Automatic microneedle depth adjusting system based on facial scanning technologyTechnical Field
The invention belongs to the facial care technology, and particularly relates to a microneedle depth automatic regulating system based on a facial scanning technology.
Background
Microneedle therapy is a medical cosmetic technique that stimulates the skin through tiny needle-like means to promote skin regeneration. During treatment, the needle-like tool will penetrate the epidermis layer, reach the dermis layer (middle of dermis to lower edge), promote collagen and elastin production in the dermis layer, improve skin texture, reduce wrinkles and restore skin luster and elasticity. The thickness of epidermis, dermis and subcutaneous tissue constituting the skin of a human body is not uniform at different locations. To achieve optimal therapeutic results and reduce potential risks, it is desirable to precisely control the penetration depth of the microneedles during treatment so that they reach only the dermis layer without additional stimulation of the subcutaneous tissue.
The current stage of microneedle depth adjustment is primarily dependent upon manual adjustment. In operation, a doctor or operator often determines the depth of penetration of the microneedle by observing factors such as the appearance, elasticity, and feel of the skin. However, this procedure is empirically demanding, and over a long learning period, inexperienced operators often require additional trial and error to determine the optimal penetration depth based on patient feedback, a process that adds complexity and time cost to the treatment. In addition, in the case of performing the microneedle treatment on a portion where the skin thickness varies widely, such as the face, since the skin around the eyes, lips, and cheeks of the face is relatively thin, and the skin around the forehead and mandible is relatively thick, it is necessary to frequently adjust the depth of the microneedle to obtain a better therapeutic effect.
Furthermore, current microneedle therapy lacks record of intraoperative therapy conditions. The current situation causes that the treatment process in the operation is difficult to trace, and the communication between doctors and patients is difficult. Meanwhile, when skin problems or poor treatment effect occur after operation, doctors lack enough treatment data to accurately analyze reasons.
In view of the above, it is clinically desirable to achieve automatic adjustment of microneedle depth and recording of therapeutic procedures. To improve the accuracy and efficiency of the microneedle therapy and provide transparent therapeutic process information for the patient. By individuating the treatment scheme and accurate data backtracking after operation, doctors can better meet the specific treatment requirements of patients. Finally, the optimization of the microneedle treatment process is realized, the satisfaction degree of patients is improved, and the rights and interests of both doctors and patients are ensured.
Disclosure of Invention
Aiming at the state of the prior art, the invention provides a microneedle depth automatic regulating system based on a face scanning technology, which realizes automatic regulation of microneedle depth and record of treatment process through information interaction of an operation tool module, a visual unit module and a visual unit module, forms a personalized treatment scheme, improves the accuracy and efficiency of microneedle treatment and provides transparent treatment process information for patients. By individuating the treatment scheme and accurate data backtracking after operation, doctors can better meet the specific treatment requirements of patients. Finally, the optimization of the microneedle treatment process is realized, the satisfaction degree of patients is improved, and the rights and interests of both doctors and patients are ensured.
The technical scheme adopted by the invention is as follows: a microneedle depth auto-adjustment system based on facial scanning technology, comprising:
a surgical tool module including a microneedle and a microneedle handle for controlling the movement and insertion depth of the microneedle;
the visual unit module is used for carrying out three-dimensional scanning of the face and positioning and tracking the position of the surgical tool module in real time;
the power unit module is used for providing power for the microneedle handle;
and the visual unit module is used for receiving the data from the visual unit module and the surgical tool module, displaying the data in a graphical interface, receiving the input of an operator, and adjusting the system setting or the operation mode.
On the basis of the scheme, as preferable, the vision unit module comprises a binocular scanner, infrared light signal emission and a receiver, generates three-dimensional mapping of the face through image recognition and data processing technology, and updates the accurate position of the operation tool module in an operation area in real time, and provides real-time data for the operation tool module in operation so as to ensure operation accuracy; at the same time, image information is sent to the visualization unit for reference by the operator.
