Robot system for skin detection with external pressure detection function

Abstract

The present invention relates to a robotic system for skin detection operation having an external pressure detection function, comprising a processing module, a probe end, an external actuator, an external pressure detection device, and an auxiliary positioning device for positioning a specific part of the human body. The probe end is equipped with a probe for detecting skin at a specific part of the human body, and a tip surface that directly or indirectly contacts the skin when a sensor for detecting skin on the probe comes into contact with the skin. The external pressure detection device is configured to sense a first contact pressure between the tip surface and the skin when the tip surface directly or indirectly contacts the skin. The external actuator is used to adjust the first contact pressure by driving and moving the tip surface. An internal pressure control device is positioned on the probe to control a second contact pressure between the sensor and the skin. The processing module is coupled to the external actuator and the external pressure detection device, respectively.

Description

[Technical Field]

[0001] The present invention relates to the technical field of skin detection, and more particularly to a robotic system for skin detection operations having an external pressure detection function. [Background technology]

[0002] Skin detection holds significant importance in fields such as cosmetic medicine and dermatology. With technological advancements, various types of skin detection probes have emerged, each with different applications. For example, some are used to detect the content of skin components (moisture / oil), some to detect skin elasticity, and others to detect skin glossiness.

[0003] A common problem with various skin detection probes today is that the force, position, and angle do not match with each measurement. For example, in the non-invasive acoustic test probe for skin elasticity disclosed in existing EP88108905A, each time the operator performs a detection, they press the tip surface of the outer wall of the probe against the skin, then push out the internal probes 4, 5, and 6 to make contact with the skin. Piezoelectric transducers 1, 2, and 3 transmit acoustic pulses to the probes, and skin elasticity is measured based on the time span over which the sound travels between the probes. In some real-world scenarios where skin parameters need to be continuously tracked, the contact of the probe with the skin is manually controlled by the operator, making it impossible to ensure the same position / angle / force against the skin with each detection. This makes it impossible to distinguish whether the difference in measurement data before and after is due to changes in the skin or the influence of changes in position / angle / force.

[0004] In the measuring device for measuring the elastic properties of a surface structure proposed in US20020029924A1, it is important to note that the measurement results to be compared must be obtained from the same position / angle on the surface structure (skin). Furthermore, a marking method is adopted, and two circular holes 40 are provided on the annular flange 35 of the outer wall for marking the surface structure with a pen or the like, thereby enabling measurements to be taken at the same position and with the same probe orientation at longer time intervals. Additionally, marks 36 are provided on the annular flange at predetermined angular distances from each other, and these correspond to marks 38 on the outside of the housing of the probe 2, allowing the measuring device to be repeatedly positioned at the same measurement position and angle on the surface structure. US20020029924A1 can solve the problem of the same position / angle, but it cannot solve the problem of the same pressure, however, ensuring the same pressure is particularly important in actual skin measurements. The reason is that the skin itself has a certain elastic modulus. According to a study in Med, Vol.34, No.3, 2009, the elasticity of human skin is approximately 0.70 ± 0.46 N. Whether it is a probe for measuring skin elasticity or a probe for other measurement purposes, during detection, the sensor inside the probe (e.g., the probe mentioned above) needs to extend from the hole on the tip surface and press against the skin. In addition, the tip surface of the probe housing (e.g., the tip surface of the protective case 12 of EP88108905A, the tip surface of the annular flange 35 of US20020029924A1) also presses against the skin during detection. Furthermore, as mentioned above, skin has an elastic modulus, and the skin in each part is related to each other. Because the tip surface presses against the skin it covers, the elasticity / water content / oil content of the skin within the hole on the tip surface changes, and the degree of this change affects the degree of pressing, which in turn leads to errors and relatively direct interference in the sensor's detection.In actual measurements, even when the time difference before and after measurement is not very long, we discovered that when measuring human skin at the same angle and position, there is a difference between the measurement data when the tip surface is not in contact with the skin / at the moment of contact and the measurement data when the tip surface is pressing against the skin.

[0005] Therefore, in skin detection, it is extremely important that the inner ring sensor maintains a stable measurement environment (unified environmental standards) for each measurement by ensuring the same external pressure (pressure between the tip surface and the skin) each time a detection occurs. At the same time, controlling the internal pressure (pressure between the sensor and the skin) is of great importance for human safety, for example, by preventing the sensor from causing puncture injuries to the human skin with excessive pressure, thereby ensuring the safety of the measurement.

[0006] On the other hand, the buyers of skin detection devices can be broadly divided into two types: detection laboratories and users, and these two groups differ in their product priorities and purchasing power. While ensuring measurement accuracy, users prioritize aspects such as price, home use, and portability, while detection laboratories lean towards full automation, convenience, and detection stability. These differences are reflected in companies' manufacturing processes and directly impact product design requirements and manufacturing costs. [Overview of the Initiative] [Problems that the invention aims to solve]

[0007] The object of the present invention is to provide a fully automated control robot system for detection devices, which automatically and easily achieves uniformity of force, position, and angle in each skin detection, allows the sensor to maintain a stable measurement environment during each measurement, avoids measurement errors due to differences in pressure, especially external pressure, and ensures the safety of the measurement. [Means for solving the problem]

[0008] To this end, a robotic system for skin detection operation having an external pressure detection function is provided, the robotic system for skin detection operation comprising a processing module, a probe end, an external actuator, an external pressure detection device, and an auxiliary positioning device for positioning a specific part of the human body, wherein the probe end is equipped with a probe for detecting skin at a specific part of the human body and a tip surface that directly or indirectly contacts the skin when a sensor for detecting skin on the probe comes into contact with the skin, the external pressure detection device is configured to sense a first contact pressure between the tip surface and the skin when the tip surface comes into direct or indirect contact with the skin, the external actuator is used to adjust the first contact pressure by driving and moving the tip surface, an internal pressure control device is provided on the probe for controlling a second contact pressure between the sensor and the skin, and the processing module is coupled to the external actuator and the external pressure detection device, respectively.

