A system and method for calculating laser shape and energy during scar removal

Abstract

The present invention relates to the technical field of laser shape and energy calculation, and provides a laser shape and energy calculation system for scar removal, comprising: a scar data acquisition module for acquiring raw point cloud data covering the entire scar area, pre-scanned from multiple angles by a scanning feedback device, pre-processing the raw point cloud data, and fusing it into three-dimensional raw data; a scar information extraction module for extracting the shape characteristics and depth information of the scar based on the three-dimensional raw data; a laser shape planning module for planning the path of laser light emitted by a laser instrument on the skin surface based on the shape characteristics; and a laser energy calculation module for defining the energy information of each laser point on the path based on the depth information. By arranging and combining the fine light beams emitted by the laser instrument into different shapes and adaptively adjusting the energy of each fine light beam, the system can adapt to scars of different shapes and depths.

Description

Technical Field

[0001] The present invention relates to the technical field of laser shape and energy calculation, and in particular to a laser shape and energy calculation system and method for scar removal. Background Art

[0002] CO2 fractional laser is a skin treatment method commonly used to treat various scars (including acne scars, surgical scars, burn scars, etc.). It uses a dot-array of fine beams to create numerous tiny holes on the skin surface. These tiny wounds can stimulate the skin's self-repair mechanism, promote the regeneration and rearrangement of collagen and elastin, and thus improve skin texture and scar appearance.

[0003] The principles and effects of carbon dioxide fractional laser treatment include:

[0004] Minimally invasive: The laser creates many tiny holes in the skin. The skin tissue around these holes can heal quickly, reducing the recovery time and risks after treatment.

[0005] Stimulates collagen regeneration: Minimally invasive trauma activates the skin's repair mechanisms, stimulating the production of new collagen and elastin, thereby improving skin texture and elasticity.

[0006] Uniform effect: Fractional laser can act evenly on the skin, ensuring consistency and stability of the treatment effect.

[0007] However, the laser instruments that emit carbon dioxide fractional lasers in the prior art still have some shortcomings:

[0008] (1) Most scars are irregular in shape, such as scars after trauma. The shapes of the laser beam arrangements in existing laser instruments are all regular, such as square, rectangle, circle, etc., which cannot adapt well to the patient's scar shape.

[0009] (2) Different depressed scars have different depths and sizes. Even the same scar may be deep in the middle and shallow at the edges. Clinicians need to select different energies for treatment based on observation and clinical experience. This requires a high level of experience for clinicians and a long training cycle. Summary of the Invention

[0010] In response to the above problems, the purpose of the present invention is to provide a laser shape and energy calculation system and method for scar removal. By arranging and combining the small light beams emitted by the laser instrument into different shapes and adaptively adjusting the energy of each small light beam, it can adapt to scars of different shapes and depths.

[0011] The above-mentioned object of the present invention is achieved through the following technical solutions:

[0012] A laser shape and energy calculation system for scar removal, comprising:

[0013] A scar data acquisition module is used to acquire original point cloud data covering the entire scar area scanned in advance from multiple angles by a scanning feedback device, pre-process the original point cloud data, and fuse them into three-dimensional original data;

[0014] A scar information extraction module, configured to extract shape features and depth information of the scar based on the three-dimensional original data;

[0015] A laser shape planning module, for planning the path of the laser emitted by the laser instrument on the skin surface according to the shape characteristics;

[0016] The laser energy calculation module is used to define the energy information of each laser point on the running path according to the depth information.

[0017] Furthermore, in the scar data acquisition module, the original point cloud data covering the entire scar area scanned in advance from multiple angles by the scanning feedback device is acquired, the original point cloud data is pre-processed, and fused into the three-dimensional original data, specifically:

[0018] Acquiring original point cloud data obtained from different angles from the scanning feedback device;

[0019] Using processing software including 3D mesh processing software MeshLab and point cloud tool CloudCompare to remove noise points from the original point cloud data at different angles;

[0020] Registering and merging the original point cloud data at different angles, and using a registration algorithm including an ICP algorithm to ensure alignment of the original point cloud data;

[0021] The registered original point cloud data are fused to generate the complete three-dimensional original data.

