sapphire.

17. The system of claim 16, wherein the handpiece comprises a thermoelectric cooling (TEC) component immediately adjacent to and in contact with the light distribution component.

18. The system of claim 17, wherein:the handpiece comprises a housing enclosing a hot side of the TEC component;the housing comprises a coolant fluid in direct contact with the hot side of the TEC component.

19. The system of claim 1 further comprising a control unit.

20. The system of claim 19, wherein the control unit is enclosed within a magnetic shieldinghousing.

21. The system of claim 19, wherein:the control unit prevents application of a dose of electromagnetic radiation to a region of interest (ROI) of the skin of a subject treated with the system if an environmental alternating current (AC) field is detected.

22. The system of claim 21, wherein:the control unit instructs a user of the system to reposition the handpiece relative to the datum in response to detection of the environmental AC field.

23. A method for treating skin of a subject in need thereof, the method comprising: placing a handpiece comprising a source of electromagnetic radiation on or adjacent to the skin, in a first pose;detecting a location and orientation of the handpiece in the first pose, relative to a reference location of a datum;using the handpiece in the first pose to apply a first dose of electromagnetic radiation to a first region of interest (ROI) of the skin at a first time;moving the handpiece to a second pose on or adjacent to the skin;detecting a location and an orientation of the handpiece in the second pose, relative to the first pose and relative to the reference location of the datum; andusing the handpiece in the second pose to apply a second dose of electromagnetic radiation to a second region of interest (ROI) of the skin at a second time,wherein the second dose is applied automatically based on a predetermined treatment profile.

24. The method of claim 23, wherein the predetermined treatment profile comprises one or more of:a spatial relationship between the first ROI and the second ROI;a spatial relationship between the handpiece and the skin;a spatial relationship between the handpiece and the datum;a spatial parameter set by the user other than the foregoing spatial relationships;a speed of movement of the handpiece between the first ROI and the second ROI;a characteristic shape of the first ROI and / or the second ROI;a difference between the first time and the second time;a target treatment separation vector;a matrix of target vectors; anda sequential target vector delta.

25. The method of claim 24, wherein:the predetermined treatment profile comprises the matrix of target vectors.

26. The method of claim 25, wherein the second dose is applied automatically only if the second location and second orientation of the handpiece corresponds to a target vector of the matrix.

27. The method of claim 25, wherein the matrix of target vectors is determined based on user settings and a speed of the movement of the handpiece.

28. The method of claim 23, wherein detecting the location and the orientation of the handpiece in the first pose and / or second pose comprises inputting the location and the orientation into a rotation matrix.

29. The method of claim 23 further comprising:moving the handpiece to an nth pose on or adjacent to the skin;detecting a location and an orientation of the handpiece in the zzth pose, relative to the (n-1 )th pose and relative to the reference location of the datum; andusing the handpiece in the zzth pose to apply an nth dose of electromagnetic radiation to an nth region of interest of the skin at an nth time,wherein the nth dose is applied automatically based on the predetermined treatment profile, andwherein n is an integer equal to 3 or more.

30. The method of claim 29, wherein the predetermined treatment profile comprises: a condition that an orientation vector of the handpiece in the z?th pose must be perpendicular or substantially perpendicular to the exterior surface of the skin in order for the nth dose to be applied to the nth ROI; anda condition that the z-coordinate of the handpiece within the frame of reference of the handpiece does not substantially change when moving from the (n-1 )th pose to the z / th pose of the handpiece.

31. The method of claim 30, wherein the handpiece is moved continuously from the first pose to the nth pose.

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