Laser beauty robot system

Abstract

The invention relates to an innovative laser beauty robot system, which integrates high-precision mechanical arm, multi-source illumination, intelligent induction and control and other advanced technologies, and is specially designed for improving the beauty treatment effect and safety. The system core comprises a multi-degree-of-freedom mechanical arm, an RGB / UV / polarized light source, an ambient light induction module, a high-definition camera shooting module and a laser emission control module. The mechanical arm can accurately control the treatment handle, the light source module is flexibly adjusted to meet treatment requirements, and the optimal lighting condition is ensured. The intelligent control system monitors the equipment position and dynamic state in real time, collision is avoided, and the treatment process is optimized. The temperature detection and cooling system guarantees treatment safety, and the storage management system provides data support. The control module supports manual, autonomous and combined control modes and adapts to various treatment scenes. And a visual operation interface and a multi-element man-machine interaction mode ensure simple operation and improve user experience.

Description

Technical Field

[0001] The technical field of this patent relates to laser beauty devices, especially laser beauty robot systems. This system integrates a robotic arm, a light source module, a camera module, a laser instrument emission controller, and an intelligent control system, aiming to achieve high-precision control, safe operation, and efficient treatment of the laser beauty treatment process through an automated approach. Background Art

[0002] In the field of laser beauty, traditional manually operated laser devices pose many challenges. First, it is difficult to ensure the accuracy and consistency of laser emission during manual operation, which may affect the treatment effect. Second, manual operation requires operators to have high professional skills and experience, increasing the operation difficulty and cost. In addition, manual operation may also introduce human errors during the treatment process, increasing the treatment risk.

[0003] To overcome these challenges, various automated and intelligent laser beauty devices have gradually emerged on the market. However, these devices still have deficiencies in terms of accuracy, safety, operation convenience, etc. For example, some devices lack a flexible motion control system and are difficult to perform complex treatment actions; some devices have defects in lighting and imaging, affecting the clarity and accuracy of the treatment process; and some devices lack sufficient safety guarantees and may have potential safety hazards.

[0004] Therefore, this patent proposes a new type of laser beauty robot system, aiming to achieve high-precision, safe, convenient, and efficient laser beauty treatment processes through technical means such as an advanced robotic arm design, a multi-functional light source module, a high-definition camera module, and an intelligent control system. The emergence of this system is expected to fill the deficiencies of existing devices on the market and promote the further development of laser beauty technology. Summary of the Invention

[0005] A laser beauty robot system, characterized by comprising: At least one robotic arm for holding and manipulating a laser treatment handle; Multiple light source modules including RGB light, UV light, and polarized light (including parallel polarized light and cross-polarized light); A light sensor for sensing the external ambient light and automatically adjusting the light source brightness to provide suitable lighting conditions; Multiple camera modules for providing a wide field of view and high-definition imaging; A laser instrument emission controller including a foot control switch and a handle control switch for controlling laser emission.

[0006] Furthermore, it also includes a control switch connected to the processor of the operated laser device for controlling laser emission.

[0007] A mechanical arm device in a laser beauty robot system, characterized in that the mechanical arm device specifically comprises: Multi-DOF joint structure: The robot arm adopts advanced multi-DOF joint design, including but not limited to shoulder joint, elbow joint and wrist joint. Each joint is equipped with high-precision motors and sensors to achieve flexible and precise motion control. Holding mechanism: The end of the robotic arm is equipped with a specially designed holding mechanism, which can hold the laser treatment handle stably and firmly, while allowing the handle to rotate and tilt within a certain range to meet the needs of different treatment angles; Force feedback system: The gripping mechanism is embedded with a force sensor, which can monitor the force of the robotic arm gripping the laser treatment handle in real time and transmit the force feedback information to the control system to ensure the safety and accuracy of the treatment process; Obstacle detection and avoidance function: The robotic arm is equipped with a high-precision obstacle detection sensor that can sense obstacles in the surrounding environment in real time and automatically calculate the avoidance path through an algorithm to avoid collisions with obstacles during treatment; Drive and control system: The drive system of the robot arm adopts advanced servo motor technology, combined with high-precision controllers and sensors, to achieve precise control and positioning of the robot arm's movement; at the same time, the control system also has fault detection and early warning functions, which can monitor the operating status of the robot arm in real time and issue early warning signals in time when a fault occurs.

[0008] Furthermore, the light source module is configured to be able to be raised and lowered, moved horizontally, moved forward and backward, and adjusted in angle, and is arranged in front, on the left, and on the right side of the patient's face; the light source module can be freely adjusted vertically, horizontally, forward and backward, and in angles according to treatment needs, to achieve a multi-angle lighting layout. At the same time, the system is also equipped with a light sensor for real-time sensing of changes in ambient light, and automatically adjusting the brightness of the light source module according to the sensing results to ensure that the treatment area obtains appropriate lighting conditions; The light source system consists of multiple independent and versatile light source modules, including RGB light, UV light and polarized light (including parallel polarized light and cross polarized light). Each light source module has the functions of lifting, retracting and angle adjustment, so that it can be flexibly configured according to treatment needs.

[0009] Light source layout in front of the face: The light source module located in front of the face is installed on a precise lifting device, which can be precisely adjusted up and down according to treatment needs to ensure that the light source can illuminate different height areas of the face, such as the forehead, eyes, and nose bridge. At the same time, the light source also has a telescopic function to achieve movement from above the forehead to above the chin. Light source layout on the left and right sides of the face: The light source modules located on the left and right sides of the face are respectively installed on two track systems that can be lifted, horizontally moved, moved forward and backward, and adjusted in angle. These track systems can be adjusted up and down, left and right, forward and backward, and in angle according to treatment needs; The RGB light source module can emit light of multiple colors. By adjusting the color temperature and brightness, a lighting atmosphere suitable for different treatment needs can be created.

[0010] The polarized light source module (including parallel polarized light and cross polarized light) is used to reduce reflection and glare and improve imaging quality, especially during delicate treatments.

[0011] Multi-angle adjustment of the light source: All light source modules have the function of angle adjustment. By adjusting the tilt angle and rotation angle of the light source, the lighting needs of different treatment sites and scenarios can be adapted.

[0012] The angle adjustment function enables the light source to irradiate every corner of the face, ensuring that the treatment area is fully illuminated.

[0013] Light sensing and automatic adjustment: The system is equipped with light sensors that can sense changes in the external environmental light in real time.

[0014] According to the sensing results, the light source module will automatically adjust the brightness to ensure that the treatment area can obtain appropriate lighting conditions under any environmental conditions.

[0015] Furthermore, the camera module is set to be liftable, horizontally movable, movable forward and backward, and adjustable in angle, and is respectively arranged in front of, on the left side, and on the right side of the face of the beauty seeker; the camera module can be freely adjusted in the vertical, horizontal, forward and backward, and angle directions according to treatment needs to achieve the layout of a multi-angle camera module to achieve a wide field of view and high-definition imaging layout.

