Femtosecond laser three-dimensional scanning system, method, equipment and medium

Abstract

The embodiments of the present application relate to the field of femtosecond laser equipment, and disclose a femtosecond laser three-dimensional scanning system, method, equipment and medium. The system includes a femtosecond laser; a structured light source; a sight mark; a beam splitter prism; a light guide arm, including a first reflector, a second reflector and a third reflector, for guiding the structured light and the femtosecond laser; a three-dimensional galvanometer module, including: a Y-axis galvanometer, including a galvanometer motor and a reflector, for controlling the deflection of the laser in the Y-axis direction; an X-axis galvanometer, including a galvanometer motor and a beam splitter prism, for controlling the deflection of the laser in the X-axis direction; a Z-axis galvanometer, including a galvanometer motor and a focusing lens group, for adjusting the position of the laser focus in the Z-axis direction; a CCD camera, for collecting image data of the skin surface. It can at least be used to solve the technical problem of low focusing accuracy of femtosecond lasers.

Description

Technical Field

[0001] The present application relates to the field of femtosecond laser equipment, and in particular to a femtosecond laser three-dimensional scanning system, method, equipment and medium. Background Art

[0002] Ultrashort pulse lasers, especially femtosecond pulse lasers, are used in the field of medical beauty to remove spots or rejuvenate the skin. They mainly rely on the extremely high peak power density generated by the laser pulse at the focal point, which in turn excites plasma in the skin tissue, inducing photomechanical explosion, thereby initiating the skin collagen regeneration mechanism and achieving functions such as skin rejuvenation. Unlike nanosecond and picosecond laser pulse beauty equipment, these long-pulse lasers irradiate the skin surface through a collimated large spot, with no focusing requirements or low requirements for the focus position of the focused spot. The light-guiding handpiece is only used as a mechanical method to roughly align the lesion and approach the laser focal plane.

[0003] The main defects are: femtosecond laser pulses mainly play a role in photoinduced subcutaneous blasting, and the deviation of the laser beam focus from the target lesion position must not exceed 0.05mm. The current light-guiding handpieces cause epithelial bulges at the pressing site caused by mechanically pressing the skin, which far exceeds the precision requirement. This will cause the focus of the femtosecond laser pulse to penetrate too deeply into the subcutaneous tissue, and the bulge of the curved skin will cause the position depth of the subcutaneous focus to be different, affecting the consistency of the medical and aesthetic treatment effects.

[0004] The human skin itself is curved and irregular in shape, and the conventional light guide design of existing medical beauty equipment treats the human skin according to the plane, which will cause the laser edge area to be shallow and the middle part to be dark, and the effect of removing melanin or skin rejuvenation is not ideal. The best way is to perform three-dimensional curved laser treatment like the human skin surface.

[0005] At the same time, existing light-guiding devices rely entirely on human eyes for alignment and hands for clamping and fixing, which may cause some problems. For example, human hands may shake or the human eyes may not accurately control the position, resulting in unsatisfactory effects of melanin removal or skin rejuvenation. Summary of the invention

[0006] One purpose of the present application is to provide a femtosecond laser three-dimensional scanning system, method, device and medium, at least to solve the technical problem of low focusing accuracy of femtosecond laser.

[0007] To achieve the above objectives, some embodiments of the present application provide the following aspects:

[0008] In the first aspect, some embodiments of the present application also provide a femtosecond laser three-dimensional scanning system, including a femtosecond laser for emitting a femtosecond laser; a structured light source for emitting infrared light; a sight mark for receiving the infrared light and forming a structured light of a specific shape; a beam splitter prism for splitting and reflecting the structured light and the femtosecond laser; a light guide arm including a first reflector, a second reflector and a third reflector for guiding the structured light and the femtosecond laser; a three-dimensional galvanometer module including: a Y-axis galvanometer, including a galvanometer motor and a reflector, for controlling the deflection of the laser in the Y-axis direction; an X-axis galvanometer, including a galvanometer motor and a beam splitter prism, for controlling the deflection of the laser in the X-axis direction; a Z-axis galvanometer, including a galvanometer motor and a focusing lens group, for adjusting the position of the laser focus in the Z-axis direction; a CCD camera for collecting image data of the skin surface; a negative pressure handpiece for fitting and fixing the patient's skin; a negative pressure module connected to the negative pressure handpiece for providing gas negative pressure; and a three-dimensional modeling module for generating a three-dimensional model of the skin surface according to the image data collected by the CCD camera.