[0009] The present invention offers the following advantages.

[0010] (1) After positioning a specific part of the human body using an auxiliary positioning device, an external actuator is controlled to drive the exploration end to the same position / angle for detection. In this process, an external pressure detection device is used to feed back the first contact pressure (external pressure) between the tip surface and the skin. The external actuator is adjusted to match the first contact pressure with the previous measurement, maintaining a consistent external pressure measurement environment for the sensor at each measurement, thereby avoiding the occurrence of measurement errors. (2) An internal pressure control device is used to control the second contact pressure (internal pressure) between the sensor and the skin, thereby ensuring the safety of the measurement. (3) The entire operation process is fully automated, making it simple, stable, and suitable for detection agencies.

[0011] In the present invention, the external actuator is configured as a movable robotic arm, and the robotic arm is driven to move the entire exploration end in the ZXY directions and with variable angles, realizing high-degree-of-freedom movement control. The sensor may be arranged to be housed under the tip surface, extend out during use to contact the skin, and be built-in and protected when not in use. Alternatively, the sensor is arranged and fixed on the tip surface, and the outer wall is flush with the tip surface.

[0012] As one improvement, an internal pressure detection device for detecting the second contact pressure (internal pressure) between the sensor and the skin is arranged on the probe and coupled to the processing module, thereby realizing the purpose of internal and external dual detection. Further, the internal pressure control device is configured as an internal actuator coupled to the processor. The internal actuator is provided on the probe and may be a member such as a motor or a micro motion device. It is used to adjust the second contact pressure between the sensor and the skin by driving the sensor on the probe to move precisely. By arranging the internal actuator and combining it with the detection feedback of the second contact pressure, high-precision control of the internal pressure is realized under the control that the external pressure is made consistent, and the internal pressure used each time of measurement is also ensured to be consistent. At this time, the external actuator realizes movement control with a large range, high degree of freedom, and angles, and the internal actuator is used for fine adjustment. In the present invention, the internal pressure control device may be used in combination with a presentation device, etc. For example, when it is detected that the internal pressure is the same as the previous time, an instruction is given to the operator to stop adjusting the position of the sensor. In other embodiments, the internal pressure control device may be configured as an elastic body such as a spring, and the sensor is fixed to the probe by the elastic body to flexibly control the second contact pressure within a set range. Compared with the above-described solution capable of high-precision control, such a solution realizes general control of the internal pressure (flexibly control within a predetermined range) and brings advantages in terms of structure and cost.

[0013] As another improvement, the auxiliary positioning device is configured as a fixing bracket for auxiliary fixing of a specific part of the human body, for example, a bracket for supporting the jaw in a vision inspection device. During the detection process, the position of the human body is confirmed using the bracket, and the probe is accurately moved to the detection position by an external actuator for measurement. More preferably, the fixing bracket is further configured as a movable folding chair, and the movable folding chair moves along a track, sets two extreme positions, and can realize detections in different modes such as a sitting position and a lying position. At the same time, positioning is realized by adding a neck fixing device at a position corresponding to the neck of the human body on the movable folding chair. And / or, the auxiliary positioning device is configured as a visual scanning imaging system coupled to a processing module. The visual scanning imaging system confirms the target detection position by scanning a specific part of the human body using 3D scanning imaging technology. The processing module controls the movement of the robotic arm based on the target detection position, thereby accurately moving the probe to the detection position for measurement. Furthermore, the visual scanning imaging system is jointly composed of three sets of scanning cameras, realizes omnidirectional detection of three sides of the human body, and further realizes high-precision construction of a human body model. The three sets of scanning cameras are installed on a main body bracket arranged, and the main body bracket can be adjusted in height, enabling high-precision scanning and positioning for people with different body types.

[0014] In the present invention, the external pressure detection devices are set to be at least two in number and are arranged surrounding the probe, thereby covering each position in the circumferential direction and ensuring the uniformity of detection.

[0015] Furthermore, in order to avoid the measurement error of the sensor by adding an object between the sensor and the skin, the internal pressure detection device adopts a capacitive pressure sensing module to indirectly measure the contact pressure (since a resistive type needs to be interposed between the electrode and the skin, it is not suitable for adoption). The capacitive pressure sensing module can indirectly reflect the pressure by area and / or distance. For example, A solution that reflects pressure based on distance can be realized in the following form: A pressure sensing module is configured to include at least a first distance sensing electrode and a second distance sensing electrode, one side of a first substrate is used to house the sensor, the first distance sensing electrode is fixed to the side of the first substrate away from the sensor, the second distance sensing electrode is positioned along the direction of movement of the first substrate and configured to align at least part or all with the first distance sensing electrode, a capacitive-to-digital converter (CDC) is coupled to the first and second distance sensing electrodes and used to obtain the mutual capacitance between them, and a processing module is used to output distance information of the first substrate based on the mutual capacitance between the first and second distance sensing electrodes. Since the sensor is in close contact with the skin, there is a proportional relationship between the movement of the first substrate and the second contact pressure. By utilizing this characteristic, during operation, the distance between the first distance detection electrode and the second distance detection electrode changes as the first substrate moves, and consequently the mutual capacitance between the two changes. The processing module calculates the distance the first substrate has moved from the change in mutual capacitance and then converts this into pressure data, thereby achieving indirect measurement. In this case, the distance detection electrode for measuring pressure is located on one side of the first substrate, and the sensor is located on the other side, and the two do not interfere with each other. More preferably, to prevent the first distance detection electrode from shifting or tilting relative to the second distance detection electrode, a guide post is installed on the pressure sensing module, and the direction of movement of the first substrate is guided by the guide post. As a specific structural implementation method, the first substrate may be configured to be enclosed on the guide post.

