Apparatus for controlling a treatment device and a system including a treatment device

Abstract

The present invention relates to an apparatus, system and method for use with a treatment device configured to perform a treatment operation on a body part of a subject. The apparatus 40 comprises a processing unit 46 configured to estimate a position of a current treatment area corresponding to an area of ​​skin to which a light pulse is applied when the treatment device is in a current treatment position, determine a distance in a direction of movement of the treatment device from a previous treatment area corresponding to an area of ​​skin to which a previous light pulse was applied when the treatment device was in a previous treatment position to the current treatment area, determine whether the distance is zero or an integer multiple of a width of the treatment area in the direction of movement of the treatment device, and if the distance is determined to be zero or an integer multiple of the width of the treatment area, generate a pulse control signal for controlling the treatment device to generate and apply a light pulse to the current treatment area of ​​skin.

Description

[Technical field]

[0001] The present invention relates to an apparatus configured to control a treatment device configured to perform a treatment operation on a body part of a subject, the invention further relates to a computer-implemented method of controlling such a treatment device, and to a system including such an apparatus and such a treatment device. [Background technology]

[0002] Techniques for the removal of unwanted hair include shaving, electrolysis, plucking, laser and light therapy (known as photoepilation), and therapeutic antiandrogen injections. Light-based techniques are also used in other types of dermatological treatments, including hair growth retardation and acne treatments.

[0003] By using the appropriate configuration of light energy, i.e., in terms of wavelength, intensity, and / or pulse duration (if the light is pulsed), selective heating of the hair root and subsequent temporary or permanent damage to the hair follicle can be achieved. Home photoepilation devices, such as the Philips Lumea device, use intense pulsed light (IPL) from a high-intensity light source, such as a xenon flash lamp, which produces high-power bursts of broad-spectrum light.

[0004] Photoepilation treatment is characterized in that the user of the photoepilation device treats a relatively small area of ​​skin for hair removal. Photoepilation treatment uses intense light to heat the melamine in the hair and hair root, which causes the hair follicle to enter a resting phase and prevents hair regrowth. For effective use of this technology for hair removal, the user needs to treat the skin completely without leaving any gaps. Since the effect is only for a limited period of time, the treatment needs to be repeated regularly, usually after an initial period of about two months during which the treatment is performed every two weeks, followed by a maintenance phase every four to eight weeks.

[0005] Photoepilation is currently performed by the user in a careful "step and flash" mode or an automated "slide and flash" mode. The "step and flash" mode of skin treatment requires the user to carefully place the device on the next treatment spot to avoid missing the spot. The user is not given feedback on the placement of the device after the previously treated area. The placement of the device on the next spot requires concentration and very precise manual adjustments. These actions can be a fairly slow process, as the user perceives a sensation of pain when anticipating the arrival of the pulse, which can lead to reduced efficiency and / or discomfort. Furthermore, the step and flash are uncomfortable for the user, as they need to keep their eye on the treatment. On the other hand, the "slide and flash" mode has the advantage of automatically flashing for a fixed time (2-3.5 seconds). However, it places a burden on the user to move the device in a controlled manner, not too slow so that the device over-treats the area, and not too fast so that the spot is missed, and this speed must be maintained throughout the treatment.

[0006] WO2021 / 130052(A1) discloses an apparatus for use with a treatment device to provide a user with feedback regarding a treatment operation performed on a subject's body part. The treatment device is configured to apply light pulses to the skin of the body part to perform the treatment operation, the light pulses applied to the skin treating an area of ​​the skin. The apparatus includes a processor, the processor configured to receive a first measurement signal from a first sensor, the first measurement signal including information regarding the position and / or movement of the treatment device over time. For a light pulse previously applied by the treatment device to the body part during the treatment operation, the first measurement signal is processed to estimate a previous treatment position as the position of the treatment device relative to the body part when the light pulse was generated. For a previously applied light pulse, based on the estimated previous treatment position, a previous treatment area for the light pulse is estimated corresponding to an area of ​​the skin of the body part to which the light pulse was applied when the treatment device was present at the previous treatment position. The first measurement signal is processed to estimate a current position of the treatment device relative to the body part. A current treatment area is estimated corresponding to an area of ​​the skin to which the treatment device will apply light pulses when in the current position based on the estimated current position of the treatment device. A feedback control signal for a feedback unit is generated, the feedback control signal being configured to cause the feedback unit to generate feedback indicating whether the current treatment area corresponds or approximately corresponds to a previous treatment area. Summary of the Invention [Problem to be solved by the invention]

[0007] The object of the present invention is to overcome the drawbacks of different operating modes of the treatment device, in particular to adapt the operation of the treatment device to different movement speeds of the treatment device on the skin while achieving optimal coverage of the treatment (i.e. avoiding over-treatment and avoiding missing areas). [Means for solving the problem]

[0008] In a first aspect of the present invention, an apparatus is presented, configured to control a treatment device, the treatment device is configured to perform a treatment operation on a body part of a subject, the treatment device is configured to apply light pulses to skin of the body part to perform the treatment operation, the light pulses applied to the skin treat a treatment area of ​​the skin, the treatment area having a known or estimated width in a direction of movement of the treatment device. The apparatus comprises a processor, the processor comprising: - estimating a location of a current treatment area corresponding to an area of ​​the skin to which light pulses are applied when the treatment device is in the current treatment position; - determining a distance in the direction of movement of the treatment device from a previous treatment area, which corresponds to an area of ​​the skin to which a previous light pulse was applied when the treatment device was in a previous treatment position, to a current treatment area; - determining whether the distance is zero or an integer multiple of the width of the treatment area; - if the distance is determined to be zero or an integer multiple of the width of the treatment area, generate a pulse control signal to control the treatment device to generate and apply a light pulse to the current treatment area of ​​the skin. It is configured as follows.

[0009] In a second aspect of the present invention, another apparatus configured to control a treatment device is presented. The treatment device is configured to perform a treatment operation on a body part of a subject, the treatment device is configured to apply light pulses to a skin of the body part to perform the treatment operation, the light pulses applied to the skin treat a treatment area of ​​the skin, the treatment area having a known or estimated width in a direction of movement of the treatment device. The apparatus comprises a processor, the processor comprising: - setting an integer multiple of the width of the treatment area based on a preset speed of the treatment device; - determining the distance traveled by the treatment device in the direction of movement of the treatment device; - generating a pulse control signal for controlling the treatment device to generate and apply a light pulse when the determined distance corresponds to a set integer multiple of a width of the treatment area. It is configured as follows.

[0010] In a further aspect of the invention, a treatment device comprising one or more light sources for generating light pulses for application to the skin of the body to perform a treatment operation; a sensor for outputting a first measurement signal containing information regarding the position and / or movement of the treatment device over time; The device disclosed herein A system is presented that includes:

[0011] In further aspects of the invention there is provided a corresponding method, a computer program comprising program code means for causing a computer to perform the steps of the methods disclosed herein, when the computer program is run on a computer, and a non-transitory computer readable recording medium storing a computer program product which, when run by a processor, causes a computer to perform the methods disclosed herein.

[0012] Preferred embodiments of the invention are defined in the dependent claims. It is to be understood that the claimed methods, systems, computer programs and media have similar and / or identical preferred embodiments to the claimed devices, in particular those defined in the dependent claims and disclosed herein.

[0013] When using the device in step and flash mode, it is difficult to apply the proper speed. If the movement is too slow, the treatment may take too long and overlap. If the movement is too fast, the area of ​​the skin that is not to be treated may be missed. Furthermore, the step and flash mode requires the user to focus on placing the device right next to the treatment area, which takes too much time and causes discomfort to the user. To address such issues, the present invention allows the treatment device to be moved (i.e., glided) at a variable speed like a shaving action (i.e., without the need for a fixed speed or fixed distance of movement in step and flash mode) to treat the skin without missing or over-treating the spot. This helps the user to perform the treatment more easily and comfortably. Furthermore, the user only needs to focus on moving the treatment device and does not need to worry about the next pulse firing (also referred to herein as a flash) to treat the skin. The gliding movement is easier for the user, but also reduces the perceived pain sensation because less focus is required on the flash. Overall, the present invention allows optimal treatment and gives the user the flexibility to use the treatment device at any desired speed.

[0014] According to the present invention, to avoid missed spots and over-treatment in a treatment strip (including multiple treatment areas), treatment areas can be tracked and flushing can be automated. Furthermore, by flushing only when necessary (i.e., by flushing in a deterministic manner), the overall power consumption of the device can be improved. Thus, large areas (such as legs, back, chest) can be treated in an efficient manner by treating one or more treatment strips in a manner that avoids missed spots, and by placing these strips next to each other, as provided as an option in one embodiment.

[0015] According to a first aspect of the invention, this approach is realized by controlling the flashing so that the size of the gap between treated treatment areas, i.e. the distance from the previous treatment area to the current treatment area in the direction of movement of the treatment device, is either zero (no overlap between two adjacent treatment areas) or an integer multiple of the width of the treatment area. In other words, when to flash and when not to flash during the treatment movement of the treatment device on the skin is controlled. Thus, the untreated treatment areas that were not flashed in the first stroke (i.e. the movement of the treatment device in the first direction over a certain part of the skin covering several treatment areas) are then flashed over the same part of the skin in the second stroke (and optionally in further strokes), preferably in an alternating opposite direction. The width of the treatment area is (at least roughly) known or estimated due to the fixed size of the aperture for the emission light of the treatment device. Thus, even if the speed of movement changes during a stroke or from one stroke to another, it can be ensured that the desired portion of the skin is treated substantially uniformly, without (substantially or at all) overlap and without (substantially or at all) gaps between adjacent treatment areas.