[0022] Furthermore, in the scar information extraction module, the shape features of the scar are extracted based on the three-dimensional original data, specifically:

[0023] Importing the three-dimensional original data, projecting each point cloud data in the three-dimensional original data onto an xoy plane, creating a blank image, and drawing the projected point cloud data onto the blank image to generate a top view of the three-dimensional original data, wherein the xoy plane is a plane perpendicular to the direction in which the laser instrument emits laser light;

[0024] The OpenCV tool is used to perform edge detection on the top view to extract the scar outline in the top view. The edge image formed by the scar outline is the shape feature.

[0025] Furthermore, in the scar information extraction module, the depth information of the scar is extracted based on the three-dimensional original data, specifically:

[0026] For each plane point on the top view, obtain the point cloud data of all the points whose x and y coordinates are the same as the coordinates of the current plane point in the three-dimensional original data, and obtain the maximum and minimum values ​​of the z coordinates of all the point cloud data corresponding to the current plane point with the same coordinates. The difference between the maximum and minimum values ​​is the depth information of the scar point corresponding to the current plane point;

[0027] The depth information of each of the planar points is marked on the top view.

[0028] Normalization is performed on the depth information of each of the planar points on the top view, and the depth information of each of the planar points is adjusted to be within a preset range.

[0029] Furthermore, in the laser shape planning module, the running path of the laser emitted by the laser instrument on the skin surface is planned according to the shape feature, specifically:

[0030] Defining a preset spacing of the laser dot matrix and initializing an array of a running path list of the laser dot matrix;

[0031] Establishing a double loop for traversing the top view, wherein the outer loop is used to traverse each row of the top view, using the preset spacing as the step size of the outer loop traversal, and the inner loop is used to traverse each column of the top view, using the preset spacing as the step size of the inner loop;

[0032] Check whether the coordinate information obtained during the double-layer loop traversal is within the area of ​​the top view, and if so, add the coordinate information to the running path list array;

[0033] A blank image is created, and the coordinate information in the running path list array is drawn onto the blank image, that is, the laser running path diagram of the laser dot matrix.

[0034] Furthermore, in the laser energy calculation module, the energy information of each laser point on the running path is defined according to the depth information, specifically as follows:

[0035] Acquire the depth information of each laser point on the laser operation path diagram on the top view;

[0036] After normalization, the depth information is mapped into a unified preset range, an energy range of the energy information is obtained, and a correspondence is established between values ​​within the preset range and values ​​within the energy range;

[0037] Each laser point on the laser operation path diagram obtains the energy information corresponding to the depth information according to the corresponding relationship.

[0038] A method for calculating laser shape and energy during scar removal using the aforementioned laser shape and energy calculation system for scar removal comprises the following steps:

[0039] S1: obtaining original point cloud data covering the complete scar area scanned in advance from multiple angles by a scanning feedback device, pre-processing the original point cloud data, and fusing the data into three-dimensional original data.

[0040] S2: Extracting shape features and depth information of the scar based on the three-dimensional original data.

[0041] S3: Planning a running path of the laser emitted by the laser instrument on the skin surface according to the shape feature.

[0042] S4: defining energy information of each laser point on the running path according to the depth information.

[0043] A computer device includes a memory and one or more processors, wherein the memory stores computer code, and when the computer code is executed by the one or more processors, the one or more processors execute the above method.

[0044] A computer-readable storage medium stores computer code. When the computer code is executed, the above method is performed.