[0016] Regarding solutions that reflect pressure using area, and even area and distance in combination, a two-dimensional force structure as shown in patent CN202223551426.5 may be adopted. An elastic upper electrode having a cylindrical or semi-cylindrical curved surface within a strip-shaped flexible multi-functional layer is fixed to the side of the first substrate away from the sensor (the cylindrical or semi-cylindrical curved surface faces away from the sensor), and at least two lower electrodes are placed below the upper electrode, on both sides of the long side. This creates different capacitances between the upper and lower electrodes, thereby reflecting force components in different directions. An insulating layer is installed between the upper and lower electrodes, and the downward projection of the upper electrode covers at least a portion of the area of ​​each lower electrode. When the first substrate moves, the upper electrode is subjected to force in its strip-shaped radial direction and deforms, changing the contact area between the upper electrode and the insulating layer, and further reflecting pressure change information. Alternatively, a three-dimensional force structure as shown in patent CN201910370967.1 can be employed to achieve measurements with higher resolution. In such solutions, indirect measurement is also achieved, and pressure detection and skin detection by the sensor do not interfere with each other.

[0017] Another problem with skin detection probes is the lack of a widely available backend connector due to the variety of probe types and the mismatched interfaces of each probe. To address this, another improvement is to equip the probe end with a standard connector that allows for interchangeable connection to different probes that detect human skin, thereby enabling the corresponding detection function of each probe and solving the interface unification problem.

[0018] More specifically, regarding probes for detecting skin components (moisture / oils) among skin detection probes, the moisture content in the skin provides moisture to the skin surface, while oils play a role in skin moisture retention and antibacterial properties. On the other hand, conventional methods for detecting moisture or oils in the skin often use thin-film measurement methods, where moisture or oils are absorbed by a thin film and then compared to a standard by an optical method. For example, U.S. Patent 4,532,937 discloses attaching a microporous membrane to the skin to absorb sebum, and U.S. Patent 5,119,828 discloses using a microporous hydrophobic polymer membrane, where the membrane is opaque when the pores are filled with a gaseous material, but becomes semi-transparent when the pores are filled with sebum, and optical measurements are performed using these properties. Alternatively, German Patent DE29700324U1 discloses analyzing and evaluating the skin using a measurement membrane. Thin-film measurement methods are indirect, requiring the transfer of water or oil to the measurement film before measurement. During this transfer process, errors are likely to occur due to interference from various uncertain factors. For this reason, solutions for measuring skin moisture using direct methods have appeared on the market, such as CK's corneal thermometer. Its principle involves a capacitive measurement method where the mutual capacitance field formed by two measuring electrodes penetrates the skin. The presence of water causes a change in dielectric constant within the sensing area, and the measured mutual capacitance value reflects the water content in the skin. The main problem with this method is that what we actually want to measure is the series capacitance C between the measuring electrode and the skin. a However, the skin belongs to the outer layer of the human body, and various conductive substances such as blood exist beneath the skin, and all these substances together form a distributed capacity (the self-capacity of the human body) C between the human body and the earth. w This results in the formation of a self-capacity or mutual capacity, and even when measuring the self-capacity or mutual capacity of the human body, C w This has been mixed in, and therefore the series capacitance C a The measurement becomes inaccurate, affecting the measurement accuracy, and invasive methods such as excising a portion of the skin can reduce the body's own capacity C wWhen attempting to isolate it, there is a problem such as the loss of the activity of the excised skin, which still causes measurement errors. For this reason, regarding the probe for detecting the skin components (moisture / oil) among the skin detection probes, that is, the skin component detection module, its sensor is configured to include at least a first measurement electrode and a second measurement electrode. The first measurement electrode and the second measurement electrode are used to contact the skin through an insulating layer, and the series capacitance C a1 between the first measurement electrode and the human body, and the series capacitance C a2 between the second measurement electrode and the human body are set as a set known proportionality coefficient k. A capacitance / digital conversion circuit is installed in the skin detection operation robot system. The capacitance / digital conversion circuit is coupled to each measurement electrode, acquires the first capacitance and the second capacitance. The first capacitance is set as one of the first self-capacitance measurement value acquired by the first measurement electrode, the second self-capacitance measurement value acquired by the second measurement electrode, the third self-capacitance measurement value acquired by connecting the first measurement electrode and the second measurement electrode in parallel, and the first mutual capacitance measurement value acquired by the first measurement electrode and the second measurement electrode. The second capacitance is set as one of the remaining three. The processing module constructs a first equation with the human body's ground distribution capacitance C w as a variable and the corresponding series capacitance, and constructs a second equation with the human body's ground distribution C w as a variable and the corresponding series capacitance. By using the system of equations consisting of the first equation and the second equation and the proportionality coefficient k, the series capacitance C a1 or the series capacitance C a2 is calculated and used to output the component information in the skin. In an actual scenario, when the skin component detection module performs detection, the first measurement electrode and the second measurement electrode are in close contact with the skin through an insulating layer, and the distance between the electrode and the skin is fixed. In this way, if the area ratio of the first measurement electrode and the second measurement electrode after production and manufacturing is set, the proportionality coefficient k can be determined by structural settings (one series capacitance is C a , and the other series capacitance is k*C a(Assuming this is the case), if the self-capacitance or mutual capacitance of the electrode is measured twice, then if both the self-capacitance and mutual capacitance are C w and C a Since it consists of C w and C a We can construct a functional equation relating to and use a system of equations consisting of two equations to achieve C w If you delete C a A monotonic function can be constructed with respect to the first and second capacities, and furthermore, using the first and second capacities obtained from two measurements, C a We seek C. w Because C is deleted w This eliminates measurement errors caused by C. a By calculating this, the skin component content is reflected. Furthermore, by using a capacitive-to-digital conversion circuit (CDC) such as ADI7142 or ADI7147, and performing multiple charge-discharge cycles on the measured capacitance using a Δ-Σ modulation scheme and comparing it with a reference capacitance (see US Patent Number: 5,134,401), the measured capacitance value is directly converted to a digital value. This increases the measurement sensitivity for capacitance to 1ff level, making it easier to meet the capacitance measurement sensitivity requirements in the measurement system. In particular, the design of these chips, having multiple channels, simplifies the circuit design, thereby effectively reducing cost and installation difficulty.