[0016] According to the second aspect of the present invention, the desired effect is achieved by presetting an integer multiple of the width of the treatment area based on a pre-set speed of the treatment device (e.g., slow, medium, fast) and controlling the flushing based on the distance traveled by the treatment device during treatment, so that the flushing occurs when the determined distance corresponds to the set integer multiple of the width of the treatment area. As with the first aspect, when to flash and when not to flash is controlled, as explained above, so that the desired arrangement of treated and untreated treatment areas results. Thus, certain parts of the skin can be treated without over-treating or treating all of any spots.

[0017] According to one embodiment, the processor is configured to determine the integer multiple based on the initial movement speed of the treatment device, in particular the measured or preset movement speed of the treatment device, and the known or estimated width of the treatment area. The initial movement speed is selected by the user, for example from a menu of available speeds (slow, medium, fast, etc.) at which the user wants to move the treatment device on the skin. This speed can be used to initially determine the integer multiple of the width of the treatment area, and therefore to initially determine at which position the pulse should be emitted for treatment (if the treatment device moves according to the initial movement speed).

[0018] Furthermore, the processing unit is configured to determine the number of strokes required to treat the first portion of the skin. For example, when a high moving speed is used, the gap between the areas treated with the first stroke is larger because a sufficient time is required to supply power between two subsequent pulses. The photoepilation device is also characterized by having different treatment head attachments with various aperture sizes. The treatment head attachments can also be used to match a specific treatment area, such as the entire area of ​​the upper lip, legs, armpits, to determine the number of strokes and / or the size and / or number of gaps between the treatment areas treated with the first stroke. Thus, depending on the moving speed, it is pre-calculated how many strokes are required to completely cover a certain portion of the skin.

[0019] In another embodiment, the processor is further configured to adjust the integer multiple and / or the number of strokes upon determining that the current movement speed of the treatment device is different from the initial movement speed. It is therefore preferable to measure the movement speed and / or the distance traveled during a certain period of time and use this to recalculate the initially determined integer multiple and / or number of strokes to ensure that the desired area of ​​the skin is covered in the best manner and / or in the least amount of time.

[0020] The processor is further configured to determine whether the current treatment area overlaps with a previous treatment area, in particular by determining whether a light pulse has been previously applied to the current treatment area, and generate a pulse control signal if the distance is determined to be zero or an integer multiple of the width of the treatment area and it is determined that the current treatment area does not overlap with the previous treatment area. This additional check ensures that over-treatment of the skin area is avoided.

[0021] The processing unit is further configured to determine whether the treatment device is ready to apply a light pulse, in particular whether the light source of the treatment device has sufficient energy to apply a light pulse, and generate a pulse control signal if the distance is determined to be zero or an integer multiple of the width of the treatment area and the treatment device is determined to be ready to apply a light pulse. This additional check contributes to minimizing the time required to treat a certain portion of the skin.

[0022] In another embodiment, the processing unit is configured to generate a guidance signal to the feedback unit, which is configured to cause the feedback unit to generate guidance indicating in which direction and / or to which treatment area the treatment device should be moved, which helps the user to accurately and completely cover the desired part of the skin.

[0023] In this specification, the processing unit is - determining whether there are untreated treatment areas between the treated treatment areas after a first stroke of the treatment device over the first portion of the skin; - Generates guidance signals for the feedback section The guidance signal is provided to a feedback unit. - if there are untreated treatment areas between treated treatment areas on the first portion of the skin, in the second stroke the treatment device should be moved over the same first portion of the skin but in the opposite direction, or - if there are no untreated treatment areas between the treated treatment areas on the first portion of the skin, the treatment of the first portion of the skin is finished, and / or in the second stroke the treatment device should be moved over a second portion of the skin different from the first portion. The device is configured to generate guidance indicating the

[0024] The guidance signal is configured, for example, to cause the feedback unit to generate guidance indicating that if there are no untreated treatment areas between treated treatment areas on the first portion of the skin, the treatment device should be moved over a second portion of the skin parallel to and adjacent to the first portion of the skin in a second stroke. Thus, a large portion of the skin is treated in smaller portions that are placed adjacent to each other and treated in a manner similar to mowing a lawn, with each portion being treated by one or more strokes.

[0025] The processor is further configured to calculate a map indicating treated areas where a light pulse has been previously applied and untreated areas where a light pulse has not been previously applied, and generate a guidance signal to the feedback unit based on the calculated map. Optionally, the map is visualized to the user so that the user can see which areas still need to be treated.

[0026] A possible way of determining the location of the treatment area is provided in an embodiment in which the processing unit is configured as follows: receiving a first measurement signal from a sensor, the first measurement signal including information regarding a position and / or movement of a treatment device over time; processing the first measurement signal to estimate, for a light pulse previously applied by the treatment device to the body part during a treatment operation, a previous treatment position as the position of the treatment device relative to the body part when the light pulse was generated; estimating a location of a previous treatment area based on the estimated previous treatment location for a previously applied light pulse; processing the first measurement signal to estimate a current position (and / or orientation) of a treatment device relative to the body part; estimating a location of a current treatment area based on an estimated current position (and / or orientation) of the treatment device; The present invention is configured to perform the following steps.

[0027] The processing unit is further configured to determine a moving direction, a speed, and / or an orientation of the treatment device and generate a guidance signal for the feedback unit, which is configured to cause the feedback unit to generate guidance indicating in which direction and / or to which treatment area the treatment device should be moved and / or whether and how to change the moving speed of the treatment device, which assists the user in correctly moving the treatment device.

[0028] The processing unit is optionally configured to generate a guidance signal for controlling the feedback unit to generate visual and / or audio guidance, in particular in the form of audio instructions and / or a graphical representation of instructions, calculated maps, previous and current treatment areas, and / or guidance in the form of patterns or lines. For example, visual guidance (lines, arrows, text, etc.) is displayed on the skin. In one example, a line is displayed along which the treatment device should move.

[0029] The guidance signal is, for example, a display control signal. Various implementations of the feedback unit are possible. For example, the feedback unit is a display screen and the display control signal includes a plurality of images or a video sequence of the body part with a graphical representation superimposed thereon, or the feedback unit is a projector and the display control signal is configured to cause the projector to project the graphical representation onto the subject's body part, or the feedback unit is configured to display the graphical representation as part of an augmented reality display of the body part.

[0030] In the device of the second aspect, the processor is configured to set the number of strokes required to treat the first portion of the skin based on a set integer multiple of the width of the treatment area. Thus, how many strokes are required is calculated in advance. This number is communicated to the user in advance or during processing.

[0031] Furthermore, in the apparatus of the second aspect, the processor is configured to recalculate the integral multiple of the width of the treatment area and / or the number of strokes when the moving speed of the treatment device changes or differs from the preset speed, thus achieving the purpose of avoiding overtreatment and avoiding missed spots even if the user changes the moving speed during treatment.

[0032] These and other aspects of the invention are apparent from and will be elucidated with reference to the embodiments described hereinafter. [Brief description of the drawings]

[0033] [Figure 1] 1 is a diagram of an exemplary embodiment of a treatment device that can be used with the present invention. [Diagram 2] 1 is a schematic diagram of an exemplary embodiment of a system according to the present invention; [Diagram 3] FIG. 1 shows an infrared image of an arm to which many light pulses have been applied. [Figure 4] 1 is a schematic diagram of a typical treatment with a conventional treatment device. [Diagram 5] 2 is a flow chart of an exemplary embodiment of a method according to a first aspect of the present invention; [Figure 6] FIG. 2 is a schematic diagram illustrating the steps of the method of the present invention. [Figure 7] 7A-7D show different strokes for the strip filling concept shown in FIG. [Figure 8] FIG. 13 illustrates the filling of the strip when the user applies a slow movement speed during the procedure. [Figure 9] FIG. 13 illustrates the filling of the strip when the user applies a medium movement speed during the procedure. [Figure 10] FIG. 13 illustrates the filling of the strip when the user applies a fast movement speed during the procedure. [Figure 11] FIG. 13 illustrates the filling of the strip when the user applies variable movement speeds during the procedure. [Figure 12] 4 is a flow chart of an exemplary method according to the present invention for determining a current position of a treatment device. [Figure 13] FIG. 1 shows two images 66 of a body part 69 acquired by an imaging unit. [Figure 14] 4 is a flow chart of an exemplary embodiment of a method according to a second aspect of the present invention. [Figure 15] 1 is a schematic diagram of another embodiment of a treatment device according to the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0034] FIG. 1 is a diagram of an exemplary treatment device 2 that can be used to apply light pulses to an area of ​​skin. It will be understood that the treatment device 2 of FIG. 1 is presented merely as an example of a handheld treatment device 2 with which the present invention can be used, and the treatment device 2 is not limited to the form or handheld treatment device shown in FIG. 1. The treatment device 2 is for use on the body of a subject (e.g., a human or animal) and is held in one or both hands of a user during use. With the treatment device 2 in contact with or in close proximity to a body part of the subject, the treatment device 2 performs some treatment action on the subject's skin or body using one or more light pulses. The treatment action can be the removal of unwanted hair by laser and / or light therapy (known as photoepilation treatment or intense pulsed light (IPL) treatment). Alternatively, the treatment action may be laser and / or light treatment for reasons other than hair removal or growth prevention, such as dermatological (skin) treatment, acne treatment, light therapy treatment for other types of skin conditions, skin rejuvenation, skin tightening, or port wine stain treatment.