On the basis of the scheme, as preferable, the power unit module comprises a negative pressure generating device and a control system, in operation, the power unit module provides suction force required by microneedle operation, and meanwhile, the control system monitors and adjusts pressure and flow, so that cooperation with the operation tool module is maintained, and continuity and safety of operation are ensured.
On the basis of the above scheme, preferably, the negative pressure generating device is fixedly arranged at the upper end of the lifting column, the universal castor is arranged at the lower end of the lifting column, the display is fixedly arranged at the upper end of the negative pressure generating device, the display is connected with one end of the rotary joint assembly, and the other end of the rotary joint assembly is fixedly connected with the binocular scanner.
On the basis of the scheme, the visual unit module preferably comprises an embedded display and a user interaction interface.
On the basis of the scheme, the method preferably comprises the following steps when in application:
step one: after the patient's face is fixed in place, the binocular scanner is adjusted to be positioned about 30-40cm above the patient's face, and the face is scanned for about 2 seconds to generate spatial point cloud data;
step two: processing point cloud data by utilizing an OpenCV integrated Dlib algorithm to accurately identify key feature points of a face, measuring face parameters of a patient according to the key feature points, generating face personalized parameters of the patient, and finely dividing the face of the patient, wherein the face comprises a forehead area, an eye area, a nose area, a cheek area, an oral area, a mandibular area, an ear area and a temporal area;
step three: calculating the skin thickness of each area of the face by combining the personalized parameters of the face of the patient and the gender, age, height and weight information thereof, wherein the regional information and the skin thickness data of the corresponding area are recorded in the system and displayed in a visual mode through a display;
step four: holding a microneedle handle to ensure that the side of the handle with the marker faces the binocular scanner, and then lightly touching at least three points of the highest point of the nose bridge, the nose tip, the small nose column and the inner side starting points of the upper eyelid of the left eye and the right eye by the front end of the handle, registering characteristic points, and calculating the consistency of an automatic identification result of a system and manual identification; in order to ensure the accuracy and safety of the operation, if the error is lower than the error threshold value, further operation can be performed;
step five: turning on a negative pressure power switch, under the guidance of a system, sequentially carrying out microneedle treatment on a plurality of areas of the face, identifying and tracking a microneedle handle by a binocular scanner, generating a face area where the head end of the handle is positioned, and carrying out real-time monitoring and dynamic adjustment on the negative pressure intensity;
step six: in the operation, the region which is already operated is marked, and a treatment region report of the operation is output, so that the traceability of a follow-up postoperative return visit is facilitated.
In addition to the above, the error threshold is preferably 2mm.
Compared with the prior art, the invention has the following beneficial effects:
through the information interaction of the operation tool module, the visual unit module and the visual unit module, the automatic adjustment of the depth of the micro needle and the record of the treatment process are realized, a personalized treatment scheme is formed, the accuracy and the efficiency of the micro needle treatment are improved, and transparent treatment process information is provided for patients.
By individuating the treatment scheme and accurate data backtracking after operation, doctors can better meet the specific treatment requirements of patients.
Finally, the optimization of the microneedle treatment process is realized, the satisfaction degree of patients is improved, and the rights and interests of both doctors and patients are ensured.
Drawings
FIG. 1 is an intraoperative scene diagram;
FIG. 2 is a system block diagram;
FIG. 3 is a keypoint identification and partitioning;
fig. 4 is a block diagram of an automatic microneedle depth adjustment system.
Detailed Description
The present invention will be further illustrated by the following examples, but the scope of the present invention is not limited thereto.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
The system is composed of a visual unit module 1, a surgical tool module 2, a power unit module 3 and a visual unit module 4 as shown in fig. 1.
The visual unit module consists of two high-definition image sensors (cameras/binocular scanners) and infrared light signal emission and receiving devices, and is responsible for carrying out high-precision three-dimensional scanning of the face and positioning and tracking the position of the surgical instrument in real time. Through advanced image recognition and data processing techniques, the module generates a three-dimensional map of the face and updates the precise location of the surgical instrument within the surgical field in real time. During surgery, providing real-time data to a surgical tool module to ensure surgical accuracy; at the same time, image information is sent to the visualization unit for reference by the operator.
