JP-2026514351-A - Robot system for skin detection with external pressure detection function

JP2026514351AJP 2026514351 AJP2026514351 AJP 2026514351AJP-2026514351-A

Abstract

The present invention relates to a robotic system for skin detection operation having an external pressure detection function, comprising a processing module, a probe end, an external actuator, an external pressure detection device, and an auxiliary positioning device for positioning a specific part of the human body. The probe end is equipped with a probe for detecting skin at a specific part of the human body, and a tip surface that directly or indirectly contacts the skin when a sensor for detecting skin on the probe comes into contact with the skin. The external pressure detection device is configured to sense a first contact pressure between the tip surface and the skin when the tip surface directly or indirectly contacts the skin. The external actuator is used to adjust the first contact pressure by driving and moving the tip surface. An internal pressure control device is provided on the probe for controlling a second contact pressure between the sensor and the skin. The processing module is coupled to the external actuator and the external pressure detection device, respectively.

Inventors

孫滕▲ちぇん▼
曽凡佑
王凱

Assignees

北京他山科技有限公司

Dates

Publication Date: 20260511
Application Date: 20240416
Priority Date: 20230428

Claims (16)

A robotic system for skin detection operations having an external pressure detection function, It comprises a processing module, a probe, an external actuator, an external pressure detection device, and an auxiliary positioning device for positioning specific parts of the human body. The exploration end is provided with a probe for detecting skin at a specific part of the human body, and a tip surface that directly or indirectly contacts the skin when a sensor for detecting skin on the probe comes into contact with the skin. The external pressure detection device is configured to sense a first contact pressure between the tip surface and the skin when the tip surface comes into direct or indirect contact with the skin. The external actuator is used to adjust the first contact pressure by driving and moving the tip surface. The probe is equipped with an internal pressure control device for controlling the second contact pressure between the sensor and the skin. The processing module is characterized in that it is coupled to the external actuator and the external pressure detection device, respectively, in a robotic system for skin detection.
The skin detection robot system according to claim 1, characterized in that the probe is coupled to the processing module and has an internal pressure detection device for detecting a second contact pressure between the sensor and the skin.
The robot system for skin detection operation according to claim 2, characterized in that the internal pressure detection device is configured as a capacitive pressure sensing module.
The internal pressure control device is configured as an elastic body, and the sensor is fixed to the probe by the elastic body, thereby flexibly controlling the second contact pressure within a set interval, or The robotic skin detection system according to claim 1 or 2, characterized in that the internal pressure control device is configured as an internal actuator coupled to the processing module, and the internal actuator is used to adjust the second contact pressure between the sensor and the skin by driving and moving the sensor on the probe.
The auxiliary positioning device is configured as a fixing bracket for auxiliaryly fixing a specific part of the human body, and/or The robot system for skin detection operation according to claim 1, wherein the auxiliary positioning device is configured as a visual scanning imaging system coupled to the processing module, the visual scanning imaging system confirms the target detection position by scanning a specific part of the human body, and the processing module controls the movement of the external actuator based on the target detection position.
The robot system for skin detection operation according to claim 1, characterized in that the external actuator is configured as a movable robotic arm.
The skin detection robot system according to claim 1, characterized in that the external pressure detection device is set to be at least two in number and is arranged surrounding the probe.
The robotic system for skin detection operation according to claim 1, characterized in that the exploration end is equipped with a standard connector for enabling the corresponding detection function of different probes for detecting human skin by interchangeable connection.
A capacitive/digital conversion circuit is installed in the aforementioned robotic system for skin detection. At least one of the probes is configured as a skin component detection module for detecting skin components, and the sensor of the skin component detection module is configured to include at least a first measuring electrode and a second measuring electrode. The first and second measuring electrodes are used to contact the skin via an insulating layer, and the ratio of the series capacitance C a1 between the first measuring electrode and the human body to the series capacitance C a2 between the second measuring electrode and the human body is set as a known proportionality constant k. The capacitance/digital conversion circuit is coupled to each measuring electrode and acquires a first capacitance and a second capacitance. The first capacitance is set as one of the following: a first self-capacitance measurement value acquired by the first measuring electrode, a second self-capacitance measurement value acquired by the second measuring electrode, a third self-capacitance measurement value acquired by connecting the first and second measuring electrodes in parallel, and a first mutual capacitance measurement value acquired by the first and second measuring electrodes. The second capacitance is set as one of the remaining three. The processing module is used to output component information within the skin by constructing a first equation based on the first capacity, with the ground-distributed capacity C w of the human body and the corresponding series capacity as variables, constructing a second equation based on the second capacity, with the ground-distributed capacity C w of the human body and the corresponding series capacity as variables, and calculating the series capacity C a1 or series capacity C a2 using the simultaneous equations consisting of the first and second equations and the proportionality constant k, thereby enabling the use of the processing module to output component information within the skin. This is the skin detection operation robot system according to claim 1.
The robotic system for skin detection operation according to claim 9, characterized in that the distance between the first measuring electrode and the second measuring electrode is set to 0.1 mm to 2 mm.
The skin component detection module is equipped with at least three measuring electrodes positioned at different locations. The robotic skin detection system according to claim 9, characterized in that the capacitance/digital conversion circuit is coupled to each measuring electrode via an analog switch array and is used to selectively combine any two measuring electrodes to form a pair of electrodes for detecting mutual capacitance.
The robot system for skin detection operation according to claim 11, characterized in that at least two pairs of the electrode groups exist, and the depth of the mutual capacitance field lines formed by each pair of electrode groups is different.
The electrode group is The distance and/or area of the two electrodes is set such that the depth of the mutually capacitive electric field line penetrates the epidermal tissue of the skin. The robotic system for skin detection operation according to claim 12, characterized in that the spacing and/or area of two electrodes is configured to include at least two of a second electrode group, in which the depth of the mutually capacitive electric field lines is set to penetrate the dermal tissue of the skin, and a third electrode group, in which the spacing and/or area of two electrodes is set to penetrate the depth of the mutually capacitive electric field lines to penetrate the subcutaneous tissue of the skin.
The robotic skin detection system according to claim 11, 12, or 13, characterized in that the excitation signal output from the capacitance/digital conversion circuit to the electrode group is set to include at least two different frequencies.
The robotic skin detection system according to claim 14, characterized in that each of the aforementioned frequencies has a different sensitivity to different components of the skin.
The skin component detection module further includes a standard liquid storage device, The standard liquid storage device includes at least a sealed cavity, a standard liquid located within the sealed cavity and used for standardization or differential measurement, and a liquid detection electrode for detecting the volume value of the standard liquid in different environments. The aforementioned capacitance/digital conversion circuit is coupled to the liquid detection electrode, The skin detection robot system according to claim 9, characterized in that the processing module is used to correct the series capacity C a1 or series capacity C a2 based on the volume value of the standard liquid.