[0035] As described herein, the treatment device 2 is operated or used by a "user" and the treatment device 2 is used on the body of a "subject." In some cases, the user and the subject are the same person, i.e., the treatment device 2 is held by the user in the hand and used on the user himself (e.g., on the skin of his leg). In other cases, the user and the subject are different people, e.g., the treatment device 2 is held by the user in the hand and used on another person. In either case, changes in the skin are less or not at all perceptible to the user during or for a short period of time after application of the light pulse, making it difficult for the user to achieve complete coverage of the body part and / or to avoid over-treatment of certain areas of the body part.

[0036] The exemplary treatment device 2 comprises a housing 4 including at least a handle portion 5 and a head portion 6. The handle portion 5 has a shape that allows a user to hold the treatment device 2 in one hand. The head portion 6 resides at a head end 8 of the housing 4, and is positioned to contact a subject such that a treatment action is performed on the subject's body or skin at the location where the head portion 6 is in contact with the body or skin.

[0037] The treatment device 2 is for performing a treatment action using light pulses. Thus, in FIG. 1, the head portion 6 comprises an aperture 10 disposed in or on the housing 4, whereby the aperture 10 may be disposed adjacent to or on (i.e. in contact with) the skin of a subject. The treatment device 2 includes one or more light sources 12 for generating light pulses that are applied to the skin of the subject via the aperture 10 to achieve a treatment action. The one or more light sources 12 are disposed in the housing 4, whereby light pulses are provided from the one or more light sources 12 via the aperture 10. The aperture 10 has the shape of an opening at the head end 8 of the housing 4, or has the shape of a window (including a waveguide) that is transparent or semi-transparent for the light pulses (i.e. the light pulses can pass through the window).

[0038] In the exemplary embodiment shown in Figure 1, the aperture 10 has a generally rectangular shape, resulting in a generally rectangular skin treatment area on the skin. It will be understood that the aperture 10 may have any other desired shape. For example, the aperture 10 can be square, oval, circular, or any other polygonal shape.

[0039] 1, the treatment device 2 has one or more removable attachments for the head portion 6 of the treatment device 2, each of which includes an aperture 10. The attachments are used on different body parts and have different sized apertures 10. For example, one attachment may be usable for larger body parts such as the legs and therefore have a larger aperture 10, while another attachment may be usable for the skin / hair above the upper lip and therefore have a smaller aperture 10.

[0040] The one or more light sources 12 can generate light pulses at any suitable or desired wavelength (or range of wavelengths) and / or intensity. For example, the light sources 12 can generate visible light, infrared (IR) light, and / or ultraviolet (UV) light. Each light source 12 can comprise any suitable type of light source, such as one or more light emitting diodes (LEDs), (xenon) flash lamps, lasers, etc. The light sources 12 can provide light pulses having spectral content in the range of 560 to 1200 nanometers (nm) for a duration of approximately 2.5 milliseconds (ms), because these wavelengths heat the melamine in the hair and hair roots by absorption, transitioning the hair follicle into a resting phase and preventing hair regrowth.

[0041] The light source(s) 12 are configured to provide pulses of light, i.e., the light source 12 is configured to generate high intensity light for a short period of time (e.g., less than one second). The intensity of the light pulse should be high enough to achieve a treatment action on the skin or body area adjacent the aperture 10.

[0042] The illustrated treatment device 2 optionally includes two skin contact sensors 14, 16 located on or in the head 6 that are used to determine whether the head 6 is in contact with the skin. The skin contact sensors 14, 16 measure parameters indicative of whether the head 6 is in contact with the skin and generate respective measurement signals that include a time series of the parameter measurements. The measurement signals can be processed to determine whether the head 6 is in contact with the skin. Typically, skin contact sensors are used in treatment devices 2, particularly photoepilators, to ensure that the treatment device 2 is in proper contact with the skin before the light pulse is generated to avoid the light pulse being directed toward the user's or subject's eyes.

[0043] In some embodiments, the parameter may be capacitance, such that the skin contact sensors 14, 16 can measure capacitance via respective pairs of electrical contacts or electrodes on the surface of the head portion 6, with the measured capacitance indicating whether skin contact is present. In alternative embodiments, the parameter may be intensity or amount of light, such that the skin contact sensors 14, 16 can be light sensors that measure the intensity or amount of light incident on the light sensors, with the measured intensity or amount indicating whether skin contact is present (e.g., little light or no light may indicate skin contact when skin covers the light sensors 14, 16, or vice versa). In other alternative embodiments, the parameter may be a measurement of contact pressure, such that the skin contact sensors 14, 16 can measure contact pressure via respective pressure sensors or mechanical switches, with the measured contact pressure indicating whether skin contact is present.

[0044] The illustrated treatment device 2 includes an optional skin color sensor 18 located on or in the head 6 that can be used to determine the skin color of the skin that the head 6 is in contact with. The skin color sensor 18 can measure a parameter indicative of the skin color of the skin and generate a measurement signal that includes a time series of parameter measurements. The measurement signal can be processed to determine the skin color of the skin that the head 6 is in contact with. Typically, a skin color sensor is used in the treatment device 2, particularly a photoepilator, to ensure that the light pulse has an intensity appropriate for the type of skin being treated, or to prevent the generation of a light pulse when the skin type (e.g., dark skin with a high melanin content) is not suitable for the light pulse.

[0045] In some embodiments, the optional skin color sensor 18 can be an optical sensor, and the parameter measured by the optical sensor can be the intensity or amount of light at a particular wavelength or wavelengths reflected from the skin. The measured intensity or amount of reflected light at a particular wavelength can be indicative of skin color. The measured intensity or amount of reflected light can be based on the melanin concentration of the skin, whereby the measured intensity or amount can be indicative of melanin concentration. Melanin concentration can be derived, for example, from measurements of light reflection at 660 nm (red) and 880 nm (infrared) wavelengths.

[0046] The illustrated treatment device 2 further includes a user control 20 operable by a user to activate the treatment device 2, thereby causing the head portion 6 to perform a desired treatment action on the subject's body (e.g., generation of one or more light pulses by the one or more light sources 12). The user control 20 may be in the form of a switch, a button, a touch pad, or the like.

[0047] As mentioned above, one or more sensors may be used to provide information regarding the position (including orientation) and / or movement of the treatment device over time, from which appropriate feedback may be determined, and in some embodiments, one or more sensors may be part of or present in the treatment device 2. If the sensor is one or more motion sensors, such as an accelerometer, gyroscope, etc., the one or more motion sensors may be part of the treatment device 2, e.g., may be present inside the treatment device 2 (not shown as such in FIG. 1). In embodiments in which the one or more sensors include an imaging unit (e.g., a camera), the imaging unit is on or present in the treatment device 2. As shown in FIG. 1, the imaging unit 22 is disposed on the housing 4 of the treatment device 2, thereby enabling it to acquire images or video sequences of skin or a body part present in front of the treatment device 2. That is, the imaging unit 22 is disposed on the housing 4 of the treatment device 2, thereby acquiring images or video sequences from a direction generally parallel to the direction in which light pulses are emitted by the light source 12 through the aperture 10. In some implementations, the imaging unit 22 is positioned on the housing 4 such that the imaging unit 22 cannot see the portion of the skin in contact with the aperture 10 and head end 6 when the head end 6 is placed in contact with the subject such that a light pulse can be applied to a portion of the skin that is visible to the light source 12 through the aperture 10. In embodiments in which the imaging unit 22 is positioned on the housing 4 of the treatment device 2, the imaging unit 22 is positioned fixedly with respect to the rest of the treatment device 2.

[0048] A system according to the invention generally includes a treatment device as shown in FIG. 1, a first sensor for outputting a first measurement signal containing information about the position and / or movement of the treatment device over time, and an apparatus used together with the treatment device, in particular for controlling the treatment device, which will be described in more detail below.

[0049] 2 is a schematic diagram of an exemplary system 40 according to the present invention, including a treatment device 2 and an apparatus 42 for controlling the treatment device 2. The system 40 further includes one or more sensors 44 for providing measurement signals including information about the position and / or movement of the treatment device 2 over time. Furthermore, the system optionally includes a feedback unit 45 for providing feedback to the user and / or subject regarding the areas of the skin that have been treated with the light pulses and the areas of the skin that have not been treated. As mentioned above, in some embodiments the apparatus 42 can be a separate device from the treatment device 2, and thus the apparatus 42 has the form of an electronic device such as a smartphone, a smart watch, a tablet, a personal digital assistant (PDA), a laptop, a desktop computer, a remote server, a smart mirror, etc. In other embodiments the apparatus 42, and in particular the functionality according to the present invention provided by the apparatus 42, is part of the treatment device 2.

