The work deals with the optimization of the motion of a collaborative robotic arm intended for use in laser medical therapies. The motivation for developing such a system lies primarily in the improved precision and uniformity of tissue heating compared to manual guidance of the laser beam. The optimization of movement refers mainly on speeding up the process while making full use of the available laser power. Therefore, in the first part of the study, we used a thermal camera to measure the heating of the irradiated surface using different trajectories and evaluated the homogeneity of the temperature field. We used an Er:YAG laser and a UR5 collaborative robotic arm. Afterwards, we conducted numerical simulations of laser tissue heating, taking into account transient heat conduction and the movement of the laser beam along those
same trajectories. We observed satisfactory matching between the results (deviation of up to 10 % after two trajectory passes). In the second part, we explored the possibility of faster laser beam guidance by deflecting the robot’s last joint. We found that this approach allows us to achieve a comparable temperature field homogeneity at higher speeds. This demonstrates the potential for using the laser at higher power levels, representing a significant advantage over existing solutions.
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