Description

This invention relates to the technical field of skin detection, and more particularly to a robotic system for skin detection operations having an external pressure detection function. Skin detection holds significant importance in fields such as cosmetic medicine and dermatology. With technological advancements, various types of skin detection probes have emerged, each with different applications. For example, some are used to detect skin components (moisture/oil content), others to detect skin elasticity, and still others to detect skin glossiness. A common problem with various skin detection probes today is that the force, position, and angle do not match with each measurement. For example, in the non-invasive acoustic test probe for skin elasticity disclosed in existing EP88108905A, the operator presses the tip of the probe's outer wall against the skin, then extends the internal probes 4, 5, and 6 to contact the skin. Piezoelectric transducers 1, 2, and 3 transmit acoustic pulses to the probes, and skin elasticity is measured based on the time span over which sound travels between the probes. In some real-world scenarios where skin parameters need to be continuously tracked, the operator manually controls the probe's contact with the skin, making it impossible to ensure the same position/angle/force with each detection. This makes it impossible to distinguish whether differences in measurement data are due to changes in the skin or to the influence of changes in position/angle/force. In the measuring device for measuring the elastic properties of a surface structure proposed in US20020029924A1, it is important to note that the measurement results to be compared must be obtained from the same position/angle on the surface structure (skin). Furthermore, a marking method is adopted, and two circular holes 40 are provided on the annular flange 35 of the outer wall for marking the surface structure with a pen or the like, thereby enabling measurements to be taken at the same position and with the same probe orientation at longer time intervals. In addition, marks 36 are provided on the annular flange with predetermined angular distances from each other, and these are made to correspond to marks 38 on the outside of the housing of the probe 2, allowing the measuring device to be repeatedly positioned at the same measurement position and the same angular position on the surface structure. US20020029924A1 can solve the problem of the same position/angle, but it cannot solve the problem of the same pressure. However, ensuring the same pressure is particularly important in actual skin measurements. The reason for this is that the skin itself has a certain modulus of elasticity, as stated in "Stiffness and Elasticity of the Masticatory and Facial Expression Muscles in Patients with the Masticatory Muscle Pain" (Korean J Oral Med, Vol. 34, No. 1). 3. According to a 2009 study, the elasticity of human skin is approximately 0.70 ± 0.46 N. Whether it is a probe for measuring skin elasticity or a probe for other measurement purposes, during detection, the sensor inside the probe (e.g., the probe mentioned above) needs to extend from the hole on the tip surface and press against the skin. In addition, the tip surface of the probe housing (e.g., the tip surface of the protective case 12 of EP88108905A, the tip surface of the annular flange 35 of US20020029924A1) also presses against the skin during detection. Furthermore, as mentioned above, skin has an elastic modulus, and the skin in each part is related to each other. Because the tip surface presses against the skin it covers, the elasticity/water content/oil content of the skin within the hole on the tip surface changes, and the degree of this change affects the degree of pressing, which in turn causes errors and relatively direct interference in the sensor's detection. In actual measurements, even when the time difference between the measurement point and the measurement point is not very long, we discovered that when measuring human skin at the same angle and position, there is a difference between the measurement data when the tip surface is not in contact with the skin/at the moment of contact and the measurement data when the tip surface is pressing against the skin. Therefore, in skin detection, it is extremely important that the inner ring sensor maintains a stable measurement environment (unified environmental standards) for each measurement by ensuring the same external pressure (pressure between the tip surface and the skin) with each detection. At the same time, controlling the internal pressure (pressure between the sensor and the skin) is of crucial importance for human safety, for example, by preventing the sensor from causing puncture injuries to the skin with excessive pressure, thereby ensuring measurement safety. On the other hand, the buyers of skin detection devices can be broadly divided into two types: detection laboratories and users. These tw