[0050] As mentioned above, the one or more sensors 44 may be one or more motion sensors 44, such as an accelerometer, a gyroscope, a barometric pressure sensor (which can be used to measure altitude changes), a magnetometer, etc., that measure movements of the treatment device 2 and output measurement signals representative of those movements. The one or more motion sensors 44 may be part of the treatment device 2 or may be present in the treatment device 2. In the case of the one or more motion sensors 44 comprising an accelerometer, the accelerometer 44 may generate a measurement signal including multiple acceleration measurement samples representative of the movement of the treatment device 2 at multiple times. The accelerometer 44 may be an accelerometer that measures acceleration in three dimensions, and the measurement signals generated by the accelerometer 44 may include respective measurement signals representative of acceleration in each of the three dimensions. For example, the accelerometer 44 may output respective measurement signals for each of the x-axis, y-axis, and z-axis of a Cartesian coordinate system.

[0051] The one or more sensors 44 may further include, or alternatively be, an imaging unit 44 (e.g., a camera or an event camera) that captures multiple images or video sequences. An event camera is an imaging sensor that independently indicates changes in brightness of each pixel of the sensor as they occur. The multiple images (including images formed from brightness indications from the event camera) or video sequences are output as measurement signals, and the measurement signals (images / video sequences) may be processed using imaging processing techniques to determine the movement of the treatment device 2. In some embodiments, the imaging unit 44 is attached to or part of the treatment device 2, in which case the images / video sequences can be processed to extract the movement of the treatment device 2 based on the movement of objects (e.g., body parts or skin) visible in the images / video sequences. In other embodiments, the imaging unit 44 may be separate from the treatment device 2, e.g., the imaging unit 4 of the device 44, or may be present in a separate device, such as a smartphone, a smart watch, a tablet, a personal digital assistant (PDA), a laptop, a desktop computer, a smart mirror, etc. In this case, the imaging unit 44 can observe both the treatment device 2 and the body part from a distance. The imaging unit 44 includes any suitable components for capturing an image, such as, for example, a charge-coupled device (CCD) and one or more lenses and / or mirrors. In some embodiments, the imaging unit 44 is a camera, such as a digital camera (e.g., a thermal camera, a RBG camera, or a monochrome camera) or an event camera. As mentioned above, in some embodiments, the one or more sensors 44 may comprise one or more motion sensors and an imaging unit.

[0052] The device 42 comprises a processing unit 46 that generally controls the operation of the device 42 to enable the device 42 to perform the methods and techniques described herein. The processing unit 44 is further configured to receive measurement signals from the sensors 44, process the measurement signals to determine feedback to be provided regarding the treatment operation, and provide feedback control signals to the feedback unit 45. The processing unit 46 can thereby be configured to receive measurement signals from one or more sensors 44, either directly in an embodiment in which the sensors 44 are part of the device 42, or via another component in an embodiment in which the sensors 44 are separate from the device 42. In either case, the processing unit 46 can include or comprise one or more input ports or wiring for receiving the measurement signals. The processing unit 46 can also further include or comprise one or more output ports or wiring for outputting the feedback control signals.

[0053] Processing unit 46 can be implemented in many ways by software and / or hardware to perform the various functions described herein. Processing unit 46 comprises one or more microprocessors or digital signal processors (DSPs) that are programmed using software or computer program code to perform the desired functions and / or to control the components of processing unit 46 to achieve the desired functions. Processing unit 46 is implemented as a combination of dedicated hardware (e.g., amplifiers, preamplifiers, analog-to-digital converters (ADCs) and / or digital-to-analog converters (DACs)) to perform some functions and processors (e.g., one or more programmed microprocessors, controllers, DSPs, and associated circuitry) to perform other functions. Examples of components used in various embodiments of the present disclosure include, but are not limited to, conventional microprocessors, DSPs, application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), hardware for implementing neural networks and / or so-called artificial intelligence (AI) hardware accelerators (i.e., processors or other hardware designed specifically for AI applications that can be used in conjunction with a main processor), and / or hardware designed specifically for simultaneous localization and mapping (SLAM) techniques.

[0054] The processing unit 46 optionally comprises or is associated with a memory unit 48. The memory unit 48 can store data, information, and / or signals (including images) used by the processing unit 46 in controlling the operation of the device 42 and / or in performing or executing the methods described herein. In some implementations, the memory unit 48 stores computer readable code executable by the processing unit 46 to cause the processing unit 46 to perform one or more functions, including the methods described herein. In certain embodiments, the program code can have the form of an application for a smartphone, tablet, laptop, computer, or server. The memory portion 48 may comprise any type of non-transitory machine-readable medium, such as cache or system memory, including volatile and non-volatile computer memory, such as random access memory (RAM), static RAM (SRAM), dynamic RAM (DRAM), read only memory (ROM), programmable ROM (PROM), erasable PROM (EPROM), and electrically erasable PROM (EEPROM), and the memory portion may be embodied in the form of memory chips, optical disks (such as compact disks (CDs), digital versatile disks (DVDs) or Blu-ray disks), hard disks, tape storage solutions, or solid-state devices, including memory sticks, solid-state drives (SSDs), memory cards, and the like.

[0055] In the embodiment shown in FIG. 2, the device 42 is shown as being separate from the sensor 44, and therefore the device 42 includes an interface circuit 50 that allows the device 42 to receive measurement signals from the sensor 44. The interface circuit 50 of the device 42 allows data connection and / or data exchange with other devices, including any one or more of the sensor 44, the treatment device 2, a server, and a database. The connection to the sensor 44 (or any electronic device, such as the treatment device 2) may be direct or indirect (e.g., via the Internet), whereby the interface circuit 50 can provide a connection between the device 42 and a network or a direct connection between the device 42 and another device (such as the sensor 44 and / or the treatment device 2) by any desired wired or wireless communication protocol. For example, the interface circuit 50 can operate using WiFi, Bluetooth, Zigbee, or any cellular communication protocol, including but not limited to Global System for Mobile Communications (GSM), Universal Mobile Telecommunications System (UMTS), Long Term Evolution (LTE), LTE-Advanced, etc. In the case of a wireless connection, the interface circuit 50 (and thus the device 42) includes one or more suitable antennas for transmitting and receiving via a transmission medium (e.g. wireless). Alternatively, in the case of a wireless connection, the interface circuit 50 includes means (e.g. connectors or plugs) allowing the interface circuit 50 to be connected to one or more suitable antennas external to the device 42 for transmitting and receiving via a transmission medium (e.g. wireless). The interface circuit 50 is connected to the processing unit 46.

[0056] 2, device 42 includes one or more user interface components including one or more components that enable a user of device 42 to input information, data, and / or commands to device 42 and / or enable device 42 to output information or data to a user of device 42. The user interface may include any suitable input components including, but not limited to, a keyboard, a keypad, one or more buttons, switches or dials, a mouse, a trackpad, a touch screen, a stylus, a camera, a microphone, etc., and the user interface may include any suitable output components including, but not limited to, a display unit or display screen, one or more lights or light elements, one or more speakers, a vibrator, etc.

[0057] The processing unit 46 is configured to generate guidance signals for the feedback unit 45, which are configured to cause the feedback unit to generate guidance indicating in which direction and / or to which treatment area the treatment device should be moved. The feedback unit 45 further generates feedback indicating whether the current treatment area corresponds or approximately corresponds to the previous treatment area. This feedback is generally one or a combination of visual, auditory, and tactile. Thereby, the feedback unit 45 comprises one or more output components including, but not limited to, a display unit (display screen, display screen / transparent panel used to provide an augmented reality (AR) display, or projector such as a picoprojector or a microelectromechanical system (MEMS) picoprojector), one or more illumination or light elements, one or more speakers, and one or more transducers. In a preferred embodiment, the feedback unit 45 is a display unit and the feedback is a graphical display including a graphical representation of the instructions, a calculated map of the treatment area, the previous treatment area and the current treatment area, and / or a pattern or line. For example, visual guidance (lines, arrows, text, etc.) may be displayed on the skin or the areas of the skin that have previously been treated with a light pulse and the areas that will be treated with a light pulse according to the current position of the treatment device 2 may be displayed.

[0058] In some embodiments, the feedback portion 45 is attached to or is part of the treatment device 2. In other embodiments, the feedback portion 45 is part of the apparatus 42. In those embodiments, the feedback portion 45 is part of or utilizes any of the output components of the user interface components of the apparatus 42. In further embodiments, the feedback portion 45 can be separate from the treatment device 2 and the apparatus 42 and can reside in a separate device, such as, for example, a smartphone, a smartwatch, a tablet, a personal digital assistant (PDA), a laptop, a desktop computer, a smart mirror, etc.

[0059] It will be appreciated that practical implementations of device 42 may include additional components to those shown in Figure 2. For example, device 42 may further include a power source, such as a battery, or components that enable device 42 to be connected to a mains power source.

[0060] In typical light-based treatments, a user of the treatment device 2 is required to manually position the treatment device 2 on the skin. The light pulse is triggered manually or automatically. However, during or for a short period of time after the light pulse is applied, changes in the skin or hair are less or not perceptible to the user, making it difficult for the user to achieve complete coverage of the body part and / or to avoid over-treating certain areas of the body part by repeating light pulses on areas of skin that have already been treated.

