Ultrafast laser-based skin surface tissue repairing method and system

Abstract

The invention discloses a skin surface tissue repairing method based on ultrafast laser, which comprises the following steps of: firstly, acquiring three-dimensional imaging data of a target skin area, determining a three-dimensional scanning path based on the three-dimensional imaging data, then moving an optical focusing module to an initial focusing position, starting a laser source to emit laser, and finally, carrying out surface tissue repairing on the target skin area. The optical focusing module is controlled to move along the three-dimensional moving track, meanwhile, the focal point of laser is controlled to scan in a designated area, ablation or cutting of target tissue is conducted, then the skin surface is repaired, and the purpose of beautifying is achieved. And through rapid micron-sized ablation and cutting, heat diffusion can be remarkably reduced, and the smoothness and recovery speed of the repaired skin are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of biomedical laser technology, in particular to a skin surface tissue repair method and system based on ultrafast laser. BACKGROUND

[0002] Skin scars, hyperplastic tissues or surface protrusions can affect the appearance and function of the skin. In the existing laser grinding or cutting methods for skin scars, hyperplastic tissues and other tissues, continuous wave or long pulse laser is often used, which has a large thermal influence zone, a long recovery period, and lacks precise control of micro-tissues. Femtosecond / picosecond ultrafast laser has ultra-short pulse and high peak power, which can realize micron-level tissue ablation through nonlinear multi-photon absorption and optical breakdown mechanism, but the existing system is limited to single-point treatment or small area, which is difficult to meet the needs of large-scale, uniform and efficient scar repair. SUMMARY

[0003] In order to remove scars, grind and cut excessive tissues on the skin surface, and achieve minimally invasive, precise and rapid skin smoothing and detailed repair, the present application provides a skin surface tissue repair method based on ultrafast laser, comprising:

[0004] acquiring three-dimensional imaging data of a target skin area;

[0005] determining a three-dimensional scanning path based on the three-dimensional imaging data;

[0006] moving an optical focusing module to an initial focusing position; and

[0007] starting a laser source to emit laser, controlling the optical focusing module to move along the three-dimensional movement trajectory, and controlling the focal point of the laser to scan within a specified area to ablate or cut the target tissue.

[0008] Further, the repair method further comprises:

[0009] acquiring movement data of the target skin area; and

[0010] controlling the movement speed and scanning speed of the optical focusing module based on the movement data to compensate for skin micro-movement.

[0011] Further, the repair method further comprises:

[0012] determining the distance between the optical focusing module and the target skin area, and controlling the movement speed of the optical focusing module based on the distance.

[0013] Further, the repair method further comprises:

[0014] determining a temperature rise of the target skin area, and performing cooling or turning off the laser source when the temperature rise exceeds a preset value.

[0015] Further, the preset value is 6 degrees Celsius.

[0016] Further, the optical focusing module is moved to an initial focusing position and moved along a three-dimensional movement trajectory by a first scanning module, wherein the first scanning module comprises a multi-degree-of-freedom mechanical arm, or a gantry, or a three-axis platform, or a multi-dimensional platform.

[0017] Further, the optical focusing module comprises an adjustable lens and / or a field lens and / or an objective lens assembly, and is configured to focus the laser to a specified position to form a focal spot, wherein the diameter of the focal spot is 0.5 microns to 3 millimeters.

[0018] Further, the laser has a central wavelength of 300 nanometers to 35,000 nanometers and a pulse width of 1 femtosecond to 200 picoseconds, and the laser includes a single pulse or a pulse train, wherein each pulse train includes 2 to 2000 sub-pulses, and the interval between adjacent sub-pulses is 0.1 nanoseconds to 200 nanoseconds.

[0019] Further, the laser is transmitted to the optical focusing module by a light guide module or a free space optical path.

[0020] Further, the focal point of the laser is scanned in a specified area by a second scanning module, wherein the second scanning module comprises a pair of high-speed mirror assemblies.

[0021] Further, the focal point of the laser is scanned in a specified area in a grid or dot array manner.

[0022] Further, the repair method further comprises, after the scanning is completed, performing non-invasive imaging evaluation on the target skin area to verify the repair effect.