[0016] The camera module is set to be liftable, horizontally movable, movable forward and backward, and adjustable in angle, and can be set alone or together with the light source in front of, on the left side, and on the right side of the face of the beauty seeker; the camera module can be freely adjusted in the vertical, horizontal, forward and backward, and angle directions according to treatment needs to achieve a wide field of view and high-definition imaging layout; the camera module uses high-definition imaging technology, can capture details of the treatment area, and has a real-time transmission function to transmit the captured images to the display screen or monitoring system in real time.

[0017] Furthermore, the camera module and the light source module work together to improve the lighting quality and image clarity of the treatment area; Specifically include: Step 1: Initialization Settings Before the treatment starts, the system first performs initialization settings. This includes checking the connection status and working status of the camera module, light source module, light sensor, and laser instrument emission controller; The initialization settings also include adjusting parameters such as the focal length and exposure of the camera module, as well as setting the initial brightness and color temperature of the light source module; Step 2: Ambient Light Sensing and Adjustment The light sensor starts to work, sensing the changes in the external ambient light in real time; According to the feedback from the light sensor, the intelligent control system automatically adjusts the brightness of the light source module to ensure that the treatment area can obtain appropriate lighting conditions under any environmental conditions; If the external ambient light is too strong or too weak, the light source module will increase or decrease the brightness accordingly to maintain the lighting stability of the treatment area; Step 3: Camera Image Capture and Light Source Coordinated Adjustment The camera module starts to capture images of the treatment area and transmits them to the intelligent control system; The intelligent control system analyzes the captured images to evaluate the lighting quality and image clarity; If the lighting quality is insufficient or the image clarity is not enough, the intelligent control system will automatically adjust the position, brightness, color temperature, and angle of the light source module to improve the lighting quality and image clarity of the treatment area; During the adjustment process, the intelligent control system will monitor the changes in the images captured by the camera in real time and make fine-tuning as needed to ensure the best lighting and imaging effects; Step 4: Laser Emission Control and Synchronous Monitoring During the treatment process, the operator controls the emission of the laser through the laser instrument emission controller; At the same time, the camera module continues to capture images of the treatment area and transmits them to the display screen or monitoring system in real time; The operator can observe the treatment situation at any time and make adjustments as needed; If abnormal situations occur during the treatment process, such as insufficient lighting or blurred images, the intelligent control system will automatically issue an alarm and prompt the operator to check and adjust; Step 5: Treatment End and Reset After the treatment ends, the intelligent control system will automatically turn off the light source module and the camera module; At the same time, the robotic arm will put the laser treatment handle back to its original position and prepare for the next treatment; The system will also save the images and data during the treatment process for subsequent analysis and evaluation.

[0018] Further, it is characterized in that it further includes an intelligent control system, which can monitor the positions and dynamics of the robotic arm, light source, and camera in real time, and automatically adjust the brightness and color temperature of the light source, the position and angle of the camera, and the telescopic states of the light source and camera according to the monitoring results to ensure that they always maintain a safe distance from each other, avoid mutual interference, and improve the operation fluency and treatment efficiency of the entire system.

[0019] Further, it is characterized in that the intelligent control system further includes an obstacle avoidance algorithm, which can calculate the relative position relationships among the light source, camera, and robotic arm in real time, predict potential collision risks, and automatically trigger an obstacle avoidance mechanism to adjust the positions or angles of relevant components to avoid collisions; Specific steps of the obstacle avoidance algorithm: Step 1: System initialization and component position acquisition When the system starts, perform initialization operations and load the initial position relationship data of the robotic arm, light source, and camera stored internally; Obtain the real-time position information of the light source, camera, and robotic arm through the intelligent control system, which may come from internal sensors or positioning devices of the system; Step 2: Obstacle recognition and position prediction (based on the camera) Use the camera to capture environmental images and identify potential obstacles through image processing algorithms; Step 3: Position relationship calculation and collision risk assessment According to the real-time position information of the light source, camera, and robotic arm, as well as the position and predicted trajectory of the obstacle, calculate their relative position relationships; Evaluate the risk of collision between the robotic arm, light source, and camera and the obstacle during movement; Step 4: Obstacle avoidance strategy formulation and execution Formulate specific obstacle avoidance strategies according to the results of the collision risk assessment; Automatically adjust the positions or angles of the robotic arm, light source, and camera through the intelligent control system to avoid potential collisions; Ensure that the adjusted positions or angles do not interfere with the normal operation of other components and maintain the treatment efficiency; Step 5: Real-time monitoring and obstacle avoidance strategy adjustment During the obstacle avoidance process, continuously monitor the positions of the robotic arm, light source, and camera and the changes of the obstacle. If new collision risks are found or the obstacle avoidance strategy needs to be adjusted, immediately trigger the corresponding adjustment mechanism. Recalculate the obstacle avoidance path and adjust the positions or angles of relevant components to adapt to the new environment; Step 6: End of obstacle avoidance and state recovery When the obstacle avoidance strategy is successfully executed and the collision risk is eliminated, the obstacle avoidance process ends; Restore the light source, camera, and robotic arm to their initial positions or preset working positions; Update the position relationship data stored internally for subsequent use.

[0020] Furthermore, it is characterized in that the system further includes a temperature detector, The temperature detector detects and records the temperature changes on the skin surface in real time and non - contact during the laser treatment process to provide direct feedback on the thermal effect of the treatment area; The temperature detector is preferably an infrared thermal imager, which can generate a high - resolution skin temperature distribution image, display the temperature changes during the treatment in a visual way, so as to assist the operator to accurately evaluate the treatment effect, timely adjust the treatment parameters, and ensure the safety and effectiveness of the treatment.

[0021] Furthermore, the cooling system specifically includes: A blower configured to blow cold air onto the skin surface during the treatment to reduce the skin temperature and reduce the risk of thermal damage; A refrigerator connected to the blower, used to provide a cooling medium to enhance the cooling effect of the blower; An analysis and processing unit, which receives real - time temperature data from the temperature detector (preferably an infrared thermal imager), and dynamically determines whether to start or adjust the rotation speed of the blower, the working state of the refrigerator, and the temperature, wind force, and position of the air outlet according to a preset temperature threshold or algorithm logic. Specifically, the analysis and processing unit can automatically adjust the rotation speed of the blower and the wind force of the air outlet according to the change of the skin temperature, and adjust the position of the air outlet to ensure the best cooling effect while avoiding unnecessary cooling or excessive stimulation of the skin.