[0045] Compared with the prior art, the present invention has the following beneficial effects:

[0046] A laser shape and energy calculation system for scar removal is provided, comprising: a scar data acquisition module for acquiring raw point cloud data covering the entire scar area, pre-scanned from multiple angles by a scanning feedback device, pre-processing the raw point cloud data, and fusing it into three-dimensional raw data; a scar information extraction module for extracting the shape characteristics and depth information of the scar based on the three-dimensional raw data; a laser shape planning module for planning the path of the laser instrument emitting the laser on the skin surface based on the shape characteristics; and a laser energy calculation module for defining the energy information of each laser point on the path based on the depth information. The above technical solution utilizes a scanning feedback device to scan the shape and depth of the scar, automatically selecting the most suitable shape and energy for scar treatment. This allows for accurate treatment of scars of varying depths, effectively avoiding omissions in scar treatment and unnecessary damage to normal skin, and achieving more precise and personalized treatment. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 This is the overall structure diagram of the laser shape and energy calculation system for scar removal according to the present invention;

[0048] Figure 2 A schematic diagram of the laser emission path of the laser instrument planned for the present invention;

[0049] Figure 3 This is an overall flow chart of the laser shape and energy calculation method for scar removal according to the present invention. DETAILED DESCRIPTION

[0050] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0051] Those skilled in the art will appreciate that, unless otherwise stated, the singular forms "a," "an," "said," and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present invention refers to the presence of the stated features, integers, steps, operations, elements, and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0052] First embodiment

[0053] like Figure 1As shown, this embodiment provides a system for calculating laser shape and energy for scar removal, comprising:

[0054] Scar data acquisition module 1 is used to obtain original point cloud data covering the entire scar area scanned in advance from multiple angles by a scanning feedback device, pre-process the original point cloud data, and fuse them into three-dimensional original data;

[0055] Scar information extraction module 2, used for extracting shape features and depth information of the scar based on the three-dimensional original data;

[0056] Laser shape planning module 3, used for planning the running path of the laser emitted by the laser instrument on the skin surface according to the shape characteristics;

[0057] The laser energy calculation module 4 is used to define the energy information of each laser point on the running path according to the depth information.

[0058] The following is a detailed description of the technical solutions for each module:

[0059] In the scar data acquisition module 1, the original point cloud data covering the entire scar area scanned in advance from multiple angles by the scanning feedback device is acquired, and the original point cloud data is pre-processed and fused into the three-dimensional original data, specifically:

[0060] Raw point cloud data acquired from different angles is obtained from the scanning feedback device. Noise points in the raw point cloud data from different angles are removed using processing software including the 3D mesh processing software MeshLab and the point cloud tool CloudCompare. The raw point cloud data from different angles are registered and merged, using a registration algorithm including an ICP algorithm to ensure alignment of the raw point cloud data. The registered raw point cloud data are fused to generate the complete 3D raw data.

[0061] The noise points of the original point cloud data at different angles were removed using processing software including the 3D mesh processing software MeshLab and the point cloud tool CloudCompare, specifically:

[0062] 1. Steps to remove noise points using MeshLab:

[0063] (1) Import point cloud data:

[0064] Open the MeshLab software.

[0065] Select "File"->"Import Mesh" from the menu to import the point cloud data file to be processed.

[0066] (2) Remove noise points:

[0067] In the MeshLab interface, you can remove noise points in the following ways:

[0068] Filters: MeshLab provides various filters for processing point cloud data. Common filters include:

[0069] Geometric filters: such as smoothing, denoising, etc.

[0070] Sampling and resampling: can be used to reduce the amount of data and remove noise.

[0071] Reconstruction: Can be used to reconstruct the surface to remove noise.

[0072] Editing tools: such as selection and deletion tools, which can be used to manually remove obvious noise points.

[0073] (3) Apply filters or editing tools:

[0074] Select the appropriate filter or editing tool to operate on the specific situation of the point cloud data.

[0075] Click the filter or editing tool options and adjust the parameters to achieve the effect of removing noise.

[0076] (4) Preview and confirm:

[0077] Each time you apply a filter or editing tool, you can preview the resulting effect.

[0078] Confirm whether the effect of removing noise points meets expectations.

[0079] (5) Save the processed point cloud:

[0080] After processing is complete, select "File"->"Export Mesh" from the menu to save the processed point cloud data as a new file.