[0009] On the second aspect, some embodiments of the present application also provide a femtosecond laser three-dimensional scanning method, which is applied to the above-mentioned system, including emitting infrared light through a structured light source, projecting the infrared light onto the patient's skin surface through a beam splitter prism and a light guide arm, and collecting image data of the skin surface by a CCD camera; generating a three-dimensional model of the skin surface based on the image data; adjusting the deflection angle and focal position of the X-axis galvanometer, Y-axis galvanometer and Z-axis galvanometer in the three-dimensional galvanometer module based on the three-dimensional model; emitting a femtosecond laser through a femtosecond laser, and controlling the laser focus to act on the target position of the patient's skin for treatment.

[0010] In a third aspect, some embodiments of the present application further provide an electronic device, comprising: one or more processors; and a memory storing computer program instructions, wherein the computer program instructions, when executed, cause the processor to perform the steps of the method described above.

[0011] In a fourth aspect, some embodiments of the present application further provide a computer-readable medium having computer program instructions stored thereon, wherein the computer program instructions can be executed by a processor to implement the method as described above.

[0012] Compared with the related art, the solution provided in the embodiment of the present application realizes three-dimensional modeling of the skin surface by combining structured light and CCD camera, and can accurately obtain the three-dimensional contour information of the skin surface; the position of the focus of the femtosecond laser is accurately adjusted by using the three-dimensional galvanometer module, so that the laser can adapt to the curved surface shape of the skin and accurately act on the target lesion, improving the uniformity and effect of the treatment; at the same time, the negative pressure handpiece is used to stabilize the patient's skin position, avoiding treatment deviation caused by patient movement or external interference, and further improving the accuracy and safety of the treatment. The overall system has the advantages of high precision, high stability and intelligence, and effectively solves the problems of insufficient laser positioning accuracy and poor skin curved surface treatment effect in existing medical beauty equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0014] Figure 1 A schematic diagram of the structure of a femtosecond laser three-dimensional scanning system provided according to an embodiment of the present application;

[0015] Figure 2 A schematic diagram of a process of a femtosecond laser three-dimensional scanning method provided according to an embodiment of the present application;

[0016] Figure 3 The present invention is a schematic diagram of the structure of an electronic device provided according to an embodiment of the present application.

[0017] Description of reference numerals:

[0018] 1. Femtosecond laser; 2. Structured light source; 3. Sight mark; 4. Beam splitter; 5. Light guide arm; 6. First reflector; 7. Second reflector; 8. Third reflector; 9. Y-axis galvanometer; 10. X-axis galvanometer; 11. CCD camera; 12. Negative pressure handpiece; 13. Gas tank; 14. Negative pressure proportional valve for vacuum; 15. Filter; 16. Miniature vacuum pump; 17. Safety valve; 18. Solenoid valve; 19. Z-axis galvanometer 19. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0020] The present application embodiment relates to a femtosecond laser three-dimensional scanning system. Figure 1 As shown, the system includes: a femtosecond laser 1, used to emit a femtosecond laser; a structured light source 2, used to emit infrared light; a sight mark 3, used to receive the infrared light and form a structured light of a specific shape; a beam splitter prism 4, used to split and reflect the structured light and the femtosecond laser; a light guide arm 5, including a first reflector 6, a second reflector 7 and a third reflector 8, used to guide the structured light and the femtosecond laser;