[0061] To illustrate the general treatment coverage, FIG. 3 shows an infrared image of an arm 60 after a number of light pulses have been applied. This infrared image was obtained using a thermal camera. It will be understood that this image is included to easily illustrate the problem addressed by the techniques of the present disclosure, and that the treatment device 2, the apparatus 42, and the system 40 do not include a thermal (infrared) camera. In the image of FIG. 3, the brightness of a portion of the image depends on the temperature of that portion, with lighter (whiter) portions corresponding to higher temperatures and darker (blacker) portions corresponding to lower temperatures. It can be seen that there are numerous bright areas 62 (only some of which are labeled in FIG. 3) on the arm 60, which correspond to areas of higher temperature. These areas (also referred to as treated treatment areas) have a higher temperature due to the light pulses having been recently applied by the treatment device 2. The light pulses generate a slight (temporary) increase in temperature of the portion of the skin where the light pulses were applied. It can be seen in FIG. 3 that many portions of the arm 60 have not been recently treated by a light pulse, and in particular, there are gaps (labeled 64) between the bright areas 62. Nevertheless, the light pulse is unlikely to cause a visible change in the skin, such that a user of the treatment device 2 would not be able to tell which part of the arm 60 has had the light pulse applied to it.

[0062] 4 is an illustration of a typical treatment of a portion of a leg in a sliding motion, with the treatment device moving slowly at the start and moving faster at the end. Again, at the start there are gaps between the treated treatment areas 62, and at the end there are over-treated areas 66 due to overlapping treated treatment areas. Additionally, the portion of skin covered by the sliding motion (i.e., the strip of treated treatment area) is curved rather than straight.

[0063] Thus, as shown in Figures 3 and 4, in conventional treatments, the user generally does not know whether there are untreated gaps between treated treatment areas, how large the gaps are between adjacent treated treatment areas (in the direction of movement of the treatment device), and whether adjacent treated treatment areas overlap. This indicates that the treatment, and in particular the emission of light pulses (also called "flashes"), needs to be controlled during the movement of the treatment device by the user to avoid under-treatment and over-treatment.

[0064] Figure 5 is a flow chart of an exemplary embodiment of a method 100 according to a first aspect of the invention. One or more of the method steps may be performed by a processor 46 in the device 42. The processor 46 performs one or more steps in response to execution of computer program code, which may be stored on a computer readable medium, such as a memory unit 48. Figure 6 is a schematic diagram used to illustrate the steps of the method 100.

[0065] In a first step 101, the position of the current treatment area 62b is estimated. The current treatment area 62b corresponds to the area of ​​the skin to which the treatment device applies a light pulse when the treatment device is in the current treatment position. In a second step 103, a distance D from the previous treatment area 62a to the current treatment area 62b in the movement direction M of the treatment device is determined. The previous treatment area corresponds to the area of ​​the skin to which the previous light pulse was applied when the treatment device was in the previous treatment position. In a third step 105, it is determined whether the distance D is zero or an integer multiple of the width W of the treatment area in the movement direction M of the treatment device (also called stroke direction). In a fourth step 107, if it is determined that the distance D is zero or an integer multiple of the width W of the treatment area, a pulse control signal is generated for controlling the treatment device to generate and apply a light pulse to the current treatment area 62b of the skin.

[0066] Thus, as shown in Fig. 6, the treatment device is now in a treatment position where the treatment area 62b is flushed, since the distance from the previously treated treatment area 62b to the treatment area 62b is 2 (= an integer) times the width W of the treatment area. Thus, there is a gap 64 between the treatment area 62a and the treatment area 62b. However, the size of the gap 64 is not of any width, but the width of the gap 64 is twice the width W of the treatment area. Thus, the gap encompasses two untreated treatment areas 63a, 63b, which are not flushed while the treatment device is moving over them, but will be flushed in a subsequent stroke (also referred to herein as a strip) of the portion of the skin 68 to be treated in this example.

[0067] The method 100 shown in Fig. 5 is performed continuously or periodically during the movement of the treatment device. Even if the movement speed changes during the movement, it is guaranteed that the gap 64 between two adjacent treated treatment areas has a width of zero or an integer multiple of the width W of the treatment area. If one or more strips of skin need to be treated further after the first strip, the lateral movement of the treatment device is instructed, for example via a guidance signal, to display the treatment device laterally by a lateral step corresponding to the length L of the treatment area in the lateral direction (perpendicular to the movement direction M) so that the second strip is positioned adjacent to the first strip with substantially no gap between the strips.

[0068] The size of the treatment area depends on the size of the aperture 10 of the treatment device 2. In some embodiments, the size of the aperture 10 is fixed or previously determined, and the processor 46 can use information about the size of the aperture 10 (e.g., the dimensions of the aperture 10) and, optionally, other information that affects the size of the area of ​​the skin to which the light pulse is applied, such as the relative positions of the aperture 10 and the light source 12, to determine the size of the treatment area. Alternatively, the processor 46 can determine the size of the aperture 10 by analyzing an image of the aperture 10 (e.g., if an image of the aperture 10 was acquired using an imaging unit prior to use).

[0069] As mentioned above, in some embodiments, the treatment device 2 has a number of different attachments that can be used to treat different parts of the body. These attachments have different sized apertures 10 to vary the size of the area of ​​skin that is treated with each light pulse. In this case, when determining the size of the previous treatment area, the processor 46 can utilize information regarding the size of the aperture 10 (e.g., the dimensions of the aperture 10) and, optionally, other information such as the relative positions of the aperture 10 and the light source 12 used when the light pulse was applied.

[0070] In some embodiments, the attachment being used on the treatment device 2 may be detected by the apparatus 42, for example by processing one or more images or video sequences of the treatment device 2 to identify the attachment on the treatment device 2. In one example, prior to use of the treatment device 2, an image of the aperture 10 is acquired by an imaging unit separate from the treatment device 2, and the processing unit 46 may determine the size of the aperture 10 by analyzing the image of the aperture 10. The size of the aperture 10 may be determined by extracting the dimensions of the window / aperture 10 using processing techniques such as edge detection and (rectangle) shape fitting.

[0071] Alternatively, the device 42 can receive a signal indicative of an attachment attached to the treatment device 2. The treatment device 2 can provide the signal in response to detecting the type of attachment attached to the treatment device 2. The treatment device 2 can detect the type of attachment in a number of different ways, for example, based on signals exchanged between the body of the treatment device 2 and the attachment, or automatically based on user settings entered into the treatment device 2 that indicate the type of attachment attached or the type of body part to be treated. As another option, different attachments have apertures 10 with different colors, and the device 42 can identify the attachment in use by observing the color of the light pulse when the light pulse is applied to the body part. Once the attachment is identified or otherwise recognized, information regarding the size of the aperture 10 associated with the identified attachment is retrieved, for example from the memory unit 48, and used to determine the size of the treatment area.

[0072] FIG. 7 illustrates different strokes for the strip filling concept shown in FIG. 6 (i.e., the order in which the treatment areas of the strip are flashed). According to FIG. 7A, in the first stroke (e.g., from left to right), every third treatment area (denoted as a, d, g, and j) is flashed, leaving two untreated treatment areas (denoted as b and c, e and f, h and i) between the treated treatment areas. In the second stroke (e.g., from right to left) shown in FIG. 7B, every third untreated treatment area (i, f, c) is flashed starting from the untreated treatment area i. In the third stroke (again from left to right) shown in FIG. 7C, the remaining untreated treatment areas (b, e, h) are flashed. The user is preferably guided by a useful indication or feedback, e.g., a light path or an arrow projected on the skin, to move the treatment device in the right direction following the same trajectory.

[0073] 7D shows a fourth stroke (e.g., from right to left) used to flash another (adjacent strip), where the user moves the treatment device laterally to that adjacent strip, e.g., following a light signal or projection on the skin. In this stroke, untreated treatment areas t, q, n, and k are flashed as the first treatment area of ​​the second strip. In the following two strokes, the remaining untreated treatment areas of the second strip are flashed (in the same manner as the first strip).

[0074] FIG. 8 illustrates the filling of the strip when the user applies a slow movement speed during treatment. In such a mode, all treatment areas can be flushed during operation of the treatment device. That is, the current treatment area (e.g., treatment area c) is flushed if the distance from the previously treated treatment area (in this example, treatment area b) to the current treatment area (e.g., treatment area c) is zero, whereby the current treatment area is directly adjacent to the previously treated treatment area with no (substantially) gap in between. Thus, completion of the flushing of the strip is achieved in a single stroke, taking, for example, 10-30 seconds (e.g., 20 seconds) with a flash rate in the range of 0.25-1 Hz (e.g., 0.5 Hz) depending on the length of the strip.

[0075] FIG. 9 illustrates the filling of the strip when the user applies a medium movement speed during treatment. In such a mode, every other treatment area can be flushed during the operation of the treatment device. In the first stroke shown in FIG. 9A, the current treatment area (e.g., treatment area c) is flushed if the distance from the previously treated treatment area (treatment area a in this example) to the current treatment area (e.g., treatment area c) is 1 times the width of the treatment area, i.e., if there is one untreated treatment area gap between the current treatment area and the previously treated treatment area. In the second stroke shown in FIG. 9B, the untreated treatment area (i.e., the gap left untreated by the first stroke) is then treated. The second stroke is preferably applied in the opposite direction to the first stroke, which is realized by guiding the user accordingly, for example by displaying corresponding instructions or signs on the treatment device or on the skin. Thus, completion of flashing of a portion of the strip in each stroke is achieved in, for example, two strokes each taking 5 to 15 seconds (e.g., 10 seconds) with a flash rate in the range of 0.25 to 1 Hz (e.g., 0.5 Hz).