[0022] Furthermore, it also includes an advanced storage and management system, which specifically includes the following functions: Storage module: Detailedly record and store the model information of each laser device, as well as the movement range of the laser treatment handle and the key operation parameters of the laser treatment instrument, including but not limited to wavelength, pulse width, frequency, and spot size, etc. These information constitute the basic database of the laser treatment plan and provide data support for precise treatment; Setting interface: Provide dual setting methods. On the one hand, it allows professional operators to directly input or adjust the above - mentioned parameters manually to meet the treatment needs of specific patients or deal with special treatment scenarios. On the other hand, the system also has the ability to seamlessly dock with the robotic arm automation program, supporting the robotic arm to automatically adjust the laser treatment parameters according to a preset algorithm or program, realizing the automation and intelligence of the treatment process; Verification and Consistency Assurance Mechanism: After the parameter settings are completed, the storage and management system will automatically perform parameter verification to ensure that all set parameters are within a safe and effective range and match the selected laser device and its configuration. This mechanism effectively avoids treatment risks caused by incorrect parameter settings and ensures the accuracy and consistency of treatment.

[0023] Furthermore, it is characterized in that the system includes: a robot control module, which is further subdivided into: Robot Manual Control Module: This module is configured to allow professional operators to directly and precisely control the movement and operation of the robotic arm and the laser treatment handle by manually inputting or adjusting instructions. It specifically includes the following functions: Personalized Treatment Plan Customization Function: This module can receive instructions input by the operator based on personalized factors such as the skin type of a specific patient, the characteristics of the treatment area, and the treatment goal, and automatically adjust the movement trajectory, speed, positioning accuracy of the robotic arm, and the operation parameters of the laser treatment handle based on these instructions. The operation parameters include but are not limited to laser wavelength, pulse width, frequency, spot size, and irradiation mode to meet the personalized treatment needs of the patient; Complex Treatment Scenario Response Function: During the treatment process, this module supports the operator to quickly and accurately adjust the treatment plan by manually inputting or adjusting instructions according to real-time treatment feedback, such as the patient's skin reaction and changes in the treatment area. The adjustment includes the movement path of the robotic arm and the operation parameters of the laser treatment handle to ensure the accuracy and safety of the treatment process in complex treatment scenarios; Operation Flexibility and Intuitiveness: This module has a highly intuitive and flexible operation interface, which enables the operator to easily input or adjust instructions, thereby achieving direct and high-precision control of the robotic arm and the laser treatment handle. In addition, this module also provides an instant feedback mechanism, which can display the real-time status of the treatment process to the operator and help the operator monitor the treatment progress so as to make adjustments when necessary; Robot Autonomous Control Module: The robot autonomous control module is configured to autonomously control the movement and operation of the robotic arm and the laser treatment handle based on preset algorithms or treatment protocols to achieve the intelligence and automation of the treatment process. It specifically includes the following functions: Algorithm or Treatment Protocol Driving Function: This module has a variety of verified algorithms or treatment protocols built in. These algorithms or protocols are based on extensive clinical research and practical experience and can automatically select and apply the most suitable control strategy according to different treatment needs and patient conditions to ensure the effectiveness and pertinence of treatment; Autonomous control function: Without direct manual intervention, the module can autonomously control the movement trajectory, speed, positioning accuracy of the robotic arm, and the laser emission parameters of the laser treatment handle, including but not limited to laser wavelength, pulse width, frequency, spot size, and irradiation mode, ensuring the accuracy and consistency of the treatment process, thereby improving the reliability and stability of the treatment effect; Intelligent learning and optimization function: The module has intelligent learning ability and can continuously collect and analyze data during the treatment process, including key information such as patient response and treatment effect. Through machine learning algorithms, it automatically adjusts and optimizes control strategies to improve treatment efficiency and patient satisfaction, realizing continuous optimization and improvement of the treatment process; Safety monitoring and fault handling function: The module is built with a comprehensive safety monitoring mechanism that can continuously monitor the operating status of the robotic arm and the laser treatment handle, as well as potential abnormal situations during the treatment process. Once potential safety hazards or faults are detected, it can immediately trigger an alarm mechanism and take corresponding intervention measures, such as pausing the treatment, adjusting parameters, or emergency shutdown, etc., to ensure the safety of the treatment process and protect patients and equipment from damage; Robot and manual combined control module: The module combines the advantages of manual control and autonomous control and has the following functions to allow operators to intervene and adjust the autonomous control process when necessary to ensure the accuracy and safety of the treatment: Dual-mode seamless switching: The module supports seamless switching between manual control and autonomous control modes. Operators can flexibly select and switch control modes according to treatment requirements and real-time situations to ensure the flexibility and adaptability of the treatment process; Manual intervention and adjustment: In the autonomous control mode, the module allows operators to manually intervene and adjust the movement trajectory, speed, positioning accuracy of the robotic arm, and the laser emission parameters of the laser treatment handle when necessary to ensure the accuracy and safety of the treatment. Such intervention and adjustment can be based on the operator's professional knowledge, patient individual differences, or real-time feedback during the treatment process; Intelligent assisted decision-making: In the manual control mode, the module can use the data collected and analyzed by the autonomous control module to provide intelligent assisted decision-making suggestions for operators, helping operators more accurately judge treatment strategies and adjust parameters, and improving the pertinence and effectiveness of the treatment; Real-time monitoring and feedback: The module has a real-time monitoring function and can display in real-time the operating status of the robotic arm and the laser treatment handle, treatment progress, and patient response and other information, providing operators with comprehensive monitoring of the treatment process. At the same time, the module can also provide an instant feedback mechanism to help operators promptly identify and handle potential safety hazards or abnormal situations; Safety Lock and Protection: To ensure the safety of the treatment process, the module has safety lock and protection functions during manual intervention and adjustment. When the operator makes critical parameter adjustments or performs high-risk operations, the module can automatically trigger the safety lock mechanism, requiring the operator to confirm again or enter a safety password to prevent safety risks caused by misoperations.

[0024] It is further characterized by further comprising: Display: Used to display the parameters that the user needs to set. After the user sets the parameters through the interface and confirms them. This display can clearly show key parameters such as laser treatment mode, energy intensity, treatment time, light source module selection, etc., ensuring that the user can intuitively and accurately set and adjust the required treatment conditions.

[0025] Laser instrument placement position indicator: This indicator can provide an indication of the optimal placement position of the laser instrument relative to the target treatment area. This indicator can ensure that the laser instrument accurately aligns with the target area during the treatment process, thereby improving the accuracy and effect of the treatment.