[0081] 2. Use CloudCompare to remove noise points:

[0082] (1) Import point cloud data:

[0083] Open the CloudCompare software.

[0084] Select "File"->"Open" from the menu to import the point cloud data file to be processed.

[0085] (2) Remove noise points:

[0086] CloudCompare provides a variety of denoising and filtering tools:

[0087] Filtering: such as statistical filtering, radius filtering, etc.

[0088] Sampling: can be used to reduce the amount of data and remove noise.

[0089] Editing tools: such as selection and deletion tools, which can be used to manually remove obvious noise points.

[0090] (3) Apply filters or editing tools:

[0091] Select the appropriate filter or editing tool to operate on the specific situation of the point cloud data.

[0092] Click the filter or editing tool options and adjust the parameters to achieve the effect of removing noise.

[0093] (4) Preview and confirm:

[0094] Each time you apply a filter or editing tool, you can preview the resulting effect.

[0095] Confirm whether the effect of removing noise points meets expectations.

[0096] (5) Save the processed point cloud:

[0097] After processing is complete, select "File"->"Save As" from the menu to save the processed point cloud data as a new file.

[0098] The original point cloud data at different angles are registered and merged, and a registration algorithm including an ICP algorithm is used to ensure that the original point cloud data are aligned, specifically:

[0099] (1) Import point cloud data:

[0100] First, import the point cloud data that needs to be registered. Assume that you already have multiple point cloud data files collected from different angles.

[0101] (2) Initialize the ICP algorithm:

[0102] In the point cloud processing software of your choice (such as CloudCompare), find the implementation of the ICP algorithm. Both CloudCompare and MeshLab support the ICP algorithm.

[0103] (3) Set the registration parameters:

[0104] The ICP algorithm typically requires some parameters to be set, such as the maximum number of iterations and the maximum distance between corresponding points. These parameters can affect the registration results and efficiency. In CloudCompare, you can set these parameters through the GUI or command line input.

[0105] (4) Applying the ICP algorithm:

[0106] Select the ICP algorithm in the software and input multiple point cloud data into the algorithm. The ICP algorithm will attempt to align all point cloud data into a common coordinate system.

[0107] (5) Adjustment and optimization:

[0108] After the registration is complete, check the registration results. Sometimes you may need to adjust the parameters several times or perform subsequent fine-tuning to achieve the best alignment.

[0109] (6) Merge point cloud data:

[0110] After registration is completed, the aligned point cloud data is merged into a whole point cloud model. In CloudCompare or MeshLab, you can select the merge operation and save the merged point cloud data.

[0111] In the scar information extraction module 2, the shape features of the scar are extracted based on the three-dimensional original data, specifically:

[0112] The three-dimensional original data is imported, each point cloud data in the three-dimensional original data is projected onto the xoy plane, and a blank image is created at the same time. The projected point cloud data is drawn onto the blank image to generate a top view of the three-dimensional original data, wherein the xoy plane is a plane perpendicular to the direction in which the laser instrument emits the laser; the top view is subjected to edge detection using the OpenCV tool to extract the scar contour in the top view, and the edge image formed by the scar contour is the shape feature.

[0113] The OpenCV tool is used to perform edge detection on the top view to extract the scar outline in the top view, specifically:

[0114] (1) Install the OpenCV library and import the required libraries and modules. Read the top view image (assuming the image has been preprocessed and normalized to a grayscale image of 0-255);

[0115] (2) Use the Canny edge detection algorithm to detect edges in the image. Canny edge detection is a commonly used edge detection method in OpenCV. It has good noise suppression capabilities and accurate edge positioning.

[0116] (3) Use the contour detection function findContours() to find the contours in the image. Before this, it is usually necessary to binarize the image to ensure that only the scar area is present.