[0076] FIG. 10 illustrates the filling of the strip when the user applies a fast movement speed during treatment. In such a mode, every third treatment area can be flushed during the operation of the treatment device. In the first stroke shown in FIG. 10A, the current treatment area (e.g., treatment area c) is flushed if the distance from the previously treated treatment area (treatment area a in this example) to the current treatment area (e.g., treatment area d) is twice the width of the treatment area, i.e., if there is a gap of two untreated treatment areas between the current treatment area and the previously treated treatment area. In the second stroke shown in FIG. 10B, every third untreated treatment area is treated (e.g., starting from treatment area i). In the third stroke shown in FIG. 10C, the remaining treatment areas are treated (e.g., starting from treatment area b). The second stroke is preferably applied in the opposite direction to the first and third strokes. Thus, completion of flashing of a portion of the strip in each stroke is achieved in, for example, three single strokes each taking 4 to 12 seconds (eg, 6 or 8 seconds) with a flash rate in the range of 0.25 to 1 Hz (eg, 0.5 Hz).

[0077] Figure 11 illustrates the filling of the strip when the user applies a variable movement speed during treatment, i.e. when changing the movement speed during treatment. As an example, in the first stroke shown in Figure 11A, a slow movement speed is applied first to flash the first three treatment areas a, b, c, and then the user increases the speed to flash only some treatment areas f and j, leaving gaps between them. In the second stroke (preferably in the opposite direction) shown in Figure 11B, the user again applies a slow movement speed, which may flash all the remaining untreated treatment areas i, h, g, e, and d. The user is then preferably given an indication that all treatment areas of the strip have been treated, and that lateral movement to a neighboring strip is possible if further parts of the skin should be treated.

[0078] FIG. 12 shows a flow chart of an exemplary method 200 according to the present invention for determining a current position of a treatment device.

[0079] In step 201, a first measurement signal is received from a sensor 44. The first measurement signal comprises information about the position and / or movement of the treatment device 2 over time. As mentioned above, the first measurement signal is a signal from a motion sensor 44 or the first measurement signal is a signal representative of a plurality of images or a video sequence. In some embodiments, step 201 comprises receiving a first measurement signal from a first sensor 44, e.g. a motion sensor 44, and a measurement signal from another sensor 44, e.g. an imaging unit.

[0080] In step 201, the first measurement signal may be received directly from the sensor 44, e.g., in real time or near real time as the measurement signal is generated by the sensor 44. Alternatively, the first measurement signal may be generated in advance by the sensor 44 and stored for subsequent analysis, e.g., in the memory unit 48, a memory unit associated with the treatment device 2 or the sensor 44, or a remote database, in which case step 201 may include the processing unit 46 acquiring or retrieving the first measurement signal from a storage location (e.g., the memory unit 48, etc.). In these alternative embodiments, the first measurement signal needs to be acquired or retrieved a short time (e.g., a few seconds or less) after the first measurement signal is generated in order to provide timely feedback to the user to enable the user to complete the treatment action.

[0081] In step 203, in case of a light pulse previously applied by the treatment device 2 to the body part during a treatment operation, the processing unit 46 processes the first measurement signal in order to estimate the position of the treatment device 2 relative to the body part when this light pulse was generated or applied. This estimated position is referred to as the "previous treatment position".

[0082] In embodiments where the sensor 44 is one or more motion sensors such as accelerometers, the first measurement signal is a motion measurement signal and step 203 involves processing the motion measurement signal to identify the movement and position of the treatment device 2 relative to the body part. Techniques for processing measurements from the motion sensor 44 to determine the movement and position of the device in which it is housed are known in the art and will not be described in detail herein.

[0083] In an embodiment in which the sensor 44 is an imaging unit and the first measurement signal is a plurality of images or video sequences, step 203 comprises processing the images or video sequences to identify the movement and position of the treatment device 2 relative to the body part. In an embodiment in which the imaging unit 44 is attached to the treatment device 2, the processing unit 46 processes the images or video sequences to identify skin features and / or body part features in the images or video sequences and can monitor the movement of those skin features and / or body part features in the images or video sequences. The determined movement of those skin features and / or body part features in the images or video sequences corresponds to the movement of the treatment device 2 relative to the body part. The imaging unit 44 is fixed in or on the treatment device 2, the relationship between the aperture 20 and the field of view of the imaging unit 44 is known and the processing unit 46 can determine the previous treatment position, i.e. the position of the treatment device 2 relative to the body part when the light pulse was applied. Techniques for processing images or video sequences to identify skin features and / or body part features are generally known in the field of imaging processing, but will be described in some further details below.

[0084] In an alternative embodiment where the imaging unit 44 is separate from the treatment device 2 and can observe both the treatment device 2 and the body part from a distance, in step 203 the processing unit 46 can process the images or video sequences to identify the treatment device 2 and the skin and / or body part features and monitor their relative positions over time. Techniques for processing images or video sequences to identify the treatment device 2 and the skin and / or body part features are generally known in the field of imaging processing, but will be described in some further details below.

[0085] In embodiments in which the one or more sensors 44 comprise one or more motion sensors and imaging units, step 203 may include processing a first measurement signal from one of the motion sensors and the imaging unit together with a second measurement signal from the other of the motion sensors and the imaging unit to estimate the position of the treatment device 2 relative to the body part.

[0086] In some embodiments, for example in the above embodiments where the one or more sensors 44 comprise one or more motion sensors and imaging units, step 203 may include using simultaneous localization and mapping (SLAM) techniques to determine the position of the treatment device 2 relative to the body part.

[0087] In step 203, the first measurement signal is processed to estimate the movement and / or position of the treatment device 2 relative to the body part over time, and a previous treatment position is determined as the estimated position of the treatment device 2 relative to the body part at the time the light pulse was generated or applied.

[0088] In step 205, if a light pulse is evaluated in step 203, based on the previous treatment position determined in step 203, the processing unit 46 estimates the area of ​​skin on the body part where the light pulse was applied. This estimated area is referred to as the "previous treatment area" of the light pulse applied when the treatment device 2 was in the previous treatment position. The previous treatment position generally has a known relationship with the position of the aperture 20 of the treatment device 2. This allows step 205 to determine the appropriate area of ​​skin on the body part where the light pulse was applied. For example, if the previous treatment position is estimated as the geometric center of the aperture 20, the previous treatment area may be centered on the associated previous treatment position. The orientation of the treatment device 2 when the light pulse was applied is used to determine the orientation of the previous treatment area on the skin. With reference to FIG. 3, the previous treatment area estimated or determined in step 205 should generally correspond to the bright area 62.

[0089] Steps 203 and 205 are performed for multiple (or all) previous light pulses in a treatment operation. In a preferred embodiment, steps 203 and 205 are performed when a light pulse is applied to a body part, or a short time thereafter, or even continuously during movement of the treatment device. Thus, steps 203 and 205 are performed in response to determining that a light pulse has been applied to a body part by the treatment device 2. The processor 46 determines that a light pulse has been applied to a body part in one (or more) of a number of different ways. In an embodiment in which the apparatus 42 is part of the treatment device 2, the processor 46 can receive a signal from the light source 12 or from control circuitry for the light source 12 indicating that a light pulse has been generated. Alternatively, in an embodiment in which the apparatus 42 is separate from the treatment device 2, the processor 46 can receive a signal from the treatment device 2 indicating that a light pulse has been generated. As another alternative, if the sensor 44 is an imaging unit, or an imaging unit is otherwise provided in the system 40, images or video sequences from the imaging unit can be processed to identify light pulses.

[0090] For example, FIG. 13 shows two images 66 of a body part 69 acquired by the imaging unit. In image 66 (reference number 66-1) of FIG. 13A, a part of the treatment device 2 is visible along with the skin of the body part 69. When this image was acquired, the treatment device 2 has not applied a light pulse to the body part 69. When image 66 (reference number 66-2) of FIG. 13B was acquired, the treatment device 2 has applied a light pulse to the body part 69, which is visible by the brighter upper part of image 66-2. Thus, in an embodiment, the processing unit 46 may be configured to process the images or video sequence to identify the occurrence of a light pulse. The occurrence of a light pulse may be recognized by calculating the average brightness for each image (or for each series of images) and comparing between the average brightness to recognize whether there are any images that are too bright (e.g. brighter than a threshold amount). Alternatively, the average brightness for each image or for each series of images may be compared to a threshold amount to determine whether the brightness is consistent with an applied light pulse. In some embodiments, the threshold amount may be adjusted based on the ambient lighting conditions. These embodiments have the advantage that the apparatus 42 does not need to be communicatively connected to the treatment device 2 and that the apparatus 42 can be used with conventional treatment devices 2 .

[0091] In step 207, the processing unit 46 processes the first measurement signal to estimate the current position of the treatment device 2 relative to the body part. The processing in step 207 may be identical to the processing used in step 203 by the processing unit 46 to estimate the position of the treatment device 2 relative to the body part when the light pulse was generated or applied.