[0019] As a further improvement to the proposed improvement, the proportionality constant k is set to 1, but does not have to be equal to 1. A solution in which k is equal to 1 may be achieved by setting the projected areas of the first and second measuring electrodes in the normal direction corresponding to the human body to be the same, and setting the distance between the first measuring electrode and the human body to be the same as the distance between the second measuring electrode and the human body. Such a solution helps to reduce the computational load and improve the detection speed and is a preferred solution. A solution in which k is not equal to 1 may be achieved by setting the areas and / or distances to be different, for example, by setting the area of ​​the first measuring electrode to half the area of ​​the second measuring electrode, or by setting the distance between the first measuring electrode and the human body to one-third of the distance between the second measuring electrode and the human body.

[0020] JPEG2026514351000002.jpg28170In formula, C x The first mutual capacitance measurement value is k1, where k1 is between 0.1 and 0.9, and k2 is the error tolerance, set to ±5% of the measurement value. In this solution, the first capacitance is set as the self-capacity, and the second capacitance is set as the mutual capacitance. By switching between the self-capacity and the mutual capacitance, more accurate measurement results can be obtained.

[0021] JPEG2026514351000003.jpg28170In formula, C s2 The third self-capacitance measurement value is k1, where k1 is between 0.1 and 0.9, and k2 is the error tolerance, set to ±5% of the measurement value. In this solution, the first capacitance is set as the self-capacitance, and the second capacitance is set as the self-capacitance after changing the area (by connecting the two electrodes in parallel using an analog switch). By changing the area of ​​the self-capacitance and performing the measurement twice, a more accurate measurement result is obtained.

[0022] As a further improvement to the proposed modification, by setting the distance between the first measuring electrode and the second measuring electrode to 0.1 mm to 2 mm, the two electrodes are ensured to sense changes in temperature and humidity within the same space, thereby avoiding interference caused by large differences in temperature and humidity between the two electrodes due to an excessively long distance.

[0023] In the present invention, the component may be water or oil, and by utilizing the characteristic that water and oil exist at different depths in the skin (water in deeper layers, oil in shallower layers), water and oil are distinguished by detection at different depths, and when measuring oil, the penetration depth of the electric field line is controlled to combine water and the self-volume of the human body to obtain C w Alternatively, when measuring the water content of shallow layers (e.g., epidermal tissue), by controlling the penetration depth of the electric field line, it is possible to combine the water content of deeper layers (e.g., dermal and / or subcutaneous tissue) with the body's own volume. w This can be done. And / or, by changing the excitation frequency (using an excitation frequency sensitive to water, an excitation frequency sensitive to oil), water and oil can be distinguished.

[0024] Based on this, as a further improvement to the proposed improvement, at least three measuring electrodes (including the first and second measuring electrodes) may be arranged at different positions, and the capacitance / digital conversion circuit is coupled to each measuring electrode via an analog switch array and is used to selectively combine any two measuring electrodes to form a pair of electrodes for detecting mutual capacitance. On the one hand, the measuring electrodes consist of multiple sets of mutual capacitances, which can be switched via an analog switch array to enable component detection at different positions, and by taking the average value, errors due to positional differences between measurements can be reduced. On the other hand, based on this structure, at least two pairs of electrode groups can be formed by combining them, and the depth of the electric field lines of the mutual capacitances formed by each pair of electrode groups will differ, thereby realizing a change in the penetration depth of the electric field lines. Specifically, the structure may employ a method of changing the area and / or spacing, that is, creating a difference in the area or spacing between the two electrodes in each pair of electrode groups formed by different selections. In this way, a difference is created in the depth of the electric field lines of the mutual capacitance formed by each pair of electrode groups acquired by the CDC, and further, detection at different depths or detection of different layers of skin tissue can be achieved. In a solution for changing the area, for example, six electrodes 1-1, 1-2, 1-3, 1-4, 1-5, and 1-6 are installed, and the CDC measures the mutual capacitance between 1-2 and 1-3 via an analog switch array. At this time, the penetration depth of the electric field line of the mutual capacitance is in a shallow layer. Subsequently, 1-1 and 1-2 are coupled (connected in parallel), and 1-3 and 1-4 are coupled, and the mutual capacitance between the two coupled electrodes is measured. The area of ​​the coupled electrodes increases, and the penetration depth of the electric field line becomes deeper. At this time, it is possible to measure skin tissue at different depths at the same location. Alternatively, the mutual capacitance between 1-1 and 1-2 is first detected, then 1-1 and 1-2 are coupled, and 1-3 and 1-4 are coupled to change the area and measure the mutual capacitance, thereby measuring skin tissue at different depths at different locations.In the solution for varying the spacing, the six electrodes may be equally spaced or unequally spaced. For example, if they are equally spaced, 1-1 and 1-2 are used to measure epidermal tissue, 1-1 and 1-4 are used to measure dermal tissue, and 1-1 and 1-6 are used to measure subcutaneous tissue. Alternatively, if different spacing is used to simplify wiring, 1-1 and 1-2 are used to measure epidermal tissue, 1-3 and 1-4 are used to measure dermal tissue, and 1-5 and 1-6 are used to measure subcutaneous tissue. As can be seen from the above, with at least three measuring electrodes positioned at different locations, the combination of the CDC and the analog switch array can achieve multiple functional objectives. Firstly, by easily calculating the average, errors due to positional differences between measurements can be reduced. Secondly, by easily combining them, changes in spacing and / or area can be achieved, and furthermore, detection of different depths, including different depths at the same location and / or different depths at different locations, can be achieved. In this invention, the analog switch array employs an analog signal router, which can be easily and freely switched between combinations. For details on the analog signal router, please refer to patent CN202110957486.8, which will not be described in detail here. Furthermore, the analog signal router and CDC may be integrated, for example, by employing the ruby ​​chip in CN202110956246.6, achieving a 24-bit high-speed CDC, an effective resolution of 21.9 bits, a conversion time reaching 0.5 ms, and high-precision acquisition and encoding of tactile signals.