[0023] Based on the repair method as described above, the second aspect of the present application provides a skin surface tissue repair system based on ultrafast laser, comprising:

[0024] a laser source;

[0025] a first scanning module for moving an optical focusing module to a specified position;

[0026] an optical focusing module arranged at the end of the first scanning module and used for focusing the laser to a specified position;

[0027] a second scanning module arranged at the end of the first scanning module and used for controlling the focal point of the laser to scan in a specified area; and

[0028] a control module communicatively connected with the laser source, the first scanning module and the second scanning module, and configured to control the laser source, the first scanning module and the second scanning module.

[0029] Further, the first scanning module comprises a multi-degree-of-freedom mechanical arm, or a gantry, or a three-axis platform, or a multi-dimensional platform.

[0030] Further, the second scanning module comprises a galvanometer assembly, which comprises an X-Y two-axis fast mirror assembly.

[0031] Further, the repair system further comprises:

[0032] a motion detection module communicatively connected with the control module, and configured to acquire motion data of a target skin area, and the control module is configured to control the first scanning module and the second scanning module based on the motion data to compensate for skin micro-motion.

[0033] Further, the repair system further comprises:

[0034] a light guide module arranged between the laser source and the optical focusing module along an optical path, and configured to guide laser light to the optical focusing module, wherein the light guide module comprises a light guide arm, or a hollow optical fiber, or a crystal optical fiber, or a conventional optical fiber.

[0035] Further, the repair system further comprises:

[0036] a state monitoring module communicatively connected with the control module, and configured to detect skin temperature rise and distance between the optical focusing module and the skin, and the control module is configured to control the laser source, the first scanning module and the second scanning module based on the skin temperature rise and / or the distance between the optical focusing module and the skin.

[0037] The present application provides a skin surface tissue repair method and system based on ultrafast laser, which realizes rapid micron-level ablation and cutting of skin surface scars and redundant tissues through multiple scanning positioning and synchronous control, can significantly reduce heat diffusion, and can improve the smoothness and recovery speed of the skin. It should be pointed out that the present application does not involve the diagnosis and treatment method of disease, but only provides information related to medical treatment, and the method is applied to beauty, not to the diagnosis and treatment of disease, and the corresponding diagnosis and treatment should be provided by the hospital / doctor to the user. BRIEF DESCRIPTION OF DRAWINGS

[0038] To further clarify the above and other advantages and features of the present embodiments, a more particular description of embodiments of the application will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. It is appreciated that these drawings depict only typical embodiments of the application and are therefore not to be considered limiting of its scope. The same or corresponding elements in the drawings are denoted by the same or similar reference signs.

[0039] Figure 1 a flow chart of a method for repairing skin surface tissue based on ultrafast laser according to an embodiment of the present application;

[0040] Figure 2 a structural schematic diagram of a system for repairing skin surface tissue based on ultrafast laser according to an embodiment of the present application;

[0041] Figure 3 a structural schematic diagram of a system for repairing skin surface tissue based on ultrafast laser according to another embodiment of the present application; and

[0042] Figure 4a a structural schematic diagram of a system for repairing skin surface tissue based on ultrafast laser according to another embodiment of the present application; and 4b a structural schematic diagram of a system for repairing skin surface tissue based on ultrafast laser according to another embodiment of the present application; and DETAILED DESCRIPTION

[0043] In the following description, reference is made to specific embodiments of the application. Those skilled in the art will recognize that the application can be practiced with

[0044] In this specification, reference can be made to "one embodiment" or "the embodiment", which means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application. The appearances of the phrases "in one embodiment" or "in the embodiment" in various places in the specification are not necessarily all referring to the same embodiment.

[0045] It should be noted that the embodiments of the present application are described in a particular order of method steps, however this is only for the purpose of illustrating the specific embodiment, and does not limit the order of the steps. Instead, the order of the steps can be adjusted according to the actual needs of adjustment in different embodiments of the present application.

[0046] The application adopts ultrafast laser, combines corresponding optical focusing lens, scanning positioning module and synchronous control module to quickly ablate and cut the scar and redundant tissue on the skin surface in micrometer level, so as to reduce heat diffusion, reduce trauma and improve the smoothness of the skin after treatment, and realize minimally invasive, accurate and rapid skin smoothing and meticulous repair.

[0047] The technical solutions of the application will be further described below in combination with the embodiment drawings.

