In this paper, we present a novel robotic system for skin photo-rejuvenation procedures, which can uniformly deliver the laser's energy over the skin of the face. The robotised procedure is performed by a manipulator whose end-effector is instrumented with a depth sensor, a thermal camera, and a cosmetic laser generator. To plan the heat stimulating trajectories for the laser, the system computes the surface model of the face and segments it into seven regions that are automatically filled with laser shots. We report experimental results with human subjects to validate the performance of the system. To the best of the author's knowledge, this is the first time that facial skin rejuvenation has been automated by robot manipulators.

中文翻译：

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机器人与美容皮肤科相遇：开发用于皮肤光子嫩肤的新型视觉引导系统

在本文中，我们提出了一种用于皮肤光子嫩肤程序的新型机器人系统，该系统可以将激光能量均匀地传递到面部皮肤上。机器人程序由机械手执行，其末端执行器装有深度传感器、热像仪和美容激光发生器。为了规划激光的热刺激轨迹，系统计算面部的表面模型并将其分割成七个区域，这些区域会自动填充激光束。我们报告人类受试者的实验结果以验证系统的性能。据作者所知，这是第一次由机器人机械手实现面部嫩肤自动化。