[0025] More preferably, the electrode group is configured to include at least two of the following: a first electrode group in which the spacing and / or area of ​​two electrodes is set so that the depth of the mutually capacitive electric field line penetrates the epidermal tissue of the skin; a second electrode group in which the spacing and / or area of ​​two electrodes is set so that the depth of the mutually capacitive electric field line penetrates the dermal tissue of the skin; and a third electrode group in which the spacing and / or area of ​​two electrodes is set so that the depth of the mutually capacitive electric field line penetrates the subcutaneous tissue of the skin. Epidermal, dermal, and subcutaneous tissues all constitute the skin, and by setting the electric field line to penetrate at least two or even three of these tissues, and by combining the CDC and analog switch array to calculate the average, the objective of more comprehensively and accurately reflecting skin component parameters can be achieved, and the tissue state of different layers can be selectively detected. In the solution that achieves detection of different depths or different layers of skin tissue by changing the area and / or spacing as described above, the premise is basically followed that the frequency of the excitation signal output from the CDC to the measuring electrode is set to a fixed frequency of one type. In other solutions for varying detection depth, a method may be employed in which the excitation signal frequency is set to at least two types. For example, between two measuring electrodes with a fixed spacing and area, for example, between a first measuring electrode and a second measuring electrode, software settings can be made within the ruby ​​chip so that the excitation signal operates at a first frequency during time period A and at a second frequency during time period B. Because the frequencies are different, the penetration depth of the electric field line of the mutual capacitance between the first and second measuring electrodes also changes due to the effect of the skin, thereby enabling measurement at different depths. It should be noted that, of course, by changing the frequency in addition to changing the area and / or spacing, finer particle size depth control can also be achieved. On this basis, more preferably, each selected frequency may be set to have different sensitivities to different components of the skin. For example, by setting the first frequency to be sensitive to water and the second frequency to be sensitive to oils, water and oils can be distinguished.

[0026] As a further improvement to the proposed improvement, the skin component detection module further includes a standard liquid storage device, the standard liquid storage device including at least a sealed cavity, a standard liquid placed within the sealed cavity corresponding to a component used for standardization or differential measurement, and a liquid detection electrode for detecting the volume value of the standard liquid in different environments, a volume / digital conversion circuit coupled to the liquid detection electrode, and a processing module used to correct the volume (self-volume, mutual volume) obtained by the volume / digital conversion circuit based on the volume value of the standard liquid. When the measured component is water, the standard liquid is standard water, and when measuring oils and fats, the standard liquid corresponds to oils and fats. The liquid detection electrode includes at least two and is configured to be placed on the outer wall of the sealed cavity, and the volume value of the standard liquid in the cavity is detected by the mutual volume of the two liquid detection electrodes.

[0027] In the improved method, the standardization method using a standard liquid further includes detecting the difference between the current volume value of the standard liquid and the initial volume value, and correcting the volume obtained by the CDC using the change in the reference standard that reflects this difference. For example, assuming that the volume of the standard liquid corresponds to full scale, if the volume value of the standard liquid detected at the initial time is A, it means that volume value A corresponds to full scale. If the volume value of the standard liquid detected at the present time is B instead of A, it means that the volume has changed due to a change in the environment (e.g., temperature and humidity). In this case, the difference in the volume value of the standard liquid of the same volume from A to B means that the reference standard has changed. In this case, B corresponds to full scale, and therefore, the volume obtained by the CDC needs to be corrected to correspond to the change in the reference standard.

[0028] In this improved method, the method of using a standard liquid for differential measurement further includes a differential comparison between the volume value measured by the standard liquid detection electrode and the volume value measured by the user using a digital circuit CDC. This reduces measurement errors (common-mode interference) due to changes in environmental factors. Since the standard liquid is stored inside a sealed cavity, it does not need to be replaced frequently. This reduces the calibration operation required when the user performs skin detection, allows for standardization while measuring, and makes the operation simpler. [Brief explanation of the drawing]