[0048] Figure 1 A flowchart of a skin surface tissue repair method based on an ultrafast laser is shown in an embodiment of the application. Figure 1 As shown in the figure, a skin surface tissue repair method based on an ultrafast laser comprises the following steps:

[0049] Firstly, in step 101, three-dimensional imaging data of the target skin area is acquired. Before operation, lesion identification is needed, and the pre-imaging scanning of the tissue to be eliminated, such as scar, and the surrounding tissue is performed to establish a three-dimensional model. In an embodiment of the application, the target tissue is pre-imaged and scanned by a laser radar, a structure camera, a binocular camera, optical coherence tomography (OCT), ultrasonic 3D phased array and other detection modules;

[0050] Next, in step 102, the three-dimensional scanning path is determined. The three-dimensional scanning path of the optical focusing module is determined based on the three-dimensional model to realize large-range pre-set grid scanning. In an embodiment of the application, the scanning parameters can also be determined according to the three-dimensional model of the tissue to be eliminated, such as the depth and area of the scar, wherein the scanning parameters include focal depth, energy density, scanning density and the like. In an embodiment of the application, the optimal laser energy threshold can also be determined by setting a lower energy pulse to perform exploratory cavitation in the target area.

[0051] Next, in step 103, the optical focusing module is moved. The optical focusing module is moved to the initial focusing position according to the three-dimensional scanning path. In an embodiment of the application, the optical focusing module is moved to the initial focusing position and moved along the three-dimensional scanning path by a first scanning module. In an embodiment of the application, the first scanning module may, for example, be a multi-degree-of-freedom mechanical arm, or a gantry, or a three-axis platform, or a multi-dimensional platform; and

[0052] Finally, in step 104, the skin is repaired. The laser source is activated to emit laser light, the optical focusing module is controlled to move along the three-dimensional scanning path, and the focus of the laser light is controlled to scan within the specified area, so as to ablate or cut the target tissue. In an embodiment of the present application, the laser source is in a pulse or pulse train mode, each train containing 2 to 2000 sub-pulses, and the interval between sub-pulses is 1 ns to 2000 ns, thereby reducing the single pulse energy threshold and increasing the cavitation voxel volume. In an embodiment of the present application, the laser light is ultrafast laser light, i.e., the central wavelength is 300 nm to 35000 nm to optimize the tissue penetration and absorption characteristics, and the pulse width is 1 femtosecond to 200 picoseconds. In an embodiment of the present application, the laser light is transmitted to the optical focusing module through a light guide module or a free space optical path. The optical focusing module is used to focus the laser light to a specified area in the tissue to form an energy peak area with a diameter of 0.5 pm to 3 mm. In an embodiment of the present application, the focus of the laser light is controlled to scan within the specified area by a second scanning module, wherein the second scanning module includes one or more pairs of high-speed mirror assemblies. In an embodiment of the present application, the second scanning module performs micro-ablation or cutting in a staggered dot array or spiral scanning mode. In an embodiment of the present application, the first scanning module and the second scanning module are synchronously controlled to ensure coverage of the target skin area.

[0053] In an embodiment of the present application, the skin can be processed in multiple layers and multiple passes as needed, i.e., after completing a repair, the focus depth is adjusted by the optical focusing module, and the three-dimensional scanning path is scanned again or a new three-dimensional scanning path is determined and scanned again, thereby achieving precise trimming of the tissue from the superficial to the deep.

[0054] In order to improve the operation precision, in an embodiment of the present application, the motion data of the skin surface can also be detected during the ablation or cutting of the target tissue, and a compensation signal can be generated according to the motion data and fed back to the first scanning module and the second scanning module to compensate for the micro-motion of the skin. In an embodiment of the present application, the motion of the skin surface is predicted by a deep learning model. In another embodiment of the present application, the motion of the skin surface is monitored in real time by a motion detection module, such as a laser radar, a structured light camera, a binocular camera, an optical coherence tomography (OCT), an ultrasonic 3D phased array, etc. In an embodiment of the present application, the motion of the skin surface is predicted according to historical experience data.

[0055] In an embodiment of the present application, in order to verify the repair effect, the flatness data of the skin surface can also be obtained by a sensor, and then the scanning strategy can be dynamically adjusted, including but not limited to adjusting the three-dimensional scanning path, and / or the focus depth, and / or the energy density, and / or the scanning density, etc.

[0056] In order to avoid damaging normal skin, in one embodiment of the present application, the distance between the optical focusing module and the target skin area is determined in real time, and the moving speed of the optical focusing module is controlled based on the distance, specifically, the speed is automatically reduced when approaching the preset distance from the skin and a minimum safety distance is maintained. In another embodiment of the present application, the temperature rise of the target skin area is determined, and when the temperature rise exceeds a preset value, cooling or laser source shutdown is performed. In one embodiment of the present application, cooling or shutdown is automatically triggered when the temperature rise exceeds 6°C.