[0026] Other human-machine interaction modules: To improve the user experience and operation convenience, the system further includes but is not limited to a touch screen interface, a voice recognition system, a gesture control device, etc. The touch screen interface allows the user to directly select functions and adjust parameters by finger touch; the voice recognition system enables the user to control the operation of the system through voice commands; the gesture control device executes corresponding operations by recognizing the user's gesture actions, further enhancing the interactivity and usability of the system. Detailed implementation

[0028] A laser beauty robot system, characterized by comprising: At least one robotic arm for holding and manipulating a laser treatment handle; Multiple light source modules, including RGB light, UV light, and polarized light (including parallel polarized light and cross polarized light); A light sensor for sensing the external ambient light and automatically adjusting the light source brightness to provide appropriate lighting conditions; Multiple camera modules for providing a wide field of view and high-definition imaging; A laser instrument emission controller, including a foot control switch and a handle control switch, for controlling laser emission.

[0029] Further, it also includes a control switch connected to the processor of the operated laser device for controlling laser emission.

[0030] The foot control switch of the laser beauty robot is responsible for controlling the foot start function of the laser equipment, the handle control switch directly manages the handle start operation of the laser generator, and the control switch closely connected to the laser equipment processor provides a direct and efficient laser emission control method.

[0031] The operator can directly control the laser emitter of the operated laser equipment by controlling the laser beauty robot.

[0032] The operator can directly control the laser emission process by issuing instructions to the laser beauty robot. These instructions can activate the laser beauty robot's foot control switch, handle control switch, or control switch closely connected to the laser equipment processor, thereby achieving precise control of the laser emitter of the operated laser equipment.

[0033] The foot control switch of the specific laser beauty robot is connected to the foot switch of the laser device being operated. The further mechanical arm device specifically comprises: Multi-DOF joint structure: The robot arm adopts advanced multi-DOF joint design, including but not limited to shoulder joint, elbow joint and wrist joint. Each joint is equipped with high-precision motors and sensors to achieve flexible and precise motion control. Holding mechanism: The end of the robotic arm is equipped with a specially designed holding mechanism, which can hold the laser treatment handle stably and firmly, while allowing the handle to rotate and tilt within a certain range to meet the needs of different treatment angles; Force feedback system: The gripping mechanism is embedded with a force sensor, which can monitor the force of the robotic arm gripping the laser treatment handle in real time and transmit the force feedback information to the control system to ensure the safety and accuracy of the treatment process; Obstacle detection and avoidance function: The robotic arm is equipped with a high-precision obstacle detection sensor that can sense obstacles in the surrounding environment in real time and automatically calculate the avoidance path through an algorithm to avoid collisions with obstacles during treatment; Drive and control system: The drive system of the robot arm adopts advanced servo motor technology, combined with high-precision controllers and sensors, to achieve precise control and positioning of the robot arm's movement; at the same time, the control system also has fault detection and early warning functions, which can monitor the operating status of the robot arm in real time and issue early warning signals in time when a fault occurs.

[0034] The gripping structure of the mechanical arm device can be additionally equipped with a handle control switch for the operated laser device to control the laser emitter of the operated laser device. This design enables the laser beauty robot to conveniently control the laser emitter of the connected laser device directly through the handle control switch on the gripping structure.

[0035] Furthermore, the light source module is arranged to be liftable, horizontally movable, front-and-back movable, and angle-adjustable, and is respectively arranged in front of, on the left side, and on the right side of the face of the beauty seeker; the light source module can be freely adjusted in the vertical, horizontal, front-and-back, and angle directions according to the treatment requirements, so as to achieve a multi-angle illumination layout.

[0036] At the same time, the system is also equipped with a light sensor, which is used to sense the change of the external environmental light in real time and automatically adjust the brightness of the light source module according to the sensing result, so as to ensure that the treatment area obtains appropriate illumination conditions; The light source system is composed of multiple independent and versatile light source modules, and these modules include RGB light, UV light, and polarized light (including parallel polarized light and cross polarized light). Each light source module has the functions of lifting, horizontal movement, front-and-back movement, and angle adjustment, so as to be flexibly configured according to the treatment requirements.

[0037] Light source layout in front of the face: The light source module located in front of the face is installed on a precise lifting device, which can be precisely adjusted up and down according to the treatment requirements to ensure that the light source can irradiate different height areas of the face, such as the forehead, eyes, nose bridge, etc.; at the same time, the light source also has a telescopic function to realize the movement from above the forehead to above the mandible; Light source layout on the left and right sides of the face: The light source modules located on the left and right sides of the face are respectively installed on two track systems that can be lifted, horizontally moved, front-and-back moved, and angle-adjusted, and these track systems can be adjusted up and down, left and right, front and back, and in angle according to the treatment requirements; The RGB light source module can also emit light of multiple colors, and by adjusting the color temperature and brightness, it can create an illumination atmosphere suitable for different treatment requirements; The polarized light source module (including parallel polarized light and cross polarized light) is used to reduce reflection and glare and improve the imaging quality, especially during fine treatment.

[0038] Multi-angle adjustment of the light source: All light source modules have an angle adjustment function, and by adjusting the tilt angle and rotation angle of the light source, the illumination requirements of different treatment parts and scenarios can be adapted.

[0039] The angle adjustment function enables the light source to irradiate every corner of the face, ensuring that the treatment area is fully illuminated.

[0040] Light sensing and automatic adjustment: The system is equipped with light sensors, which can sense the change of the external environmental light in real time.

[0041] According to the induction result, the light source module will automatically adjust the brightness to ensure that the treatment area can obtain suitable lighting conditions under any environmental conditions.

[0042] Furthermore, the camera module is set to be liftable, horizontally movable, forward and backward movable, and angle-adjustable, and is respectively arranged in front of, on the left side, and on the right side of the face of the beauty seeker; the camera module can be freely adjusted in the vertical, horizontal, forward and backward, and angle directions according to the treatment requirements, realizing the layout of the multi-angle camera module to achieve the layout of a wide field of view and high-definition imaging.

[0043] The camera module is set to be liftable, horizontally movable, forward and backward movable, and angle-adjustable, and can be set alone or together with the light source in front of, on the left side, and on the right side of the face of the beauty seeker; the camera module can be freely adjusted in the vertical, horizontal, forward and backward, and angle directions according to the treatment requirements to achieve the layout of a wide field of view and high-definition imaging; the camera module adopts high-definition imaging technology, can capture the details of the treatment area, and has a real-time transmission function to transmit the captured images to the display screen or the monitoring system in real time.