[0029] [Figure 1] Figure 1 is a schematic diagram of the overall structure of a robotic system for skin detection. [Figure 2] Figure 2 is a schematic diagram of the structure of the exploration end. [Figure 3-1] Figure 3-1 shows the first viewpoint of the external pressure detection device. [Figure 3-2] Figure 3-2 shows the second viewpoint of the external pressure detection device. [Figure 4] Figure 4 is a schematic diagram of the internal pressure detection device. [Figure 5] Figure 5 is a schematic diagram of the auxiliary positioning device. [Figure 6] Figure 6 shows schematic diagrams of the standard interfaces of different exploration ends. [Figure 7-1] Figure 7-1 is a schematic diagram of a partial structure of the detection sensor. [Figure 7-2] Figure 7-2 is an equivalent schematic diagram of the detection electrode and the ground-level distributed capacitance of the human body. [Figure 7-3] Figure 7-3 is a capacity distribution diagram when the first capacity is set as the self-capacity measurement value of the first measuring electrode Cs1, and the second capacity is set as the self-capacity measurement value of the second measuring electrode Cs2. [Figure 7-4] Figure 7-4 is a capacity distribution diagram when the first capacity is set as the self-capacitance measurement value of the first measuring electrode Cs1, and the second capacity is set as the mutual capacity between the first and second detection electrodes. [Figure 7-5] Figure 7-5 is a capacitance distribution diagram when the first capacitance is set as the self-capacitance measurement value of the first measuring electrode Cs1, and the second capacitance is set as the self-capacitance after connecting the first measuring electrode Cs1 and the second measuring electrode Cs2 in parallel. [Figure 8-1] Figure 8-1 is a schematic diagram illustrating the measurement depth of electrode groups with different spacing or area. [Figure 8-2] Figure 8-2 is a schematic diagram illustrating the measurement depth of excitation signals with different frequencies. [Figure 9-1]Figure 9-1 is a schematic diagram of the structure of a standard liquid storage device. [Figure 10] Figure 10 is a schematic diagram of a switch array that measures skin components at different depths using combinations of multiple electrodes. [Modes for carrying out the invention]

[0030] Hereinafter, the technical solutions of embodiments of the present invention will be clearly and completely described with reference to the drawings of embodiments of the present invention.

[0031] As shown in Figure 1, the structure of the robot system for skin detection operation with an external pressure detection function mainly comprises a probe end 100, an external actuator 200, and an auxiliary positioning device 300. For example, the external actuator 200 may be a robot arm.

[0032] As shown in Figure 2, the exploration end 100 includes an internal brake 110, a detection sensor 120, an auxiliary positioning case 130, an internal pressure detection device 140, an end processing module 150, and an external pressure detection device 180. After initial positioning by the auxiliary positioning device 300, the exploration end 100 is adjusted by the external actuator 200 to bring the outer surface of the external pressure detection device 180 into contact with or against human skin. When a predetermined first contact pressure range is reached, detection begins.

[0033] As shown in Figures 3-1 and 3-2, the external pressure detection device consists of an external pressure sensor 181, an external pressure first base 182, an external pressure second base 183, and an external pressure positioning screw 184. At least three external pressure sensors 181 must be uniformly arranged around the detection center, and at least three external pressure positioning screws 184 must be installed, uniformly arranged around the detection center, and positioned offset from the external pressure sensors 181. When the user's skin comes into contact with the outer surface (tip surface of the exploration end) of the external pressure first base 182, the external pressure first base 182 moves parallel to it by the positioning screw 184, pressing and deforming the external pressure sensor 181. When a predetermined external pressure value is reached, the external actuator 200 stops its adjustment operation. In this embodiment, the pressing of the external pressure sensor 181 may be achieved by employing a two-dimensional force structure as shown in Japanese Patent CN202223551426.5, or a three-dimensional force structure as shown in Japanese Patent CN201910370967.1.

[0034] As shown in Figure 4, the internal pressure detection device 140 includes a first distance detection electrode 141, a second distance detection electrode 142, a pressure detection guide post 143, and a pressure detection elastic body 144. The detection sensor 120 is moved in the Y direction by 2 to 4 pressure detection guide posts 143 uniformly arranged around the internal actuator 110, while limiting tilt and rotation. The detection sensor 120 can perform axial micro-movements by the internal actuator 110, and the relative position between the detection sensor 120 and the mounting surface of the internal actuator 110 can be fixed by the axial thrust provided by the pressure detection elastic body 144. At the same time, the distance of the detection sensor 120 from the tip surface of the exploration end and the magnitude of the pressure between the detection sensor 120 and the skin are obtained based on the change in the mutual capacitance value formed between the first distance detection electrode 141 and the second distance detection electrode 142. Based on the feedback information of the obtained pressure value, the number of forward steps of the internal actuator 110 is adjusted to precisely control the contact pressure between the exploration end 100 and the user's skin to reach a predetermined value.

[0035] As shown in Figure 5, the auxiliary positioning device 300 mainly includes a movable seat 301, a slide rail 302, a neck fixation device 303, and a 3D scanning imager 304. The user achieves positioning in a seated or lying position using the movable seat 301 and the slide rail 302 with a stopper function, and the user achieves initial head positioning using the neck fixation device 303. The entire system is equipped with at least three sets of 3D scanning imagers 304, enabling scanning of the user from multiple angles and directions. By combining the data from these three sets, a precise human body model 1 is constructed for the user, and the relative coordinates of the measurement points are confirmed. When repeated measurements are taken, the user is scanned by the 3D scanning imager 304 to construct a precise human body model 2. By comparing human body model 1 and human body model 2, accurate measurement points are identified, and the processing module sends commands to the actuator 200 to move or rotate, thereby identifying the previous measurement position, thereby achieving dynamic and accurate repeated positioning, and further reducing measurement errors due to deviations in repeated positioning.

[0036] As shown in Figure 6, multiple types of detection probes can be configured for different skin detection items. The connection and fixing of different detection probes to the robot arm 201 may be done using a standard interface 160, which includes a signal output and a mechanical fixing buckle, thereby enabling compatibility of the exploration end 100 for different skin detection items.