[0021] The three-dimensional galvanometer module includes: a Y-axis galvanometer 9, including a galvanometer motor and a reflector, for controlling the deflection of the laser in the Y-axis direction; an X-axis galvanometer 10, including a galvanometer motor and a beam splitter prism, for controlling the deflection of the laser in the X-axis direction; a Z-axis galvanometer 19, including a galvanometer motor and a focusing lens group, for adjusting the position of the laser focus in the Z-axis direction;

[0022] A CCD camera 11 is used to collect image data of the skin surface; a negative pressure handpiece 12 is used to fit and fix the patient's skin; a negative pressure module is connected to the negative pressure handpiece 12 and is used to provide gas negative pressure;

[0023] The three-dimensional modeling module is used to generate a three-dimensional model of the skin surface according to the image data collected by the CCD camera 11.

[0024] Infrared light is emitted by the structured light source 2 and irradiated onto the sight mark 3. The sight mark 3 converts the infrared light into a structured light pattern with a specific shape (such as a dot matrix, line matrix or surface matrix pattern), and the shape of the structured light can be adjusted according to the skin treatment requirements.

[0025] The generated structured light is transmitted through the beam splitter prism 4 and the light guide arm 5, and finally projected onto the patient's skin surface. The light guide arm 5 is provided with a first reflector 6, a second reflector 7 and a third reflector 8, and the structured light is uniformly covered on the target skin area through the high-precision light path guidance of the reflectors.

[0026] After the structured light is projected onto the patient's skin surface, the CCD camera 11 collects image data of the skin surface in real time. These image data include the reflection information of the structured light on the skin surface due to the unevenness. The CCD camera is equipped with a bandpass filter to filter out environmental interference light and retain only the reflection signal of the structured light, thereby improving the signal-to-noise ratio and accuracy of image acquisition.

[0027] The collected image data is transmitted to the 3D modeling module. Based on the point cloud computing method, the 3D modeling module analyzes the phase and shape changes of the structured light on the skin surface and generates a 3D model of the skin surface. The model reflects the contour and depth information of the skin in detail, including the specific location of the target lesion area and the curvature change of the skin surface.

[0028] After generating the three-dimensional model of the skin, the control module combines the model information with the femtosecond laser treatment parameters, and makes real-time adjustments to each galvanometer of the three-dimensional galvanometer module: the X-axis galvanometer 10 controls the deflection of the laser in the X-axis direction, covering the lateral area of ​​the skin surface; the Y-axis galvanometer 9 controls the deflection of the laser in the Y-axis direction, covering the longitudinal area of ​​the skin surface; the Z-axis galvanometer 19 adjusts the position of the laser focus in the Z-axis direction through the focusing lens group to adapt to the height difference and depth requirements of the uneven skin surface. The above-mentioned galvanometer modules work together to accurately guide the scanning path of the femtosecond laser beam, so that the laser focus can closely fit the three-dimensional curved surface shape of the skin and act at a specific depth in the lesion area, thereby achieving high precision and high uniformity of treatment.

[0029] During the treatment process, the negative pressure handpiece 12 forms a stable negative pressure adsorption area with the patient's skin through the adsorption force provided by the negative pressure module. The negative pressure module includes a gas tank 13, a vacuum negative pressure proportional valve 14, a filter 15 and a micro vacuum pump 16. The vacuum negative pressure proportional valve 14 dynamically adjusts the adsorption strength to ensure that the adsorption force is moderate and does not cause damage to the patient's skin; the filter 15 filters impurity gases to protect the safe operation of the vacuum pump 16; the safety valve 17 and the solenoid valve 18 prevent excessive negative pressure from being generated when the system is abnormal, protecting the patient's skin safety. Through the adsorption effect of the negative pressure handpiece, the patient's skin position can be prevented from changing due to body movement or external interference, thereby ensuring the accuracy of laser treatment and the consistency of treatment effects.