[0117] In the scar information extraction module 2, the depth information of the scar is extracted based on the three-dimensional original data, specifically:

[0118] For each plane point on the top view, obtain all the point cloud data whose x and y coordinates are the same as the coordinates of the current plane point in the three-dimensional original data, and obtain the maximum and minimum values ​​of the z coordinates in all the point cloud data with the same coordinates corresponding to the current plane point. The difference between the maximum and minimum values ​​is the depth information of the scar point corresponding to the current plane point; mark the depth information of each plane point on the top view.

[0119] Normalizing the depth information of each plane point on the top view to adjust the depth information of each plane point to within a preset range, such as mapping all depth information to a range of 0 to 255.

[0120] In the laser shape planning module 3, the running path of the laser emitted by the laser instrument on the skin surface is planned according to the shape feature, specifically:

[0121] Defining a preset spacing of the laser dot matrix and initializing an array of a running path list of the laser dot matrix;

[0122] Establishing a double loop for traversing the top view, wherein the outer loop is used to traverse each row of the top view, using the preset spacing as the step size of the outer loop traversal, and the inner loop is used to traverse each column of the top view, using the preset spacing as the step size of the inner loop;

[0123] Check whether the coordinate information obtained during the double-layer loop traversal is within the area of ​​the top view, and if so, add the coordinate information to the running path list array;

[0124] For example, use php code to implement a double loop:

[0125]

[0126]

[0127] Create a blank image, and draw the coordinate information in the running path list array onto the blank image, which is the laser running path diagram of the laser dot matrix. Figure 2As shown, the right side of the arrow is the laser operation path diagram planned by the method of the present invention.

[0128] In the laser energy calculation module 4, the energy information of each laser point on the running path is defined according to the depth information, specifically:

[0129] Acquire the depth information of each laser point on the laser operation path diagram on the top view;

[0130] After normalization, the depth information is mapped into a unified preset range, an energy range of the energy information is obtained, and a correspondence is established between values ​​within the preset range and values ​​within the energy range;

[0131] Each laser point on the laser operation path diagram obtains the energy information corresponding to the depth information according to the corresponding relationship.

[0132] Second embodiment

[0133] This embodiment provides a method for calculating laser shape and energy during scar removal using the laser shape and energy calculation system for scar removal as in the first embodiment, comprising the following steps:

[0134] S1: obtaining original point cloud data covering the complete scar area scanned in advance from multiple angles by a scanning feedback device, pre-processing the original point cloud data, and fusing the data into three-dimensional original data.

[0135] S2: Extracting shape features and depth information of the scar based on the three-dimensional original data.

[0136] S3: Planning a running path of the laser emitted by the laser instrument on the skin surface according to the shape feature.

[0137] S4: defining energy information of each laser point on the running path according to the depth information.

[0138] A computer-readable storage medium stores computer code. When the computer code is executed, the above-described method is performed. A person skilled in the art will appreciate that all or part of the steps in the various methods of the above-described embodiments can be performed by a program instructing related hardware. The program can be stored in a computer-readable storage medium. The storage medium may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0139] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiment. All technical solutions based on the concept of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, various improvements and modifications that do not depart from the principles of the present invention should also be considered within the scope of protection of the present invention.