[0037] As shown in Figure 7-1, the detection sensor 120 of the exploration end 100 includes at least two detection electrodes 121, each detection electrode having an insulating layer 122, the insulating layer 122 including, but not limited to, attached insulating tape or a coating on the electrode surface, the detection electrode 121 includes at least the first measuring electrode C s1 and the second measuring electrode C s2 Includes C a1 is the first measuring electrode C s1 It is the series capacitance between the and the human body, C a2 The second measuring electrode C s2 This is the series capacitance between the first measuring electrode C and the human body.s1 and the second measuring electrode C s2 K is set as a known proportionality constant, and when the proportionality constant is set to 1, the first and second measuring electrodes have the same area and the same distance from the skin of the human body. A capacitance-to-digital converter (CDC) is installed in the robot system for skin detection, and the capacitance-to-digital converter is coupled to each measuring electrode to acquire the first and second capacitances. The first capacitance is set as one of the following: a first self-capacitance measurement obtained by the first measuring electrode, a second self-capacitance measurement obtained by the second measuring electrode, a third self-capacitance measurement obtained by connecting the first and second measuring electrodes in parallel, and a first mutual capacitance measurement obtained by the first and second measuring electrodes. The second capacitance is set as one of the remaining three.

[0038] Figure 7-2 is an equivalent schematic diagram of the detection electrode and the ground-level distribution capacitance of the human body, and for the sake of easier conversion and understanding later, for example, the first measuring electrode C s1 The series capacitance between the and the human body is C. a When marked as such, the second measuring electrode C s2 Series capacitance C between the body and the human body a2 is kC a It may also be shown as follows, and the human body's volume relative to ground is volume C w It may be equivalent to this.

[0039] JPEG2026514351000004.jpg59170

[0040] JPEG2026514351000005.jpg58170

[0041] JPEG2026514351000006.jpg54170

[0042] C above a These are all theoretical calculations, and in practice, to consider measurement errors and tolerances, C a k 1、 k2 needs to be introduced, where k1 is between 0.9 and 1.1, and k2 is the error tolerance, for example, ±5% of the measured value.

[0043] As shown in Figure 8-1, three electrode groups are set up: the first electrode group consists of electrodes 1-1 and 1-2, the second electrode group consists of electrodes 1-3 and 1-4, and the third electrode group consists of electrodes 1-5 and 1-6. The three electrode groups have different areas and different field depths, allowing for the measurement of skin components at different depths. The first electrode group has a small area and a relatively shallow field depth, suitable for measuring skin components in the epidermal tissue 702; the second electrode group has a moderate area and a field depth suitable for measuring skin components in the dermal tissue 703; and the third electrode group has a large area, suitable for measuring skin components in the subcutaneous tissue 704. Similarly, the field depth can be changed by changing the spacing between the electrodes.

[0044] As shown in Figure 8-2, different components of skin react differently to excitation signals of different frequencies. Therefore, by setting excitation signals of at least two different frequencies, it is possible to detect different components within the same depth range. At the same time, a large difference in the excitation signal frequencies affects the distribution of the electric field lines, further controlling the detection depth. In time period A, the excitation frequency is the first excitation frequency, and the volume value of skin components in epidermal tissue 702 can be measured by the depth of the electric field lines. In time period B, the excitation frequency is the second excitation frequency, and the volume value of skin components in dermal tissue 703 can be measured by the depth of the electric field lines. By combining different electrodes and different frequencies, the measurement range can be expanded, and the distinction between measurement depths can be further refined.

[0045] As shown in Figures 2 and 9-1, the skin component detection module of the exploration end 100 includes a standard liquid storage device 170, which mainly consists of a standard liquid detection electrode 171, a standard liquid 172, and a sealed cavity 173. The standard liquid detection electrode 171 may be a pair of detection electrodes, which are attached to opposite sides of the outside of the sealed cavity and record the initial volume value measured in the initial state and the corresponding environmental variable factors. When the environment changes, the volume value also changes, and by inputting the change in the volume value of the standard liquid detection electrode 171 into the processing module, environmental correction can be performed on the measurement results. The standard solution 172 may be water or a standard oil, and is stored in a sealed cavity 173. During the process of the user detecting skin components, the digital circuit CDC compares the volume value measured by the standard solution detection electrode 171 with the volume value measured by the user, thereby reducing measurement errors due to changes in environmental factors. Since the standard solution 172 is stored inside the sealed cavity 173, it does not need to be replaced frequently, thereby reducing the calibration operation required when the user performs skin detection and simplifying the operation.

[0046] As shown in Figure 10, the exploration end 100 of the robotic system for skin detection includes at least three sets of electrodes, and by performing mutual capacitance measurements using different electrode combinations via a processing module, skin components at different depths can be measured. When detecting epidermal tissue 702, switches K1, K4, K20, K30 are closed, or K5, K8, K20, K30 are closed, or K9, K12, K20, K30 are closed, allowing the capacitance of skin components in the epidermal tissue at three different positions from the depth of the electric field line, and the measurement error due to positioning error is reduced by calculating the average value. When detecting dermal tissue 703, switches K1, K3, K6, K8, K20, K30 are closed, or K5, K7, K10, K12, K20, K30 are closed, or K2, K4, K5, K7, K20, K30 are closed, allowing the volume of skin components in the dermal tissue at two different positions to be measured from the depth of the electric field line, and the measurement error due to positioning error is reduced by calculating the average value. When detecting subcutaneous tissue 704, switches K1, K3, K10, K12, K20, K30 are closed, or K2, K4, K9, K11, K20, K30 are closed, allowing the volume of skin components in the subcutaneous tissue to be measured from the depth of the electric field line, and the volume values ​​of skin components in multiple sets of subcutaneous tissue can be obtained by increasing the number of electrodes, and further, the measurement error due to positioning error is reduced by calculating the average value.

[0047] Finally, it should be noted that the above embodiments are merely for illustrating the technical solutions of the present invention and do not limit the scope of protection of the present invention. Although the present invention has been described in detail by preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention can be modified or replaced with equivalent substitutes without departing from the essence and scope of the technical solutions of the present invention.