[0044] Furthermore, the camera module and the light source module work together to improve the lighting quality and image clarity of the treatment area; Specifically, it includes: Step 1: Initialization settings Before the treatment starts, the system first performs initialization settings. This includes checking the connection status and working status of the camera module, light source module, light sensor, and laser instrument emission controller; The initialization settings also include adjusting parameters such as the focal length and exposure of the camera module, and setting the initial brightness and color temperature of the light source module; Step 2: Ambient light induction and adjustment The light sensor starts to work and senses the changes in the external ambient light in real time; According to the feedback of the light sensor, the intelligent control system automatically adjusts the brightness of the light source module to ensure that the treatment area can obtain suitable lighting conditions under any environmental conditions; If the external ambient light is too strong or too weak, the light source module will increase or decrease the brightness accordingly to maintain the lighting stability of the treatment area; Step 3: Camera captures images and the light source is adjusted in coordination The camera module starts to capture images of the treatment area and transmits them to the intelligent control system; The intelligent control system analyzes the captured images and evaluates the lighting quality and image clarity; If the lighting quality is insufficient or the image clarity is insufficient, the intelligent control system will automatically adjust the position, brightness, color temperature and angle of the light source module to improve the lighting quality and image clarity of the treatment area; During the adjustment process, the intelligent control system monitors the changes in the image captured by the camera in real time and makes fine adjustments as needed to ensure optimal lighting and imaging effects; Step 4: Laser Emission Control and Synchronous Monitoring During the treatment, the operator controls the emission of the laser through the laser instrument emission controller; At the same time, the camera module continues to capture images of the treatment area and transmits them to the display screen or monitoring system in real time; The operator can observe the treatment at any time and make adjustments as needed; If any abnormal situation occurs during treatment, such as insufficient lighting or blurred images, the intelligent control system will automatically sound an alarm and prompt the operator to check and adjust; Step 5: End of treatment and repositioning After the treatment, the intelligent control system will automatically turn off the light source module and the camera module; At the same time, the robotic arm puts the laser treatment handle back to its original position and prepares for the next treatment; The system will also save images and data during the treatment process for subsequent analysis and evaluation.

[0045] In the laser beauty robot system, the layout design of the camera is also carefully planned to provide a wide field of view and high-definition imaging to assist the laser beauty treatment process. To achieve this goal, multiple cameras are designed to be retractable and can be set around the front, left and right sides of the patient's face.

[0046] Furthermore, it is characterized in that it also includes an intelligent control system, which can monitor the position and dynamics of the robotic arm, light source and camera in real time, and automatically adjust the brightness and color temperature of the light source, the position and angle of the camera, and the telescopic state of the light source and camera according to the monitoring results, so as to ensure that they always remain within a safe distance to avoid mutual interference, and improve the operational smoothness and treatment efficiency of the entire system.

[0047] Furthermore, it is characterized in that the intelligent control system also includes an obstacle avoidance algorithm, which can calculate the relative position relationship between the light source, camera and robotic arm in real time, predict potential collision risks, and automatically trigger the obstacle avoidance mechanism to adjust the position or angle of related components to avoid collision.

[0048] Specific steps of obstacle avoidance algorithm: Step 1: System initialization and component location acquisition At system startup, initialization operations are performed to load the initial position relationship data of the robotic arm, light source, and camera stored internally; Obtain the real-time position information of the light source, camera, and robotic arm through the intelligent control system, which may come from internal sensors or positioning devices of the system; Step 2: Obstacle Recognition and Position Prediction (Based on Camera) Use the camera to capture environmental images and identify potential obstacles through image processing algorithms; Step 3: Position Relationship Calculation and Collision Risk Assessment According to the real-time position information of the light source, camera, and robotic arm, as well as the position and predicted trajectory of the obstacle, calculate their relative position relationships; Evaluate the risk of collision between the robotic arm, light source, and camera and the obstacle during movement; Step 4: Obstacle Avoidance Strategy Formulation and Execution Formulate specific obstacle avoidance strategies based on the results of the collision risk assessment; Automatically adjust the position or angle of the robotic arm, light source, and camera through the intelligent control system to avoid potential collisions; Ensure that the adjusted position or angle does not interfere with the normal operation of other components and maintain the treatment efficiency; Step 5: Real-time Monitoring and Obstacle Avoidance Strategy Adjustment During the obstacle avoidance process, continuously monitor the positions of the robotic arm, light source, and camera and the changes of the obstacle. If new collision risks are found or the obstacle avoidance strategy needs to be adjusted, immediately trigger the corresponding adjustment mechanism. Recalculate the obstacle avoidance path and adjust the positions or angles of relevant components to adapt to the new environment.

[0049] Step 6: End of Obstacle Avoidance and State Recovery When the obstacle avoidance strategy is successfully executed and the collision risk has been eliminated, end the obstacle avoidance process; Restore the light source, camera, and robotic arm to the initial position or the preset working position; Update the internally stored position relationship data for subsequent use.

[0050] A laser beauty robot system, characterized in that the system further includes a temperature detector, The temperature detector, during the laser treatment process, detects and records the temperature changes on the skin surface in real-time and non-contact manner to provide direct feedback on the thermal effect of the treatment area; The temperature detector is preferably an infrared thermal imager, which can generate a high-resolution skin temperature distribution image, visually display the temperature changes during the treatment, so as to assist the operator to accurately evaluate the treatment effect, timely adjust the treatment parameters, and ensure the safety and effectiveness of the treatment.

[0051] Further integrated an advanced cooling system, which specifically includes: A blower, configured to blow cold air towards the skin surface during treatment to reduce skin temperature and reduce the risk of thermal damage; A refrigerator, connected to the blower, for providing a cooling medium to enhance the cooling effect of the blower; An analysis and processing unit, which receives real-time temperature data from a temperature detector (preferably an infrared thermal imager), and dynamically determines whether to start or adjust the rotation speed of the blower, the working state of the refrigerator, and the temperature, wind force, and position of the air outlet according to a preset temperature threshold or algorithm logic. Specifically, the analysis and processing unit can automatically adjust the rotation speed of the blower and the wind force of the air outlet according to the change of skin temperature, and adjust the position of the air outlet to ensure the best cooling effect while avoiding unnecessary cooling or excessive stimulation of the skin.

[0052] It also includes an advanced storage and management system, which specifically includes the following functions: Storage module: Detailedly record and store the model information of each laser device, as well as the moving range of the laser treatment handle and the key operation parameters of the laser treatment instrument, including but not limited to wavelength, pulse width, frequency, and spot size, etc. These information constitute the basic database of the laser treatment plan and provide data support for precise treatment; Setting interface: Provide dual setting methods. On the one hand, it allows professional operators to directly input or adjust the above parameters manually to meet the treatment needs of specific patients or cope with special treatment scenarios. On the other hand, the system also has the ability to seamlessly dock with the robotic arm automation program, supporting the robotic arm to automatically adjust the laser treatment parameters according to a preset algorithm or program to realize the automation and intelligence of the treatment process; Verification and consistency assurance mechanism: After the parameters are set, the storage and management system will automatically perform parameter verification to ensure that all set parameters are within the safe and effective range and match the selected laser device and its configuration. This mechanism effectively avoids the treatment risks caused by incorrect parameter settings and ensures the accuracy and consistency of the treatment.