[0092] In step 209, the processing unit 46 estimates the area of ​​skin of the body part to which the light pulse is applied at the current position of the treatment device 2 based on the current position of the treatment device 2 estimated in step 207. This estimated area is called the "current treatment area". The process in step 209 may be identical to the process used by the processing unit 46 in step 205 to estimate the area of ​​skin of the body part to which the previous light pulse was applied. As in step 205, in step 209, the size of the aperture 10 may be taken into account when estimating the size of the current treatment area.

[0093] FIG. 14 is a flow chart of an exemplary embodiment of a method 300 according to the second aspect of the present invention. In step 301, an integer multiple of the width of the treatment area in the movement direction of the treatment device is set based on a preset speed of the treatment device. In step 303, the distance traveled by the treatment device in the movement direction of the treatment device (since the last flushing) is determined. In step 305, if the determined distance corresponds to the set integer multiple of the width of the treatment area, a pulse control signal is generated to control the treatment device to generate and apply a light pulse for treatment at the current position of the treatment device. If the movement speed is changed during treatment, in the same manner as described above, the integer multiple is recalculated so that the gap between the treated treatment areas is zero or has a width corresponding to an integer multiple of the treatment area, in order to accurately check the condition regarding the distance. Thus, an optimal treatment can be achieved in a minimum time, and the user can flexibly use or even change the desired movement speed of the treatment device.

[0094] As an optional step used in embodiments of the present invention, the processing unit 46 generates a feedback control signal to the feedback unit 45. The feedback control signal (or guidance signal) informs the feedback unit 45 in which direction and / or to which treatment area the treatment device should be moved, e.g. - if there are untreated treatment areas between treated treatment areas on the first portion of the skin, in the second stroke the treatment device should be moved over the same first portion of the skin but in the opposite direction, or - if there are no untreated treatment areas between the treated treatment areas on the first portion of the skin, the treatment of the first portion of the skin is finished, and / or in the second stroke the treatment device should be moved over a second portion of the skin different from the first portion. The feedback control signal is generated to generate feedback (or guidance) indicative of one or more of: Other information may also be indicated by the feedback portion.

[0095] The method further comprises providing the generated feedback control signal to a feedback unit 45 so that feedback is provided to a user. As mentioned above, the feedback unit 45 is configured to provide a combination of visual, auditory and tactile feedback indicating whether the treatment device 2 is present or not at a position where a light pulse was previously applied. A user of the treatment device 2 can use these indications to determine whether to trigger a light pulse at the current position of the treatment device 2, which may help the user improve the coverage of the treatment action on the subject's skin.

[0096] As an example, the feedback control signal may turn on a red light (e.g., on the treatment device 2) if it is determined that a light pulse will not be emitted at the current location, or may turn on a green light (e.g., on the treatment device 2) if it is determined that a light pulse will be emitted at the current location. As another example, the red / green light may be replaced (or accompanied) with haptic feedback (e.g., vibration of the treatment device 2). As another example, the red / green light may be replaced (or accompanied) with auditory feedback (e.g., noise, auditory message, etc.).

[0097] In preferred embodiments, the feedback unit 45 is a display unit, such as a display screen, a transmissive panel, or a projector, used to provide an AR display, and in those embodiments, the feedback signal is a display control signal that causes the display unit to generate a graphical display that includes a graphical representation superimposed on the body part.

[0098] In embodiments where the display unit is a see-through panel used to provide the AR display, the see-through panel can be positioned in the user's line of sight, such that it is in a direct line between the user and the body part to be treated, allowing the user to see the body part through the see-through panel. In some embodiments, the see-through panel is one or both lenses in a pair of glasses. Graphical representations of the previous and current treatment areas can be projected or displayed on the see-through panel, such that the graphical representations are overlaid on the correct location of the body part in the user's viewpoint. In this way, the user is presented with an AR view of the body part that allows the user to more easily see the previously treated areas on the body part.

[0099] In embodiments where feedback is provided during use of the treatment device 2 (e.g., as the treatment device 2 is moved over the body part and light pulses are applied), steps 201-209 may be performed generally continuously. That is, in step 201, measurement signals may be received generally continuously (e.g., according to a sampling rate of the sensor 44 or according to a transmission rate (e.g., packet rate) from the sensor 44 to the apparatus 42) and steps 203-209 may be performed generally continuously to update the feedback provided to the user.

[0100] In an embodiment using SLAM techniques, where the sensor 44 is an imaging unit attached to the treatment device 2 and the processing unit 46 processes the image or video sequence to identify skin features and / or body part features in the image or video sequence in steps 203 and 205, the processing unit 46 can process the image or video sequence using one or more of a number of different techniques. In some embodiments, the skin features can be detected using feature detection algorithms such as Shi-Tomasi corner detection and / or Scale Invariant Feature Transform (SIFT) methods. Alternatively, AI-based feature detection techniques optimized for skin features can be used. The position of the detected skin features in the image or video sequence can be tracked over time by matching the skin features between successive images or successive video frames to estimate the movement of the treatment device 2 over time. The movement of the treatment device 2 relative to the body part can be determined by calculating a homography between the two sets of features of two successive images or video frames. The homography determines the relationship between the positions and orientations of the two imaging units when looking at the same plane. Thus, as previously described, this operation uses SLAM techniques. That is, during treatment / movement, skin regions are mapped and a history of flushed skin regions is maintained.

[0101] Over time, due to accumulation of errors in the measurements and / or processing techniques, there may be drift in the position calculation of the current treatment position. To reduce or avoid this drift, skin feature detection and motion tracking can be extended beyond two images or video frames, whereby skin features are tracked over multiple images or video frames.

[0102] For the homography calculation, image processing techniques suitable for tracking the location of skin features on non-planar surfaces, such as SLAM, can be used depending on the body parts shown in the images.

[0103] In some embodiments, the treatment device 2 is configured to automatically trigger the light pulse. In this case, the apparatus 42 may be configured to automatically trigger the treatment device 2 to generate the light pulse. In some embodiments, one or more further conditions are applied to trigger the light pulse, such as the treatment device 2 being in contact with the skin and / or the color of the skin that the treatment device 2 is in contact with is suitable to receive the light pulse. If the light pulse can be applied at the current position of the treatment device 2, the processing unit 46 may determine an activation signal to activate the light source 12 or an activation signal to cause the treatment device 2 to activate the light source 12.

[0104] Fig. 15 is a schematic diagram of another embodiment of a treatment device 400 according to the present invention. The treatment device 400 comprises a camera and an IMU (Inertial Measurement) 402 that captures the camera images and acquires accelerometer and gyroscope values. The data is provided to a visual inertial SLAM unit 404 that calculates the position and orientation of the probe (particularly the position of the treatment window). A skin map generator 406 calculates a map of the treatment area for evaluation, e.g. a 3D skin map. A skin area evaluator 408 evaluates the camera images to identify missed spots or over-treatment. An IPL (Intense Pulsed Light) lamp control 410 controls flashing, e.g. using an algorithm, when the device is right next to a previously treated treatment area or at a distance equal to an integer number of spot sizes as explained above. A user feedback unit 412 helps the user to "stay on track", e.g. using lighting, laser projection, or sound. The functionality of the entire treatment device is controlled to ensure that the entire desired treatment area is treated.

[0105] In one embodiment of the disclosed apparatus and method, a reference skin map of the treatment area is generated prior to a treatment session by capturing a series of image frames of the skin area while sliding the treatment device with a camera aimed at the treatment area, recording accelerometer and gyroscope data associated with each image frame, and generating a reference skin map of the treatment area.

[0106] In one embodiment of the disclosed device and method, flushing is automatically controlled during single or multiple stroke treatment with a skin treatment strip by capturing an image of a skin area adjacent to the treatment area, calculating a position and orientation of the treatment device based on the captured skin area image and IMU data, defining the position and orientation of the treatment area to be treated by referencing a reference skin map of the treatment area, and enabling flushing when the position is within a predefined location. The predefined location is calculated based on optimizing treatment with the skin treatment strip to minimize overlap between treatment areas during single or multiple stroke treatment.

[0107] In one embodiment of the disclosed apparatus and method, user guidance is provided to the user while sliding the treatment device during treatment along the initial and subsequent skin treatment strips by capturing images of the skin area adjacent to the treatment area, calculating the position and orientation of the treatment device based on the captured skin area images and IMU data, defining the position and orientation of the treatment area to be treated by referencing a reference skin map of the treatment area, and providing visual guidance, e.g., a laser projection on the skin, to the user for guidance on the sliding direction such that overlap between treatment strips is minimized during the treatment session.

[0108] As already mentioned, SLAM techniques (either video-based or speckle-based) can be used to locate treated and untreated treatment areas. The invention ensures that only untreated treatment areas are flashed, as explained above. The strip is filled with automatic pulses even if the guide speed is not constant. In such a scenario, the following steps are performed:

[0109] Treatment begins at a location somewhere on the edge of the treatment area to be treated. The SLAM technique maps areas adjacent to the area to be treated (both in the forward and backward directions) and measures distances. A sliding motion is initiated by the user (usually at any speed). The SLAM technique provides knowledge of whether the current treatment area is an integer number of treatment area widths away from the previously treated treatment area. The flash lamp capacitor is charged, and if the current treatment area is an integer number of treatment area widths away from the previously treated treatment area, a flash is performed. In the reverse direction, some or all of the untreated treatment area is "filled in". This is repeated until the entire "strip" has been treated. The forward and backward speeds and the speed of the single stroke do not necessarily have to be the same.