Claims

1. A robotic system for skin detection operations having an external pressure detection function, It comprises a processing module, a probe, an external actuator, an external pressure detection device, and an auxiliary positioning device for positioning specific parts of the human body. The exploration end is provided with a probe for detecting skin at a specific part of the human body, and a tip surface that directly or indirectly contacts the skin when a sensor for detecting skin on the probe comes into contact with the skin. The external pressure detection device is configured to sense a first contact pressure between the tip surface and the skin when the tip surface comes into direct or indirect contact with the skin. The external actuator is used to adjust the first contact pressure by driving and moving the tip surface. The probe is equipped with an internal pressure control device for controlling the second contact pressure between the sensor and the skin. The processing module is characterized in that it is coupled to the external actuator and the external pressure detection device, respectively, in a robotic system for skin detection.

2. The skin detection robot system according to claim 1, characterized in that the probe is coupled to the processing module and has an internal pressure detection device for detecting a second contact pressure between the sensor and the skin.

3. The robot system for skin detection operation according to claim 2, characterized in that the internal pressure detection device is configured as a capacitive pressure sensing module.

4. The internal pressure control device is configured as an elastic body, and the sensor is fixed to the probe by the elastic body, thereby flexibly controlling the second contact pressure within a set interval, or The robotic skin detection system according to claim 1 or 2, characterized in that the internal pressure control device is configured as an internal actuator coupled to the processing module, and the internal actuator is used to adjust the second contact pressure between the sensor and the skin by driving and moving the sensor on the probe.

5. The auxiliary positioning device is configured as a fixing bracket for auxiliaryly fixing a specific part of the human body, and / or The robot system for skin detection operation according to claim 1, wherein the auxiliary positioning device is configured as a visual scanning imaging system coupled to the processing module, the visual scanning imaging system confirms the target detection position by scanning a specific part of the human body, and the processing module controls the movement of the external actuator based on the target detection position.

6. The robot system for skin detection operation according to claim 1, characterized in that the external actuator is configured as a movable robotic arm.

7. The robotic system for skin detection operation according to claim 1, characterized in that the number of external pressure detection devices is set to be at least two and is arranged to surround the probe.

8. The skin detection robot system according to claim 1, characterized in that the exploration end is equipped with a standard connector for enabling the corresponding detection function of a probe by being interchangeably connected to a different probe for detecting human skin.

9. A capacitive / digital conversion circuit is installed in the aforementioned robotic system for skin detection. At least one of the probes is configured as a skin component detection module for detecting skin components, and the sensor of the skin component detection module is configured to include at least a first measuring electrode and a second measuring electrode. The first and second measuring electrodes are used to contact the skin via an insulating layer, and the series capacitance C between the first measuring electrode and the human body is ａ１ And the series capacitance C between the second measuring electrode and the human body. ａ２ The ratio is set as a known proportionality constant k, The capacitance / digital conversion circuit is coupled to each measuring electrode and acquires a first capacitance and a second capacitance. The first capacitance is set as one of the following: a first self-capacitance measurement value acquired by the first measuring electrode, a second self-capacitance measurement value acquired by the second measuring electrode, a third self-capacitance measurement value acquired by connecting the first and second measuring electrodes in parallel, and a first mutual capacitance measurement value acquired by the first and second measuring electrodes. The second capacitance is set as one of the remaining three. The processing module calculates the ground-level distribution capacity C of the human body based on the first capacity. ｗ A first equation is constructed with the corresponding series capacitance as a variable, and based on the second capacitance, the ground distribution C of the human body is calculated. ｗ A second equation is constructed with the corresponding series capacitance as a variable, and the series capacitance C is calculated using the system of equations consisting of the first and second equations and the proportionality constant k. ａ１ or series capacitance C ａ２ The robot system for skin detection operation according to claim 1, characterized in that it is used to output information about the components in the skin by calculating the following.

10. The robot system for skin detection operation according to claim 9, characterized in that the distance between the first measuring electrode and the second measuring electrode is set to 0.1 mm to 2 mm.

11. The skin component detection module is equipped with at least three measuring electrodes positioned at different locations. The robotic skin detection system according to claim 9, characterized in that the capacitance / digital conversion circuit is coupled to each measuring electrode via an analog switch array and is used to selectively combine any two measuring electrodes to form a pair of electrodes for detecting mutual capacitance.

12. The robot system for skin detection operation according to claim 11, characterized in that there are at least two pairs of the electrode groups, and the depth of the electric field lines of the mutual capacitance formed by each pair of electrode groups is different.

13. The electrode group is The distance and / or area of ​​the two electrodes is set so that the depth of the mutually capacitive electric field line penetrates the epidermal tissue of the skin. The distance and / or area of ​​the two electrodes is set so that the depth of the mutually capacitive electric field lines penetrates the dermal tissue of the skin, and The robotic skin detection system according to claim 12, characterized in that the spacing and / or area of ​​the two electrodes is configured to include at least two of a third group of electrodes, which are set so that the depth of the mutually capacitive electric field lines penetrates into the subcutaneous tissue of the skin.

14. The robotic skin detection system according to claim 11, 12, or 13, characterized in that the excitation signal output from the capacitance / digital conversion circuit to the electrode group is set to include at least two different frequencies.

15. The robotic system for skin detection operation according to claim 14, characterized in that each of the frequencies has a different sensitivity to different components of the skin.

16. The skin component detection module further includes a standard liquid storage device, The standard liquid storage device includes at least a sealed cavity, a standard liquid located within the sealed cavity and used for standardization or differential measurement, and a liquid detection electrode for detecting the volume value of the standard liquid in different environments. The capacitance / digital conversion circuit is coupled to the liquid detection electrode, The processing module uses the volume value of the standard liquid to determine the series volume C ａ１ or series capacitance C ａ２ A robotic system for skin detection operation according to claim 9, characterized in that it is used to correct the

Images