[0057] Based on the repair method as described above, the present application further provides an ultrafast laser-based skin surface tissue repair system, which comprises a laser source, a first scanning module, an optical focusing module, a second scanning module, and a control module. The first scanning module is used to move the optical focusing module to a specified position, the optical focusing module is arranged at the end of the first scanning module and is used to focus laser to a specified position, the second scanning module is arranged at the end of the first scanning module and is used to control the focus of laser to scan in a specified area, and the control module is communicatively connected with the laser source, the first scanning module, and the second scanning module and is used to control the laser source, the first scanning module, and the second scanning module.

[0058] In one embodiment of the present application, the optical focusing module comprises a single lens, a plurality of lens assemblies, or other optical focusing systems, which focus laser pulses on the skin surface to form an energy peak area with a diameter of 0.5 μm to 3 mm.

[0059] In one embodiment of the present application, the second scanning module comprises a galvanometer assembly, which comprises one or more pairs of high-speed mirror assemblies, such as X, Y dual-axis fast mirror assemblies, etc., for high-frequency micro-scan of the focal spot in a two-dimensional plane after positioning by the first scanning module.

[0060] In one embodiment of the present application, the control module is used to issue laser emission, focusing position, and scanning path, parameter control instructions to coordinate the first scanning module and the second scanning module to cooperatively cover the target skin area.

[0061] As described above, before the target tissue is eliminated, three-dimensional imaging data of the target tissue, such as scars, hyperplastic tissue, etc., need to be obtained. Based on this, in one embodiment of the present application, the repair system further comprises a three-dimensional imaging module for obtaining three-dimensional imaging data of the target tissue. In one embodiment of the present application, the three-dimensional imaging module comprises a laser radar, and / or a structured camera, and / or a binocular camera, and / or an optical coherence tomography, and / or an ultrasonic 3D phased array, etc. optical and / or ultrasonic devices.

[0062] In an embodiment of the present application, the repair system further comprises a state monitoring module, which comprises a distance sensor for detecting the distance between the optical focusing module and the skin, and a temperature sensor for detecting the temperature rise of the skin, and sends the detection results to the control module, which then adjusts the moving speed of the optical focusing module, the opening and closing of the laser source, etc.

[0063] In an embodiment of the present application, in order to compensate for skin micro-motion, the repair system further comprises a motion detection module, which can extract the motion data of the target skin area during the operation process by using 3D ultrasound or real-time flat panel imaging, etc., and provides the motion data to the control module, which then generates a joint compensation trajectory of the first scanning module and the second scanning module based on the displacement information obtained from the motion data, to compensate for the skin micro-motion.

[0064] As mentioned above, in an embodiment of the present application, the laser is transmitted to the optical focusing module through a light guide module or a free-space optical path. Based on this, in an embodiment of the present application, the repair system further comprises a light guide module, which is arranged between the laser source and the optical focusing module along the optical path, and is used to guide the laser to the optical focusing module. In an embodiment of the present application, the light guide module comprises a light guide arm, or a hollow optical fiber, or a crystal optical fiber, or a conventional optical fiber.

[0065] In an embodiment of the present application, the first scanning module comprises a multi-degree-of-freedom mechanical arm. Figure 2 A repair system for skin surface tissue based on ultrafast laser is shown, which uses a multi-degree-of-freedom mechanical arm as the first scanning module, as shown in Figure 2 As shown, the system comprises a multi-degree-of-freedom mechanical arm 201, an optical focusing module 202, a galvanometer assembly 203, a light guide arm 204, and a laser source 205. The galvanometer assembly 203 is arranged at a position earlier in the optical path, and the optical focusing module 202 is arranged after the galvanometer assembly 203. The galvanometer assembly 203 serves as the second scanning module, for example, comprising a mirror assembly and a one-dimensional or multi-dimensional micro-motion platform, and can be used for fast micro-motion scanning within a specified range. The galvanometer assembly 203 and the optical focusing module 202 are arranged at the first end of the light guide arm 204, and the position and angle of the optical focusing module 202 can be adjusted by the multi-degree-of-freedom mechanical arm 201. The laser source 205 is arranged at the second end of the light guide arm 204 opposite the first end, and the laser emitted by the laser source 205 reaches the optical focusing module 202 via the light guide arm 204, and is then focused to a specified position by the optical focusing module 202.