[0030] Under the control of the control module, the femtosecond laser beam emitted by the femtosecond laser 1 is accurately projected to the target lesion area through the light guide arm 5 and the three-dimensional galvanometer module. Femtosecond laser has an extremely short pulse width (less than 100 femtoseconds) and an extremely high energy density. Its energy triggers the photomechanical blasting effect of skin tissue at the focal point, thereby triggering the collagen regeneration mechanism of the skin, achieving cosmetic treatment effects such as freckle removal and skin rejuvenation. The depth of the laser focus can be dynamically adjusted through the Z-axis galvanometer 19 to ensure that the laser acts on the correct layer of the skin to avoid affecting the treatment effect by being too deep or too shallow.

[0031] During the treatment, the CCD camera 11 continuously collects image data of the skin surface and feeds it back to the control module in real time. The control module dynamically adjusts the galvanometer angle and laser focus position of the three-dimensional galvanometer module by analyzing the latest image data to adapt to the slight deformation or position change that may occur on the skin surface, further improving the accuracy and safety of the treatment.

[0032] Through the above process, the system can: accurately obtain the three-dimensional contour information of the patient's skin; dynamically adjust the laser focus position to make it perfectly adapt to the skin surface shape; provide stable negative pressure adsorption to ensure that the treatment process is not disturbed; achieve high-precision and high-uniformity laser treatment of target lesions; and improve the consistency and safety of treatment effects through real-time monitoring and dynamic adjustment.

[0033] Furthermore, the negative pressure module includes: a gas tank 13 for gas storage and buffering; a vacuum negative pressure proportional valve 14 for adjusting the negative pressure; a filter 15 for filtering gas impurities; and a micro vacuum pump 16 for providing negative pressure.

[0034] After the position of the sight mark 3 is determined, the negative pressure module is turned on to perform negative pressure adsorption to prevent the patient or compression from moving during the operation (such as accidental collision, hand shaking, etc.). The negative pressure handpiece 12 is in direct contact with the patient's skin and is connected to the gas tank 13 through the trachea. The gas tank 13 mainly plays the role of gas storage and buffering. The gas tank 13 is connected to the vacuum negative pressure electrical proportional valve 14, which is mainly used to control the size of the gas negative pressure to prevent the negative pressure from being too large and having adverse effects on the patient's skin. The vacuum negative pressure electrical proportional valve 14 is connected to the filter 15 to prevent the gas impurities generated during the processing from entering the micro vacuum pump 16, affecting the service life of the micro vacuum pump 16 and blocking the inlet and outlet of the micro vacuum pump 16.

[0035] Furthermore, the sight mark 3 is designed to be detachable; the structure of the sight mark 3 is a point array, a line array or a surface array.

[0036] The structure of the sight mark 3 can be made to be plug-in type, so that users can customize sight marks 3 of various shapes when performing skin whitening. For example, for circular melanin spots, a sight mark with a circle in the middle can be customized, and for long strips of melanin deposition, a sight mark 3 with a similar image can be customized for positioning. At the same time, the camera 11 can perform real-time observation during the processing and movement, helping users to perform more accurate positioning and tracking.

[0037] Furthermore, the negative pressure hand tool 12 is connected to the gas tank 13 through an air pipe; a safety valve 17 and a solenoid valve 18 are provided between the negative pressure hand tool 12 and the gas tank 13 for reducing the pressure.

[0038] The function of the safety valve 17 and the solenoid valve 18 is to quickly cut off the negative pressure supply and release excess pressure when the micro vacuum pump 16 breaks down or fails, so as to prevent excessive negative pressure from damaging the patient's skin. The safety valve 17 can automatically open and release the pressure when the internal pressure of the system exceeds the preset safety threshold, while the solenoid valve 18 responds quickly through the instructions of the control module, actively adjusts the gas circulation state, and realizes instant pressure reduction protection. This design ensures that the negative pressure module can effectively protect the patient's safety under any abnormal circumstances, and prevent treatment accidents caused by equipment failure, thereby improving the reliability and safety of the system.

[0039] Furthermore, the galvanometer motor of the Z-axis galvanometer 19 adopts a voice coil motor or a linear motor, and the focusing lens group is controlled by the motor to focus.