[0140] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0141] It should be noted that the above embodiments can be freely combined as needed. The above description is only a preferred embodiment of the present invention. It should be pointed out that those skilled in the art can make several improvements and modifications without departing from the principles of the present invention, and such improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A laser shape and energy calculation system for scar removal, characterized in that: include: A scar data acquisition module is used to acquire original point cloud data covering the entire scar area scanned in advance from multiple angles by a scanning feedback device, pre-process the original point cloud data, and fuse them into three-dimensional original data; A scar information extraction module, configured to extract shape features and depth information of the scar based on the three-dimensional original data; A laser shape planning module, for planning the path of the laser emitted by the laser instrument on the skin surface according to the shape characteristics; a laser energy calculation module, configured to define energy information of each laser point on the running path according to the depth information; Wherein, in the laser shape planning module, the running path of the laser emitted by the laser instrument on the skin surface is planned according to the shape feature, specifically: Defining a preset spacing of the laser dot matrix and initializing an array of a running path list of the laser dot matrix; Establishing a double loop for traversing the top view of the three-dimensional original data, wherein the outer loop is used to traverse each row of the top view, using the preset spacing as the step size of the outer loop traversal, and the inner loop is used to traverse each column of the top view, using the preset spacing as the step size of the inner loop; Check whether the coordinate information obtained during the double-layer loop traversal is within the area of ​​the top view, and if so, add the coordinate information to the running path list array; Creating a blank image, and drawing the coordinate information in the running path list array onto the blank image, that is, the laser running path diagram of the laser dot matrix; Wherein, in the laser energy calculation module, the energy information of each laser point on the running path is defined according to the depth information, specifically: Acquire the depth information of each laser point on the laser motion path diagram on a top view; Normalizing the depth information of each plane point on the top view to adjust the depth information of each plane point to within a preset range; After normalization, the depth information is mapped into a unified preset range, an energy range of the energy information is obtained, and a correspondence is established between values ​​within the preset range and values ​​within the energy range; Each of the laser points on the laser operation path diagram obtains the energy information corresponding to the depth information according to the corresponding relationship.

2. The laser shape and energy calculation system for scar removal according to claim 1, characterized in that: In the scar data acquisition module, the original point cloud data covering the entire scar area scanned in advance from multiple angles by the scanning feedback device is acquired, the original point cloud data is pre-processed, and fused into the three-dimensional original data, specifically: Acquiring original point cloud data obtained from different angles from the scanning feedback device; Using processing software including 3D mesh processing software MeshLab and point cloud tool CloudCompare to remove noise points from the original point cloud data at different angles; Registering and merging the original point cloud data at different angles, and using a registration algorithm including an ICP algorithm to ensure alignment of the original point cloud data; The registered original point cloud data are fused to generate the complete three-dimensional original data.

3. The laser shape and energy calculation system for scar removal according to claim 1, characterized in that: In the scar information extraction module, the shape features of the scar are extracted based on the three-dimensional original data, specifically: Importing the three-dimensional original data, projecting each point cloud data in the three-dimensional original data onto an xoy plane, creating a blank image, and drawing the projected point cloud data onto the blank image to generate a top view of the three-dimensional original data, wherein the xoy plane is a plane perpendicular to the direction in which the laser instrument emits laser light; The OpenCV tool is used to perform edge detection on the top view to extract the scar outline in the top view. The edge image formed by the scar outline is the shape feature.

4. The laser shape and energy calculation system for scar removal according to claim 3, characterized in that: In the scar information extraction module, the depth information of the scar is extracted based on the three-dimensional original data, specifically: For each plane point on the top view, obtain the point cloud data of all the points whose x and y coordinates are the same as the coordinates of the current plane point in the three-dimensional original data, and obtain the maximum and minimum values ​​of the z coordinates of all the point cloud data corresponding to the current plane point with the same coordinates. The difference between the maximum and minimum values ​​is the depth information of the scar point corresponding to the current plane point; The depth information of each of the planar points is marked on the top view.

5. A method for calculating laser shape and energy during scar removal using the laser shape and energy calculation system for scar removal according to any one of claims 1 to 4, characterized in that: The following steps are involved: S1: acquiring original point cloud data covering the entire scar area scanned in advance from multiple angles by a scanning feedback device, pre-processing the original point cloud data, and fusing the data into three-dimensional original data; S2: extracting shape features and depth information of the scar based on the three-dimensional original data; S3: planning a running path of the laser emitted by the laser instrument on the skin surface according to the shape feature; S4: defining energy information of each laser point on the running path according to the depth information. 6 . A computer device comprising a memory and one or more processors, wherein the memory stores computer code, and when the one or more processors execute the computer code, the one or more processors execute the method according to claim 5 . 7 . A computer-readable storage medium storing computer code, wherein when the computer code is executed, the method according to claim 5 is performed.

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