[0066] In one embodiment of the present application, the first scanning module comprises a gantry, or a three-axis platform, or a multi-dimensional platform, or other large-range movement control device. Figure 3 A skin surface tissue repair system based on ultrafast laser is shown, which employs a multi-dimensional platform as the first scanning module, as shown in Figure 3 As shown, the multi-dimensional movement platform comprises a base 301, a rotating base 302, a rotating platform 303, a first direction (Z-axis) movement assembly 304, a second direction (X-axis) movement assembly 305, and a third direction (Y-axis) movement assembly 306. The base 301 is fixed on a table top or the ground, the rotating base 302 is arranged above the base 301, the rotating base 302 comprises a curved groove, the rotating platform 303 comprises a first part 331 and a second part 332, wherein the first part 331 is connected to the curved groove of the rotating base 302 and can rotate along the groove around the second direction (X-axis) and the third direction (Y-axis), and the second part 332 is arranged above the first part 331 and can rotate around the central axis (Z-axis) relative to the first part 331. The first direction movement assembly 304 comprises a first track 341 and a first slider 342, one end of the first track 341 is fixed on the rotating platform 303, and the first track 341 is parallel to the central axis of the rotating platform 303, the first slider 342 is installed on the first track 341 and can slide along the first track 341. The second direction movement assembly 305 is connected to the first slider 342 and comprises a second track 351 and a second slider 352, one end of the second track 351 is fixed on the first slider 342, and the second track 351 is perpendicular to the first track 341, the second slider 352 is installed on the second track 351 and can slide along the second track 351. The third direction movement assembly 305 is connected to the second slider 352 and comprises a third track and a third slider 362, one end of the third track is fixed on the second slider 352, and the third track is perpendicular to the first track 341 and the second track 351, the third slider 362 is installed on the third track and can slide along the third track. The galvanometer assembly 307 and the optical focusing module 308 are connected to the third slider 362, so as to be able to translate along the X, Y, and Z axes and rotate around the X, Y, and Z axes under the driving of the third slider 362. The galvanometer assembly 307 serves as the second scanning module, for example, comprising a mirror assembly and a one-dimensional or multi-dimensional micro-motion platform, which can be used for rapid micro-motion scanning within a specified range. The laser is transmitted to the galvanometer assembly 307 and the optical focusing module 308 through a light guide module such as a light injection guide arm 309.

[0067] Figure 4a and 4bFig. 1 shows a front view and a top view of a system for reducing subcutaneous fat based on ultrafast laser with a gantry as the first scanning module. As shown in the figure, the gantry comprises a first moving track 401, a second moving track 402, and a third moving track 403. The first moving track 401 comprises two parallel tracks fixed on the ground, and a first support 404 is arranged on each track. The first support 404 is perpendicular to the first moving track 401 and can move along the first moving track 401 in a first direction. The second moving track 402 is fixed on the top of the two first supports 404, and can move along the first moving track 401 in the first direction following the first supports 404. The third moving track 403 is movably connected to the second moving track 402 through a second support 405, and can move along the second moving track 402 in a second direction under the drive of the second support 405. The second direction is perpendicular to the first direction. A second scanning module 406 is movably connected to the third moving track 403, and can move along the third moving track 403 in a third direction. The third direction is perpendicular to the first direction and the second direction. An optical focusing module 407 is connected to the end of the second scanning module 406, so that the second scanning module 406 can drive the optical focusing module 407 to move in three dimensions, and the optical focusing module 407 can realize micro scanning through its own structure.

[0068] It should be understood that in some other embodiments of the present application, the system can also adopt other structures. For example, when a multi-degree-of-freedom mechanical arm is used as the first scanning module, a hollow optical fiber, a crystal optical fiber, or a conventional optical fiber can be used as the light guide module, or the laser can be directly transmitted to the optical focusing module through a free space optical path. In different embodiments, the structures of the second scanning module and the optical focusing module can also be different.

[0069] Although the above describes various embodiments of the present application, it should be understood that they are presented only as examples, and not as limitations. It is obvious to those skilled in the relevant art that various combinations, modifications, and changes can be made without departing from the spirit and scope of the present application. Therefore, the breadth and scope of the present application disclosed herein should not be limited by the above disclosed exemplary embodiments, but should only be defined according to the appended claims and their equivalent replacements.