[0053] Furthermore, it is characterized in that the system includes: a robot control module, which is further subdivided into: a robot manual control module, a robot autonomous control module, and a robot and manual joint control module; Robot manual control module: The module is configured to allow professional operators to directly and precisely control the movement and operation of the robotic arm and the laser treatment handle by manually inputting or adjusting instructions, and specifically includes the following functions: Personalized treatment plan customization function: The module can receive instructions input by the operator based on personalized factors such as the skin type of a specific patient, the characteristics of the treatment area, and the treatment goal, and automatically adjust the movement trajectory, speed, positioning accuracy of the robotic arm, and the operating parameters of the laser treatment handle based on these instructions. The operating parameters include, but are not limited to, laser wavelength, pulse width, frequency, spot size, and irradiation mode, to meet the personalized treatment needs of the patient; Function to handle complex treatment scenarios: During the treatment process, the module supports the operator to quickly and accurately adjust the treatment plan by manually inputting or adjusting instructions according to real-time treatment feedback, such as the patient's skin reaction, changes in the treatment area, etc. The adjustment includes the movement path of the robotic arm and the operating parameters of the laser treatment handle, to ensure the accuracy and safety of the treatment process in complex treatment scenarios; Operation flexibility and intuitiveness: The module has a highly intuitive and flexible operation interface, which enables the operator to easily input or adjust instructions, so as to achieve direct and high-precision control of the robotic arm and the laser treatment handle. In addition, the module also provides an instant feedback mechanism, which can display the real-time status of the treatment process to the operator and help the operator monitor the treatment progress, so as to make adjustments when necessary; Robot autonomous control module: The robot autonomous control module is configured to autonomously control the movement and operation of the robotic arm and the laser treatment handle based on preset algorithms or treatment protocols, to achieve the intelligence and automation of the treatment process, specifically including the following functions: Function driven by algorithms or treatment protocols: The module is built-in with a variety of verified algorithms or treatment protocols, which are based on extensive clinical research and practical experience, and can automatically select and apply the most appropriate control strategy according to different treatment needs and patient conditions, to ensure the effectiveness and pertinence of the treatment; Autonomous control function: Without direct manual intervention, the module can autonomously control the movement trajectory, speed, positioning accuracy of the robotic arm, and the laser emission parameters of the laser treatment handle, including but not limited to laser wavelength, pulse width, frequency, spot size, and irradiation mode, to ensure the accuracy and consistency of the treatment process, thereby improving the reliability and stability of the treatment effect; Intelligent learning and optimization function: The module has intelligent learning ability, and can continuously collect and analyze data during the treatment process, including key information such as patient reaction and treatment effect, and automatically adjust and optimize the control strategy through machine learning algorithms, to improve the treatment efficiency and patient satisfaction, and achieve continuous optimization and improvement of the treatment process; Safety monitoring and fault handling function: The module is built with a comprehensive safety monitoring mechanism that can real-time monitor the operating status of the robotic arm and the laser treatment handle, as well as any abnormal situations that may occur during the treatment process. Once potential safety hazards or faults are detected, it can immediately trigger the alarm mechanism and take corresponding intervention measures, such as pausing the treatment, adjusting parameters, or performing an emergency shutdown, etc., to ensure the safety of the treatment process and protect the patient and the equipment from damage; Robot and manual combined control module: The module combines the advantages of manual control and autonomous control and has the following functions to allow the operator to intervene and adjust the autonomous control process when necessary to ensure the accuracy and safety of the treatment: Dual-mode seamless switching: The module supports seamless switching between manual control and autonomous control modes. The operator can flexibly select and switch the control mode according to the treatment requirements and real-time situations to ensure the flexibility and adaptability of the treatment process; Manual intervention and adjustment: In the autonomous control mode, the module allows the operator to manually intervene and adjust the movement trajectory, speed, positioning accuracy of the robotic arm, and the laser emission parameters of the laser treatment handle when necessary to ensure the accuracy and safety of the treatment. This kind of intervention and adjustment can be based on the operator's professional knowledge, patient individual differences, or real-time feedback during the treatment process; Intelligent auxiliary decision-making: In the manual control mode, the module can use the data collected and analyzed by the autonomous control module to provide intelligent auxiliary decision-making suggestions for the operator, helping the operator to more accurately judge the treatment strategy and adjust the parameters, and improving the pertinence and effectiveness of the treatment; Real-time monitoring and feedback: The module has a real-time monitoring function that can real-time display information such as the operating status of the robotic arm and the laser treatment handle, the treatment progress, and the patient's reaction, etc., to provide the operator with a comprehensive monitoring of the treatment process. At the same time, the module can also provide an instant feedback mechanism to help the operator identify and handle potential safety hazards or abnormal situations in a timely manner; Safety locking and protection: To ensure the safety of the treatment process, the module has a safety locking and protection function during the manual intervention and adjustment process. When the operator makes key parameter adjustments or performs high-risk operations, the module can automatically trigger the safety locking mechanism, requiring the operator to perform a secondary confirmation or enter a safety password to prevent safety risks caused by misoperations.

[0054] It is further characterized by further including: Display: Used to display the parameters that the user needs to set. After the user sets the parameters through the interface and confirms them. This display can clearly show key parameters such as the laser treatment mode, energy intensity, treatment time, light source module selection, etc., to ensure that the user can intuitively and accurately set and adjust the required treatment conditions.

[0055] Laser instrument placement indicator: This indicator can provide the best placement indication of the laser instrument relative to the target treatment area. This indicator can ensure that the laser instrument accurately aligns with the target area during the treatment, thereby improving the accuracy and effectiveness of the treatment.

[0056] Other human-machine interaction modules: To enhance the user experience and operation convenience, this system also includes, but is not limited to, a touch screen interface, a voice recognition system, a gesture control device, etc. The touch screen interface allows users to directly select functions and adjust parameters by finger touch; the voice recognition system enables users to control the operation of the system through voice commands; the gesture control device performs corresponding operations by recognizing the gesture actions of users, further enhancing the interactivity and usability of the system.

Claims

1. A laser beauty robot system, characterized in that: include: at least one robotic arm for holding and manipulating a laser treatment handle; Multiple light source modules, including RGB light, UV light and polarized light (including parallel polarized light and cross polarized light); Light sensor, used to sense the ambient light and automatically adjust the brightness of the light source to provide suitable lighting conditions; Multiple camera modules for wide field of view and high-definition imaging; The laser instrument emission controller includes a foot control switch and a handle control switch, which are used to control the laser emission.

