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Homogeneous path generation for automated laser burn debridement

The objective of this work is to generate a path plan for an automatic laser equipped burn debridement robot. A high powered, CO2 based, pulsed laser transmitted through a kinematic chain to the end effector of a robot is used to ablate burnt tissue on the skin of a burn victim. The generation of the path plan for the robot's end effector is critical for an effective treatment using this automated method. Path planning for this device involves generating the trajectory to be followed by the end effector so that the laser irradiation can be used to treat (ablate) the non-uniform burnt skin without an over- or under-cut. In this application, 3-D body surface points of the human body are measured and modeled using the non-uniform rational B-splines (NURBS) surface modeling technique. The depth of burn is measured along the normal direction to the cutting point on the surface. The homogeneous path is generated under the following constraints: the laser spots cover the burnt area with minimum overlap; the laser beam is incident along the direction normal to the skin; and the laser dosage is varied with the depth of burn. The path traced by the laser treatment head (on the end effector) has a constant offset from the point in the burnt skin being treated. The offset contours on the skin surface are equal in distance. The axis of the laser treatment head is along the normal direction to skin.