Claims

1. A method of repair of skin surface tissue based on ultrafast laser, characterized in that, The method comprises: acquiring three-dimensional imaging data of a target skin area; determining a three-dimensional scanning path based on the three-dimensional imaging data; moving an optical focusing module to an initial focusing position; and starting a laser source to emit laser, controlling the optical focusing module to move along the three-dimensional scanning path, and controlling the focal point of the laser to scan within a specified area to ablate or cut the target tissue. The method further comprises:

2. The repair method of claim 1, wherein, acquiring motion data of the target skin area; and controlling the moving speed and scanning speed of the optical focusing module based on the motion data to compensate for skin micro-motion. The method further comprises: determining the distance between the optical focusing module and the target skin area, and controlling the moving speed of the optical focusing module based on the distance.

3. The repair method of claim 1, wherein, The method further comprises: determining the temperature rise of the target skin area, and cooling or shutting down the laser source when the temperature rise exceeds a preset value.

4. The repair method of claim 1 wherein, The preset value is 6 degrees Celsius. The optical focusing module is moved to the initial focusing position and moves along the three-dimensional scanning path by a first scanning module, wherein the first scanning module comprises a multi-degree-of-freedom mechanical arm, or a gantry, or a three-axis platform, or a multi-dimensional platform.

5. The repair method of claim 4, wherein, The optical focusing module comprises an adjustable lens and / or a field lens and / or an objective lens assembly, and is configured to focus the laser to a specified position to form a focal spot, wherein the diameter of the focal spot is 0.5 microns to 3 millimeters.

6. The repair method of claim 1 wherein, The laser has a central wavelength of 300 nanometers to 35,000 nanometers, a pulse width of 1 femtosecond to 200 picoseconds, and comprises a single pulse or a pulse train, wherein each pulse train comprises 2 to 2000 sub-pulses, and the interval between adjacent sub-pulses is 0.1 nanoseconds to 200 nanoseconds.

7. The repair method of claim 1 wherein, The laser is transmitted to the optical focusing module by a light guide module or a free space optical path.

8. The repair method of claim 1 wherein, The focal point of the laser is controlled to scan within a specified area by a second scanning module, wherein the second scanning module comprises a pair of high-speed mirror assemblies.

9. The repair method of claim 1 wherein, The focal point of the laser is scanned in a two-dimensional grid or dot array manner within a specified area.

10. The repair method of claim 1 wherein, After scanning is completed, the target skin area is subjected to non-invasive imaging evaluation to verify the repair effect.

11. The repair method of claim 1 wherein, The method comprises:

12. The repair method of claim 1 wherein, a laser source; 13. A system for repair of skin surface tissue based on ultrafast laser, characterized in that, a first scanning module configured to move an optical focusing module to a specified position; an optical focusing module arranged at the end of the first scanning module and configured to focus a laser to a specified position; a second scanning module arranged at the end of the first scanning module and configured to control the focal point of the laser to scan within a specified area; and a control module communicatively connected with the laser source, the first scanning module, and the second scanning module, and configured to control the laser source, the first scanning module, and the second scanning module. The first scanning module comprises a multi-degree-of-freedom mechanical arm, or a gantry, or a three-axis platform, or a multi-dimensional platform. The second scanning module comprises a galvanometer assembly, and the galvanometer assembly comprises an X-Y two-axis fast mirror assembly. The method further comprises:

14. The repair system of claim 13, wherein, ​ 15. The repair system of claim 13, wherein, ​ 16. The repair system of claim 13, wherein, ​ a motion detection module communicatively connected with the control module and configured to acquire motion data of a target skin area, the control module being configured to control the first scanning module and the second scanning module based on the motion data to compensate for skin micro-motion.

17. The repair system of claim 13, wherein, Also included are: a light guiding module disposed between the laser source and the optical focusing module along a light path and configured to guide laser light to the optical focusing module, wherein the light guiding module comprises a light guiding arm, or a hollow optical fiber, or a crystal optical fiber, or a conventional optical fiber.

18. The repair system of claim 17, wherein, Also included are: a state monitoring module communicatively connected with the control module and configured to detect a skin temperature rise and a distance between the optical focusing module and the skin, the control module being configured to control the laser source, the first scanning module and the second scanning module based on the skin temperature rise and / or the distance between the optical focusing module and the skin.

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