2. A robotic arm device in a laser beauty robot system according to claim 1, characterized in that: The mechanical arm device specifically comprises: Multi-DOF joint structure: The robot arm adopts advanced multi-DOF joint design, including but not limited to shoulder joint, elbow joint and wrist joint. Each joint is equipped with high-precision motors and sensors to achieve flexible and precise motion control. Holding mechanism: The end of the robotic arm is equipped with a specially designed holding mechanism, which can hold the laser treatment handle stably and firmly, while allowing the handle to rotate and tilt within a certain range to meet the needs of different treatment angles; Force feedback system: The gripping mechanism is embedded with a force sensor, which can monitor the force of the robotic arm gripping the laser treatment handle in real time and transmit the force feedback information to the control system to ensure the safety and accuracy of the treatment process; Drive and control system: The drive system of the robot arm adopts advanced servo motor technology, combined with high-precision controllers and sensors, to achieve precise control and positioning of the robot arm's movement; at the same time, the control system also has fault detection and early warning functions, which can monitor the operating status of the robot arm in real time and issue early warning signals in time when a fault occurs.

3. According to claim 1, a laser beauty robot system, the light source module is configured to be able to be raised and lowered, moved horizontally, moved forward and backward, and adjusted in angle, and are respectively arranged in front, on the left side, and on the right side of the face of the beauty seeker; the light source module can be freely adjusted in the vertical, horizontal, front and back, and angle directions according to treatment needs, to achieve a multi-angle lighting layout.

4. According to claim 1, A laser beauty robot system, The camera module is configured to be able to be raised and lowered, moved horizontally, moved forward and backward, and adjusted in angle, and is respectively arranged in front, on the left, and on the right of the face of the patient; the camera module can be freely adjusted in the vertical, horizontal, forward and backward directions and in angles according to treatment needs, so as to realize the layout of multi-angle camera modules, so as to realize the layout of wide field of view and high-definition imaging; The camera module can be arranged on the same bracket alone or together with the light source.

5. A laser beauty robot system, The camera module and the light source module work together to improve the lighting quality and image clarity of the treatment area; Specifically include: Step 1: Initial Setup Before treatment begins, the system will first be initialized, including checking the connection and working status of the camera module, light source module, light sensor, and laser instrument launch controller; The initialization settings also include adjusting the focus, exposure and other parameters of the camera module, and setting the initial brightness and color temperature of the light source module; Step 2: Ambient Light Sensing and Adjustment The light sensor starts working and senses the changes in the external ambient light in real time; According to the feedback from the light sensor, the intelligent control system automatically adjusts the brightness of the light source module to ensure that the treatment area can obtain appropriate lighting conditions under any environmental conditions; If the ambient light is too strong or too weak, the light source module will increase or decrease the brightness accordingly to keep the lighting of the treatment area stable; Step 3: Camera captures image and coordinates light source adjustment The camera module starts capturing images of the treatment area and transmits them to the intelligent control system; An intelligent control system analyses the captured images to assess lighting quality and image clarity; If the lighting quality is insufficient or the image clarity is insufficient, the intelligent control system will automatically adjust the position, brightness, color temperature and angle of the light source module to improve the lighting quality and image clarity of the treatment area; During the adjustment process, the intelligent control system monitors the changes in the image captured by the camera in real time and makes fine adjustments as needed to ensure optimal lighting and imaging effects; Step 4: Laser Emission Control and Synchronous Monitoring During the treatment, the operator controls the emission of the laser through the laser instrument emission controller; At the same time, the camera module continues to capture images of the treatment area and transmits them to the display screen or monitoring system in real time; The operator can observe the treatment at any time and make adjustments as needed; If any abnormal situation occurs during treatment, such as insufficient lighting or blurred images, the intelligent control system will automatically sound an alarm and prompt the operator to check and adjust; Step 5: End of treatment and repositioning After the treatment, the intelligent control system will automatically turn off the light source module and the camera module; At the same time, the robotic arm puts the laser treatment handle back to its original position and prepares for the next treatment; The system will also save images and data during the treatment process for subsequent analysis and evaluation.

6. A laser beauty robot system, characterized in that: It also includes an intelligent control system that can monitor the position and dynamics of the robotic arm, light source and camera in real time, and automatically adjust the brightness and color temperature of the light source, the position and angle of the camera, and the telescopic state of the light source and camera according to the monitoring results to ensure that they always remain at a safe distance to avoid mutual interference, and to improve the operational smoothness and treatment efficiency of the entire system.

7. A laser beauty robot system, according to claim 6, characterized in that: The intelligent control system also includes an obstacle avoidance algorithm, which can calculate the relative position relationship between the light source, the camera and the robotic arm in real time, predict potential collision risks, and automatically trigger the obstacle avoidance mechanism to adjust the position or angle of related components to avoid collision; Specific steps of obstacle avoidance algorithm: Step 1: System initialization and component location acquisition When the system starts, an initialization operation is performed to load the initial position relationship data of the robot arm, light source and camera stored internally; The real-time position information of the light source, camera and robot arm is obtained through the intelligent control system. This information may come from the sensors or positioning devices inside the system. Step 2: Obstacle recognition and position prediction (based on camera) Use cameras to capture environmental images and identify potential obstacles through image processing algorithms; Step 3: Position relationship calculation and collision risk assessment Calculate the relative position relationship between the light source, camera, and robotic arm based on their real-time position information, as well as the position and predicted trajectory of the obstacle; Assess the risk of collision between the robot arm, light source and camera and obstacles during movement; Step 4: Obstacle avoidance strategy formulation and execution Develop specific obstacle avoidance strategies based on the results of the collision risk assessment; Through the intelligent control system, the position or angle of the robot arm, light source and camera can be automatically adjusted to avoid potential collisions; Ensure that the adjusted position or angle does not interfere with the normal operation of other components and maintain treatment efficiency; Step 5: Real-time monitoring and obstacle avoidance strategy adjustment During the obstacle avoidance process, the position of the robot arm, light source, and camera, as well as changes in obstacles, are continuously monitored. If new collision risks are detected or the obstacle avoidance strategy needs to be adjusted, the corresponding adjustment mechanism is immediately triggered. The obstacle avoidance path is recalculated, and the position or angle of related components is adjusted to adapt to the new environment; Step 6: End of obstacle avoidance and state recovery When the obstacle avoidance strategy is successfully executed and the collision risk has been eliminated, the obstacle avoidance process ends; Restore the light source, camera and robotic arm to the initial position or preset working position; Update the internally stored location relationship data for subsequent use.

8. A laser beauty robot system, characterized in that: The system also includes a temperature detector, The temperature detector detects and records the temperature changes on the skin surface in real time and non-contactly during laser treatment to provide direct feedback on the thermal effect of the treatment area; The temperature detector is preferably an infrared thermal imager, which can generate high-resolution skin temperature distribution images and visually display the temperature changes during the treatment process, thereby assisting the operator to accurately evaluate the treatment effect, adjust the treatment parameters in time, and ensure the safety and effectiveness of the treatment.