[0040] The voice coil motor or linear motor has the characteristics of high response speed and high precision. It can realize the rapid movement and precise positioning of the focusing lens group in the Z-axis direction according to the depth adjustment command issued by the control module, thereby dynamically adjusting the depth position of the femtosecond laser focus.

[0041] By using a voice coil motor or a linear motor to drive the focusing lens group, the adjustment efficiency and accuracy of the laser focus can be significantly improved, adapting to the complex three-dimensional curved surface of the skin surface, ensuring that the laser can accurately act on the target layer of the skin, and avoiding the risk of reduced treatment effect or over-treatment due to focus position offset. At the same time, this high-precision focus control method can meet the high requirements of femtosecond laser for focus depth adjustment in medical beauty treatment, further improving the overall performance and treatment effect of the system.

[0042] Furthermore, the three-dimensional modeling module includes: the image data collected by the CCD camera 11 includes structured light information projected onto the skin surface; skin surface point cloud data is calculated according to the structured light information, and a three-dimensional model of the skin surface is generated.

[0043] Furthermore, the system also includes: a control module, which is used to control the operation of the femtosecond laser 1, the three-dimensional galvanometer module and the negative pressure module, and is connected to the three-dimensional modeling module; the control module adjusts the three-dimensional galvanometer module in real time based on the three-dimensional model of the skin surface to control the focus of the femtosecond laser.

[0044] The control module receives the three-dimensional model data of the skin surface from the three-dimensional modeling module. The model contains the spatial coordinates of the target lesion area and the depth information of the skin surface contour. The control module uses this information to generate control instructions, dynamically adjust the deflection angles of the X-axis galvanometer 10 and the Y-axis galvanometer 9 in the three-dimensional galvanometer module, and accurately control the scanning path of the laser on the skin surface. At the same time, by adjusting the focusing lens group in the Z-axis galvanometer 19, the depth position of the femtosecond laser focus in the Z-axis direction is adjusted, so that the laser can accurately act on the predetermined layer of the target lesion area.

[0045] In addition, the control module is also linked with the negative pressure module to control the adsorption force of the negative pressure handpiece 12 by adjusting the working state of the vacuum negative pressure proportional valve 14 to ensure the stability of skin fixation. At the same time, when the real-time collected skin surface data changes, the control module can dynamically update the parameters of the three-dimensional galvanometer module to ensure that the laser is always focused on the target area during the treatment process, thereby improving the accuracy and consistency of the treatment.

[0046] It is worth mentioning that all modules involved in this embodiment are logic modules. In practical applications, a logic unit can be a physical unit, a part of a physical unit, or a combination of multiple physical units. In addition, in order to highlight the innovative part of this application, this embodiment does not introduce units that are not closely related to solving the technical problems proposed by this application, but this does not mean that there are no other units in this embodiment.

[0047] The present application embodiment relates to a femtosecond laser three-dimensional scanning method. Applied to the above system, such as Figure 2 As shown, the method includes:

[0048] S101, emitting infrared light through a structured light source, the infrared light is projected onto the patient's skin surface through a beam splitter prism and a light guide arm, and a CCD camera collects image data of the skin surface;

[0049] S102, generating a three-dimensional model of the skin surface according to the image data;

[0050] S103, adjusting the deflection angle and focal position of the X-axis galvanometer, the Y-axis galvanometer and the Z-axis galvanometer in the three-dimensional galvanometer module based on the three-dimensional model;

[0051] S104, emitting a femtosecond laser through a femtosecond laser device, and controlling the laser focus to act on a target position of the patient's skin for treatment.

[0052] It is not difficult to find that this embodiment is a method embodiment corresponding to the system embodiment, and this embodiment can be implemented in conjunction with the first embodiment. The relevant technical details mentioned in the first embodiment are still valid in this embodiment, and in order to reduce repetition, they are not repeated here. Accordingly, the relevant technical details mentioned in this embodiment can also be applied in the first embodiment.

