Development and clinical evaluation of medical robot assisted photodynamic therapy of port wine stains.

@article{Wang2011DevelopmentAC,
  title={Development and clinical evaluation of medical robot assisted photodynamic therapy of port wine stains.},
  author={Xing-tao Wang and Xingguang Duan and Qiang Huang and Gui-bin Bian and Hong-hua Zhao and Nai-yan Huang and Ying Gu and Xiao-ying Tang},
  journal={The international journal of medical robotics + computer assisted surgery : MRCAS},
  year={2011},
  volume={7 1},
  pages={107-17}
}
BACKGROUND Port wine stains (PWS) are a kind of skin disease for which photodynamic therapy (PDT) has already achieved good results. With manual operation of clinical PDT, the laser density is uneven and laser irradiation of the lesion is arbitrary and non-uniform. In addition, lengthy manual operation tires doctors; thus a robot system has been developed to assist them. METHODS First, a novel medical manipulator consisting of five passive joints (robot arm) and two active joints (robot wrist… CONTINUE READING