System design and clinical application of medical robot assisted photodynamic therapy of port wine stains

Port wine stains (PWS) are a kind of skin disease caused by congenital vascular malformations. Photodynamic therapy (PDT) with laser has already achieved good effects on the selective treatment of PWS. Clinically, the laser density of laser is uneven and doctors have to keep moving laser fiber manually. The laser irradiation on lesion area is arbitrary and un-uniform. In addition, the long time manual operation makes doctors fatigue. We designed a robot system to assist doctors. The system design mainly consists of mechanism design of medical manipulator, software design of workstation, image processing, design of treatment modes, and safety system design. Experiments were conducted to verify the performance of the robot system. Finally, the robot system was first applied in clinic. The results show that the robot system is safe and useful in assisting PDT treatment of PWS.