[0110] To avoid misalignment of the treatment strips between strokes, the user can be guided by the laser line during each stroke. To treat adjacent strips without gaps between the strips (similar to mowing a lawn), the user can be guided in the same way.

[0111] The lateral repositioning of the second "strip" uses a line (laser or flashing) that defines the boundary of the previous scan, or an LED indicating right or left. This allows the user to repeat the previous scan laterally adjacent to it. The pulses are applied automatically, so the user only needs to follow the line.

[0112] In another embodiment, speed guidance may be given by an audio signal. It is perfectly fine to treat subsequent strips at different speeds, but the user may prefer to perform each strip with the same number of passes. "Speed" guidance (using audio or light) will warn the user if they are about to deviate from the preferred speed.

[0113] In another embodiment, AI-based feedback is provided. After or even during treatment, advice is given on the range that can be reached if a slower or faster speed is used. Using the AI ​​of the patterns treated at those speeds, indications are given on how and at what speed the user is best to treat. For example, many users feel more comfortable moving at a higher speed in one direction than another. With AI, this preference is "learned" or recognized, and at least thereafter the "speed guidance" sound (or other indication) will match this preference.

[0114] In summary, with the present invention, over-treatment and under-treatment are substantially reduced or even avoided. Furthermore, the total treatment time is significantly reduced. Since the treatment is only limited by the device (charging time), the treatment can proceed at high speed and no time is spent trying to place the device in the correct spot. There is reduced impact on the skin, which may result in less irritation. Additional benefits are increased efficiency, reduced power consumption, optimal treatment, and the flexibility to use the device at any desired speed.

[0115] While the invention has been illustrated and described in detail in the drawings and the foregoing description, such illustration and description are to be considered illustrative or exemplary and not restrictive, and the invention is not limited to the disclosed embodiments. Other variations to the disclosed embodiments can be understood and effected by those skilled in the art, from a consideration of the drawings, the disclosure, and the appended claims, in practicing the claimed invention.

[0116] In the claims, the word "comprising" does not exclude other elements or steps, and the singular does not exclude a plurality. A single element or other unit fulfills the functions of several items recited in the claims. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage.

[0117] The computer program may be stored / distributed on a suitable non-transitory medium, such as an optical storage medium or a solid-state medium, provided together with or as part of other hardware, but may also be distributed in other forms, such as via the Internet or other wired or wireless communication systems.

[0118] Any reference signs in the claims shall not be construed as limiting the scope.

Claims

1. 1. An apparatus for controlling a treatment device to perform a treatment operation on a body part of a subject, the treatment device applying light pulses to skin of the body part to perform the treatment operation, the light pulses applied to the skin treating a treatment area of ​​the skin, the treatment area having a known or estimated width in a direction of movement of the treatment device, the apparatus comprising a processor, the processor comprising: estimating a location of a current treatment area corresponding to an area of ​​skin to which light pulses will be applied when the treatment device is in the current treatment location; determining a distance in the direction of movement of the treatment device from a previous treatment area corresponding to an area of ​​the skin to which a previous light pulse was applied when the treatment device was in a previous treatment position to the current treatment area; determining whether the distance is zero; if the distance is determined to be zero, generating a pulse control signal to control the treatment device to generate and apply a light pulse to the current treatment area of ​​the skin. In the apparatus, the processing unit further comprises: determining whether the distance is an integer multiple of the width of the treatment area; If the distance is determined to be the integer multiple of the width of the treatment area, generate the pulse control signal to control the treatment device to generate and apply a light pulse to the current treatment area of ​​the skin. An apparatus comprising:

2. 2. The apparatus of claim 1, wherein the processing unit determines the integer multiple based on an initial movement speed of the treatment device, in particular a measured or preset movement speed of the treatment device, and the known or estimated width of the treatment area.

3. The device of claim 2 , wherein the processor is further configured to determine a number of strokes required to treat the first portion of the skin.

4. The apparatus of claim 2 or 3, wherein the processing unit further adjusts the integer multiple and / or the number of strokes upon determining that a current moving speed of the treatment device is different from the initial moving speed.

5. The processing unit includes: determining whether the current treatment area overlaps with the previous treatment area, in particular by determining whether a light pulse was previously applied to the current treatment area; generating the pulse control signal if the distance is determined to be zero or an integer multiple of the width of the treatment area and if it is determined that the current treatment area does not overlap with the previous treatment area.

5. Apparatus according to any one of claims 1 to 4.

6. The processing unit includes: Determining whether the treatment device is ready to apply a light pulse, in particular whether a light source of the treatment device has sufficient energy to apply a light pulse; generating the pulse control signal when the distance is determined to be zero or an integer multiple of the width of the treatment area and the treatment device is determined to be ready to apply a light pulse.

6. Apparatus according to any one of claims 1 to 5.

7. 7. The apparatus of claim 1, wherein the processing unit generates a guidance signal for the feedback unit, the guidance signal causing the feedback unit to generate guidance indicating in which direction and / or to which treatment area the treatment device should be moved.

8. The processing unit includes: determining whether there are untreated treatment areas between treated treatment areas after a first stroke of the treatment device over the first portion of the skin; generating the guidance signal for the feedback unit, the guidance signal being transmitted to the feedback unit; if there are untreated treatment areas between treated treatment areas on the first portion of the skin, in a second stroke the treatment device should be moved over the same first portion of the skin but in an opposite direction; or If there are no untreated treatment areas between treated treatment areas on the first portion of the skin, the treatment of the first portion of the skin is completed, and / or the treatment device should be moved over a second portion of the skin different from the first portion in a second stroke. The apparatus according to claim 7 , further comprising:

9. 10. The apparatus of claim 8, wherein the guidance signal causes the feedback unit to generate guidance indicating that in the second stroke, the treatment device should be moved over a second portion of the skin that is parallel to and adjacent to the first portion of the skin if there are no untreated treatment areas between treated treatment areas on the first portion of the skin.

10. The processing unit includes: calculating a map indicative of treated areas to which a light pulse has previously been applied and untreated areas to which a light pulse has not previously been applied; generating the guidance signal for the feedback unit based on the calculated map; 10. Apparatus according to any one of claims 7 to 9.

11. The processing unit includes: receiving a first measurement signal from a sensor, the first measurement signal including information regarding a position and / or movement of the treatment device over time; processing the first measurement signal to estimate, for a light pulse previously applied by the treatment device to the body part during the treatment operation, the previous treatment position as a position of the treatment device relative to the body part at the time the light pulse was generated; estimating a location of the previous treatment area based on the estimated previous treatment location for a previously applied light pulse; processing the first measurement signals to estimate a current position of the treatment device relative to the body part; estimating a position of the current treatment area based on the estimated current position of the treatment device; The apparatus according to claim 1 , further comprising:

12. 1. An apparatus for controlling a treatment device to perform a treatment operation on a body part of a subject, the treatment device applying light pulses to skin of the body part to perform the treatment operation, the light pulses applied to the skin treating a treatment area of ​​the skin, the treatment area having a known or estimated width in a direction of movement of the treatment device, the apparatus comprising a processor, the processor comprising: determining a distance traveled by the treatment device in the direction of movement of the treatment device; If the determined distance corresponds to the width of the treatment area, generating a pulse control signal for controlling the treatment device to generate and apply a light pulse based on a preset speed of the treatment device. setting an integer multiple of the width of the treatment area based on the preset speed of the treatment device, the integer multiple being at least two; generating the pulse control signal for controlling the treatment device to generate and apply a light pulse when the determined distance corresponds to the set integer multiple of the width of the treatment area. An apparatus for performing the above.

13. a treatment device comprising one or more light sources for generating light pulses for application to the skin of the body to perform a treatment operation; a sensor for outputting a first measurement signal containing information regarding a position and / or a movement of the treatment device over time; A device according to any one of claims 1 to 12. Including, the system.

14. 1. A computer-implemented method for controlling a treatment device to perform a treatment operation on a body part of a subject, the treatment device applying light pulses to skin of the body part to perform the treatment operation, the light pulses applied to the skin treating a treatment area of ​​the skin, the treatment area having a known or estimated width in a direction of movement of the treatment device, the computer-implemented method comprising: estimating a location of a current treatment area corresponding to an area of ​​skin to which light pulses will be applied when the treatment device is in the current treatment position; determining a distance in the direction of movement of the treatment device from a previous treatment area corresponding to an area of ​​the skin to which a previous light pulse was applied when the treatment device was in a previous treatment position to the current treatment area; determining whether the distance is zero; if the distance is determined to be zero, generating a pulse control signal for controlling the treatment device to generate and apply a light pulse to the current treatment area of ​​the skin. The computer-implemented method further comprising: determining whether the distance is an integer multiple of the width of the treatment area; if the distance is determined to be the integer multiple of the width of the treatment area, generating the pulse control signal for controlling the treatment device to generate and apply a light pulse to the current treatment area of ​​the skin.

13. A computer-implemented method comprising:

15. 15. A computer program comprising program code means for causing a computer to carry out the steps of the computer implemented method according to claim 14, when said computer program is run on said computer.

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