[0053] The step division of the above methods is only for the purpose of clear description. When implemented, they can be combined into one step or some steps can be split and decomposed into multiple steps. As long as they include the same logical relationship, they are all within the scope of protection of this patent; adding insignificant modifications to the algorithm or process or introducing insignificant designs without changing the core design of the algorithm and process are all within the scope of protection of this patent.

[0054] In addition, some embodiments of the present application also provide an electronic device. The electronic device may be a digital computer in various forms, such as a laptop computer, a desktop computer, a workbench, a personal digital assistant, a server, a blade server, a mainframe computer, etc. The electronic device may also be a mobile device in various forms, such as a personal digital processing, a cellular phone, a smart phone, a wearable device, and other similar computing devices.

[0055] The electronic device includes: one or more processors; and a memory storing computer program instructions, wherein when the computer program instructions are executed, the processor executes the steps of the method provided in any one or more of the above embodiments. Figure 3 An exemplary structural diagram of the electronic device is disclosed. Figure 3 As shown, the electronic device includes: one or more processors 1101, a memory 1102, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. The various components are connected to each other using different buses and can be installed on a common motherboard or installed in other ways as needed. The processor can process instructions executed in the electronic device, including instructions stored in or on the memory to display graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In some other embodiments, if necessary, multiple processors and / or multiple buses can be used with multiple memories and multiple memories. Similarly, multiple electronic devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Among them, the components shown in this article, their connections and relationships, and their functions are only examples, and are not intended to limit the implementation of the present application described and / or required herein.

[0056] The electronic device may further include: an input device 1103 and an output device 1104. The processor 1101, the memory 1102, the input device 1103 and the output device 1104 may be connected via a bus or other means. Figure 3 The example of connecting through bus is taken in the following.

[0057] The input device 1103 can receive input digital or character information, and generate key signal input related to the user settings and function control of the electronic device, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, an indicator rod, one or more mouse buttons, a trackball, a joystick and other input devices. The output device 1104 may include a display device, an auxiliary lighting device (e.g., an LED) and a tactile feedback device (e.g., a vibration motor), etc. The display device may include, but is not limited to, a liquid crystal display (LCD), a light emitting diode (LED) display and a plasma display. In some embodiments, the display device may be a touch screen.

[0058] To provide interaction with a user, the electronic device may be a computer. The computer has: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball), through which the user can provide input to the computer. Other types of devices may also be used to provide interaction with a user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0059] In the embodiments of the present application, a computer program / instruction is stored on a computer-readable medium, and when the computer program / instruction is executed by a processor, the steps of the method provided by any one or more of the above embodiments are implemented. The computer-readable medium may be included in the electronic device described in the above embodiments; or it may exist independently without being assembled into the device. The above computer-readable medium carries one or more computer-readable instructions.

[0060] The memory 1102 can be used as a non-transient computer-readable storage medium, which can be used to store non-transient software programs, non-transient computer executable programs and modules. The processor 1101 executes various functional applications and data processing of the server by running the non-transient software programs, instructions and modules stored in the memory 1102, so as to implement the program instructions / modules corresponding to the method provided by any one or more embodiments in the embodiments of the present application.

[0061] The memory 1102 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the electronic device, etc. In addition, the memory 1102 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory 1102 may optionally include a memory remotely arranged relative to the processor 1101, and these remote memories may be connected to the electronic device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0062] It should be noted that the computer-readable medium described in this application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this application, a computer-readable medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device.

[0063] Computer readable media include permanent and non-permanent, removable and non-removable media, and can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, modules of programs or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0064] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0065] In the above embodiments, all or part of the embodiments may be implemented by software, hardware, firmware or any combination thereof. For example, an application specific integrated circuit (ASIC), a general-purpose computer or any other similar hardware device may be used to implement the embodiments. In some embodiments, the software program of the present application may be executed by a processor to implement the above steps or functions. Similarly, the software program of the present application (including related data structures) may be stored in a computer-readable recording medium, such as a RAM memory, a magnetic or optical drive or a floppy disk and the like. In addition, some steps or functions of the present application may be implemented by hardware, for example, as a circuit that cooperates with a processor to perform various steps or functions.