9. A laser beauty robot system further integrates an advanced cooling system, the cooling system specifically comprising: a fan configured to blow cool air toward the skin surface during treatment to lower the skin temperature and reduce the risk of thermal damage; A cooler, connected to the fan, is used to provide a cooling medium to enhance the cooling effect of the fan; An analysis and processing unit receives real-time temperature data from a temperature detector (preferably an infrared thermal imager) and dynamically determines whether it is necessary to start or adjust the fan speed, the working state of the refrigerator, and the temperature, wind speed, and position of the air outlet according to a preset temperature threshold or algorithm logic. Specifically, the analysis and processing unit can automatically adjust the fan speed and wind speed of the air outlet, as well as the position of the air outlet according to changes in skin temperature, to ensure the best cooling effect while avoiding unnecessary cooling or excessive stimulation to the skin.

10. A laser beauty robot system also includes an advanced storage and management system, which specifically includes the following functions: Storage module: records and stores in detail the model information of each laser device, the moving range of the laser treatment handle, and the key operating parameters of the laser treatment instrument, including but not limited to wavelength, pulse width, frequency, and spot size. This information constitutes the basic database of laser treatment plans and provides data support for precise treatment; Setting interface: provides dual setting methods. On the one hand, it allows professional operators to directly input or adjust the above parameters manually to meet the treatment needs of specific patients or cope with special treatment scenarios. On the other hand, the system also has the ability to seamlessly connect with the robot arm automation program, supporting the robot arm to automatically adjust the laser treatment parameters according to the preset algorithm or program, realizing the automation and intelligence of the treatment process; Verification and consistency guarantee mechanism: After the parameter setting is completed, the storage and management system will automatically perform parameter verification to ensure that all set parameters are within a safe and effective range and match the selected laser device and its configuration. This mechanism effectively avoids treatment risks caused by incorrect parameter settings and ensures the accuracy and consistency of treatment.

11. A laser beauty robot system, characterized in that: The system includes: a robot control module, which is further subdivided into: a robot manual control module, a robot autonomous control module and a robot and manual joint control module; The robot manual control module: The module is configured to allow professional operators to directly and accurately control the movement and operation of the robot arm and the laser treatment handle by manually inputting or adjusting instructions, and specifically includes the following functions: Personalized treatment plan customization function: The module can receive instructions input by the operator based on personalized factors such as the skin type, treatment area characteristics, and treatment goals of a specific patient, and automatically adjust the movement trajectory, speed, positioning accuracy of the robotic arm and the operating parameters of the laser treatment handle based on these instructions. The operating parameters include but are not limited to laser wavelength, pulse width, frequency, spot size, and irradiation mode to meet the patient's personalized treatment needs; Complex treatment scenario response function: During the treatment process, the module supports the operator to quickly and accurately adjust the treatment plan through manual input or adjustment instructions based on real-time treatment feedback, such as patient skin reactions, changes in the treatment area, etc. The adjustment includes the movement path of the robotic arm and the operating parameters of the laser treatment handle to ensure the accuracy and safety of the treatment process in complex treatment scenarios; Operational flexibility and intuitiveness: The module features a highly intuitive and flexible operating interface that allows operators to easily input or adjust commands, thereby achieving direct and high-precision control of the robotic arm and laser treatment handle. In addition, the module provides an instant feedback mechanism that shows the operator the real-time status of the treatment process and helps the operator monitor the treatment progress so that adjustments can be made when necessary; The robot autonomous control module: The robot autonomous control module is configured to autonomously control the movement and operation of the robotic arm and the laser treatment handle based on a preset algorithm or treatment protocol to achieve intelligent and automated treatment process, specifically including the following functions: Algorithm or treatment protocol driven function: The module has built-in multiple proven algorithms or treatment protocols, which are based on extensive clinical research and practical experience and can automatically select and apply the most appropriate control strategy according to different treatment needs and patient conditions to ensure the effectiveness and pertinence of treatment; Autonomous control function: Without direct human intervention, the module can autonomously control the movement trajectory, speed, positioning accuracy of the robotic arm, and the laser emission parameters of the laser treatment handle, including but not limited to laser wavelength, pulse width, frequency, spot size and irradiation mode, to ensure the accuracy and consistency of the treatment process, thereby improving the reliability and stability of the treatment effect; Intelligent learning and optimization function: The module has intelligent learning capabilities and can continuously collect and analyze data during the treatment process, including key information such as patient response and treatment effect. It can automatically adjust and optimize the control strategy through machine learning algorithms to improve treatment efficiency and patient satisfaction, and achieve continuous optimization and improvement of the treatment process; Safety monitoring and fault handling function: The module has a built-in comprehensive safety monitoring mechanism, which can monitor the operating status of the robotic arm and laser treatment handle in real time, as well as abnormal situations that may occur during the treatment process. Once a potential safety hazard or fault is found, the alarm mechanism can be immediately triggered and corresponding intervention measures can be taken, such as suspending treatment, adjusting parameters or emergency shutdown, etc., to ensure the safety of the treatment process and protect patients and equipment from damage; The robot and manual joint control module: The module combines the advantages of manual control and autonomous control and has the following functions to allow the operator to intervene and adjust the autonomous control process when necessary to ensure the accuracy and safety of treatment: Dual-mode seamless switching: The module supports seamless switching between manual control and autonomous control modes. Operators can flexibly select and switch control modes according to treatment needs and real-time conditions, ensuring flexibility and adaptability of the treatment process; Manual intervention and adjustment: In autonomous control mode, the module allows the operator to manually intervene and adjust the movement trajectory, speed, positioning accuracy of the robotic arm and the laser emission parameters of the laser treatment handle when necessary to ensure the accuracy and safety of the treatment. This intervention and adjustment can be based on the operator's expertise, individual differences of patients, or real-time feedback during the treatment process; Intelligent decision-making assistance: In the manual control mode, the module can use the data collected and analyzed by the autonomous control module to provide intelligent decision-making assistance suggestions to the operator, helping the operator to more accurately determine the treatment strategy and adjust the parameters, thereby improving the pertinence and effectiveness of the treatment; Real-time monitoring and feedback: The module has real-time monitoring function, which can display the operation status of the robot arm and laser treatment handle, treatment progress, patient response and other information in real time, providing comprehensive treatment process monitoring for operators. At the same time, the module can also provide an instant feedback mechanism to help operators identify and deal with potential safety hazards or abnormal situations in a timely manner; Safety lock and protection: To ensure the safety of the treatment process, the module has safety lock and protection functions during manual intervention and adjustment. When the operator adjusts key parameters or performs high-risk operations, the module can automatically trigger the safety lock mechanism, requiring the operator to confirm twice or enter a safety password to prevent safety risks caused by misoperation.