工程科学学报，第41卷，第6期：809-816,2019年6月 Chinese Journal of Engineering,Vol.41,No.6:809-816,June 2019 DOI:10.13374/j.issn2095-9389.2019.06.013:http://journals.ustb.edu.cn 烧伤创面多自由度精密激光切痂系统 王光建2)四，黄剑2》，任品旭》，何亮亮)，唐瑞欢) 1)重庆大学机械传动国家重点实验室，重庆4000442)重庆大学汽车工程学院，重庆400044 3)卡内基梅隆大学梅隆科学院，匹兹堡152174)重庆大学机械工程学院，重庆400044 5)中国石油川庆钻探有限公司井下作业公司，成都610000 ☒通信作者，E-mail:jwang@cqu.cdu.cm 摘要针对复杂空间创面法向自动聚焦和切痂的关键技术问题，提出了一套由5自由度运动平台和2自由度激光光路控制 机构组成的激光切痂控制系统.对激光切痂并联机构进行运动学逆解分析，推导了运动平台和激光光路控制机构的位置对应 关系.结合所推导的位置对应关系和复杂创面轮廓三维扫描结果，该系统可实现激光轨迹的自动规划，从而完成激光自动切 痂。基于所提出的激光切痂系统，进行了激光切痂实验研究，实验测试结果表明：该激光切痂系统能很好完成人体手部区域的 三维轮廓扫描与重建，并自动规划激光焦点光斑运动轨迹并切痂 关键词烧伤创面：激光切痂：三维扫描：串并联机构：运动学分析 分类号TH132.4 Precision multi-degree-of-freedom laser therapy system for excision of eschar over burn wound WANG Guangjian,HUANG Jian),REN Pin-u,HE Liang-iang,TANG Rui-huan 1)State Key Laboratory of Mechanical Transmission,Chongqing University,Chongqing 400044,China 2)School of Automotive Engineering,Chongqing University,Chongqing 400044,China 3)Mellon College of Science,Carnegie Mellon University,Pittsburgh 15217,America 4)College of Mechanical Engineering,Chongging University,Chongqing 400044,China 5)Downhole Operation Company,China Petroleum Chuanqing Drilling Co.,Ltd.,Chengdu 610000,China Corresponding auther,E-mail:giwang@cqu.edu.cn ABSTRACT Early escharotomy in cases of severely burned patients can reduce infection and shorten the course of treatment.From the treatment effect,the quality of escharotomy operation is critical to the postoperative recovery of bum patients.However,the tradi- tional burn wound escharotomy surgery easily causes bleeding as well as other related complications.Applying high-energy laser cutting can effectively reduce bleeding.Moreover,its treatment cycle is short,and it is highly precise,less prone to related complications, and leads to fast postoperative recovery.Considering that the mechatronics of medical equipment can greatly improve the treatment effect and combining the multi-degree-of-freedom motion platform with laser cutting is more convenient,accurate,and effective,this paper focuses on the key technical issues of normal automatic focusing and cutting in complex space wounds.Considering the advanta- ges of multi-degree-of-freedom motion platform,a set of laser escharotomy control system composed of five-degrees-of -freedom motion platform and two-degrees-of-freedom laser optical path control mechanism was proposed.The degree of freedom of the parallel mecha- nism was analyzed and coordinate system of the whole mechanism was established.Second,inverse kinematic analysis of the laser es- char cutting parallel mechanism was carried out.Last,the position correspondence between the motion platform and the laser light path control mechanism was derived.The system could realize automatic planning of the laser trajectory and complete the automatic laser cutting by combining the derived corresponding position and the 3D scanning result of the complex wound contour.Based on the pro- 收稿日期：201804-19 基金项目：国家自然科学基金资助项目(51275538)工程科学学报，第 41 卷，第 6 期: 809--816，2019 年 6 月 Chinese Journal of Engineering，Vol． 41，No． 6: 809--816，June 2019 DOI: 10． 13374 /j． issn2095--9389． 2019． 06． 013; http: / /journals． ustb． edu． cn 烧伤创面多自由度精密激光切痂系统 王光建1，2) ，黄 剑1，2) ，任品旭3) ，何亮亮1，4) ，唐瑞欢5) 1) 重庆大学机械传动国家重点实验室，重庆 400044 2) 重庆大学汽车工程学院，重庆 400044 3) 卡内基梅隆大学梅隆科学院，匹兹堡 15217 4) 重庆大学机械工程学院，重庆 400044 5) 中国石油川庆钻探有限公司井下作业公司，成都 610000 通信作者，E-mail: gjwang@ cqu． edu． cn 摘 要 针对复杂空间创面法向自动聚焦和切痂的关键技术问题，提出了一套由 5 自由度运动平台和 2 自由度激光光路控制 机构组成的激光切痂控制系统． 对激光切痂并联机构进行运动学逆解分析，推导了运动平台和激光光路控制机构的位置对应 关系． 结合所推导的位置对应关系和复杂创面轮廓三维扫描结果，该系统可实现激光轨迹的自动规划，从而完成激光自动切 痂． 基于所提出的激光切痂系统，进行了激光切痂实验研究，实验测试结果表明: 该激光切痂系统能很好完成人体手部区域的 三维轮廓扫描与重建，并自动规划激光焦点光斑运动轨迹并切痂． 关键词 烧伤创面; 激光切痂; 三维扫描; 串并联机构; 运动学分析 分类号 TH132. 4 收稿日期: 2018--04--19 基金项目: 国家自然科学基金资助项目( 51275538) Precision multi-degree-of-freedom laser therapy system for excision of eschar over burn wound WANG Guang-jian1，2)  ，HUANG Jian1，2) ，ＲEN Pin-xu3) ，HE Liang-liang1，4) ，TANG Ｒui-huan5) 1) State Key Laboratory of Mechanical Transmission，Chongqing University，Chongqing 400044，China 2) School of Automotive Engineering，Chongqing University，Chongqing 400044，China 3) Mellon College of Science，Carnegie Mellon University，Pittsburgh 15217，America 4) College of Mechanical Engineering，Chongqing University，Chongqing 400044，China 5) Downhole Operation Company，China Petroleum Chuanqing Drilling Co． ，Ltd． ，Chengdu 610000，China Corresponding auther，E-mail: gjwang@ cqu． edu． cn ABSTＲACT Early escharotomy in cases of severely burned patients can reduce infection and shorten the course of treatment． From the treatment effect，the quality of escharotomy operation is critical to the postoperative recovery of burn patients． However，the tradi￾tional burn wound escharotomy surgery easily causes bleeding as well as other related complications． Applying high-energy laser cutting can effectively reduce bleeding． Moreover，its treatment cycle is short，and it is highly precise，less prone to related complications， and leads to fast postoperative recovery． Considering that the mechatronics of medical equipment can greatly improve the treatment effect and combining the multi-degree-of-freedom motion platform with laser cutting is more convenient，accurate，and effective，this paper focuses on the key technical issues of normal automatic focusing and cutting in complex space wounds． Considering the advanta￾ges of multi-degree-of-freedom motion platform，a set of laser escharotomy control system composed of five-degrees-of-freedom motion platform and two-degrees-of-freedom laser optical path control mechanism was proposed． The degree of freedom of the parallel mecha￾nism was analyzed and coordinate system of the whole mechanism was established． Second，inverse kinematic analysis of the laser es￾char cutting parallel mechanism was carried out． Last，the position correspondence between the motion platform and the laser light path control mechanism was derived． The system could realize automatic planning of the laser trajectory and complete the automatic laser cutting by combining the derived corresponding position and the 3D scanning result of the complex wound contour． Based on the pro-