[0066] The computer program product provided in the embodiment of the present application includes one or more computer programs / instructions, and when the computer program / instructions are executed by the processor, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website site, a computer, a server, or a data center to another website site, a computer, a server, or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or a data center that includes one or more available media integrations. The available medium may be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid state disk (SSD)), etc.

[0067] The flow chart or block diagram in the accompanying drawings shows the possible architecture, function and operation of the equipment, method and computer program product according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated system for hardware that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0068] The scope of the present application is defined by the appended claims rather than the above description, and it is intended that all changes that fall within the meaning and scope of the equivalent elements of the claims are included in the present application. Any figure mark in the claims should not be regarded as limiting the claims involved. In addition, it is clear that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or devices stated in the device claim may also be implemented by one unit or device through software or hardware. The words "first", "second", etc. are only used to distinguish the description, and do not indicate any particular order, nor can they be understood as indicating or implying relative importance.

[0069] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily mention changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims, and the above embodiments should be regarded as exemplary and non-restrictive.

Claims

1. A femtosecond laser three-dimensional scanning system, characterized in that: The system comprises: A femtosecond laser (1), used for emitting femtosecond laser light; A structured light source (2) for emitting infrared light; A sight mark (3), used for receiving the infrared light and forming structured light of a specific shape; A beam splitter prism (4), used for splitting and reflecting the structured light and the femtosecond laser; A light guide arm (5), comprising a first reflector (6), a second reflector (7) and a third reflector (8), and used for guiding the structured light and the femtosecond laser; The generated structured light is transmitted through the beam splitter prism (4) and the light guide arm (5), and is finally projected onto the skin surface of the patient; 3D galvanometer module, including: A Y-axis galvanometer (9), comprising a galvanometer motor and a reflector, for controlling the deflection of the laser in the Y-axis direction; An X-axis galvanometer (10), comprising a galvanometer motor and a beam splitter prism, for controlling the deflection of the laser in the X-axis direction; A Z-axis galvanometer (19), comprising a galvanometer motor and a focusing lens assembly, for adjusting the position of the laser focus in the Z-axis direction; A CCD camera (11), used for collecting image data of the skin surface; A negative pressure handpiece (12) for fitting and fixing the patient's skin; A negative pressure module, connected to the negative pressure handpiece (12) and used to provide gas negative pressure; A three-dimensional modeling module is used to generate a three-dimensional model of the skin surface based on the image data collected by the CCD camera (11).

2. The system according to claim 1, characterized in that The negative pressure module comprises: Gas tank (13), used for gas storage and buffering; A vacuum negative pressure proportional valve (14) is used to adjust the negative pressure; A filter (15) for filtering gas impurities; A micro vacuum pump (16) is used to provide negative pressure.

3. The system according to claim 2, characterized in that The sight mark (3) is of detachable design; the structure of the sight mark (3) is a point array, a line array or a surface array.

4. The system according to claim 3, characterized in that The negative pressure hand tool (12) is connected to the gas tank (13) via an air pipe; a safety valve (17) and a solenoid valve (18) are provided between the negative pressure hand tool (12) and the gas tank (13) for reducing pressure.

5. The system according to claim 1, characterized in that The galvanometer motor of the Z-axis galvanometer (19) adopts a voice coil motor or a linear motor, and the focusing lens group is controlled by the motor to focus.

6. The system according to any one of claims 1 to 5, characterized in that: The three-dimensional modeling module includes: The image data collected by the CCD camera (11) includes structured light information projected onto the skin surface; Skin surface point cloud data is calculated based on the structured light information, and a three-dimensional model of the skin surface is generated.

7. The system according to claim 6, characterized in that The system further comprises: A control module, used to control the operation of the femtosecond laser (1), the three-dimensional galvanometer module and the negative pressure module, and connected to the three-dimensional modeling module; The control module adjusts the three-dimensional galvanometer module in real time based on the three-dimensional model of the skin surface to control the focus of the femtosecond laser.

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