The surgical tool module consists of a microneedle handle 7 provided with markers for tracking and navigation as a main tool for performing microneedle therapy, which precisely controls the movement and insertion depth of the microneedles according to data provided by the vision unit. In operation, the module receives the positioning information of the vision unit module in real time and adjusts the movement of the vision unit module according to the information; at the same time, the action information is fed back to the visualization unit for the operator to observe and record.
The power unit module is composed of a negative pressure generating device 11 and additional control systems (e.g., switches, sensors and regulating valves). In operation, the module provides suction required by microneedle operation, and simultaneously monitors and adjusts pressure and flow through a control system thereof, maintains cooperation with the surgical tool module, and ensures continuity and safety of operation.
The visual unit module of the system comprises an embedded display and a user interaction interface, and can display key information in the operation process, such as a region to be treated, a treated region, the position of a surgical instrument and the like. And provides an intuitive interactive interface for the operator to monitor the surgical procedure and make adjustments. Interactions with other modules are as follows: data from the vision unit and surgical tool module is received, and the information is presented in a graphical interface while receiving operator input to adjust system settings or modes of operation.
In the operation preparation stage, the universal castor 9, the lifting column 12 and the rotary joint assembly 5 which form the system can work cooperatively, and the binocular scanner 6 is adjusted to a position which is about 30 cm to 40cm away from the face of a patient, so as to obtain the best face point cloud data sampling effect, as shown in fig. 2:
the system comprises the following steps in use, as shown in fig. 4:
step one: after the patient's face is fixed in place, the binocular scanner is adjusted to be about 30-40cm above the patient's face, and the face is scanned for about 2 seconds, generating spatial point cloud data.
Step two: the point cloud data is processed by utilizing an OpenCV integrated Dlib algorithm to accurately identify key feature points of the face, including eyebrows, eyes, nose, mouth and the outline of the face, for 68 points in total. Then, based on these key points, the facial parameters of the patient, such as the height and width of the eyes, the distance between the eyebrows, the length and width of the nose, and the length and width of the face, are precisely measured. These data will be used to generate facial personalization parameters for the patient. The patient's face is then carefully segmented, including forehead, eye, nose, cheek, mouth, mandible, ear and temporal regions, as in fig. 3.
Step three: and (3) calculating the skin thickness of each area of the face by utilizing a large data set specially aiming at Chinese crowd and combining the personalized parameters of the face of the patient obtained in the step two and the information such as gender, age, height, weight and the like. These zone information and skin thickness data for the corresponding zone will be recorded in the system and presented in a visual manner via the display 10.
Step four: the doctor holds the microneedle handle to ensure that the side of the handle with the marker faces the binocular scanner, then lightly touches the highest point of the nose bridge, the nose tip, the small nose column and the inner side starting points (at least three points are selected) of the upper eyelid of the left eye and the right eye at the front end of the handle, performs characteristic point registration, and calculates the consistency of the automatic identification result of the system and manual identification. To ensure the accuracy and safety of the procedure, the error threshold is set to 2mm in the present system, and if the error is below this threshold, further surgical procedures can be entered.
Step five: and turning on a negative pressure power switch 8, under the guidance of the system, sequentially carrying out microneedle treatment on a plurality of areas of the face, identifying and tracking the microneedle handle by a binocular scanner, generating a face area where the head end of the handle is positioned, and carrying out real-time monitoring and dynamic adjustment on the negative pressure intensity.
Step six: in the operation, the region which is already operated is marked, and a treatment region report of the operation is output, so that the traceability of a follow-up postoperative return visit is facilitated.
It should be noted that the above-described embodiments are only for explaining the present invention and do not limit the present invention in any way. The invention has been described with reference to exemplary embodiments, but it is understood that the words which have been used are words of description and illustration, rather than words of limitation. Modifications may be made to the invention as defined in the appended claims, and the invention may be modified without departing from the scope and spirit of the invention. Although the invention is described herein with reference to particular means, materials and embodiments, the invention is not intended to be limited to the particulars disclosed herein, as the invention extends to all other means and applications which perform the same function.