Abstract
Current treatment method for acne and wrinkles requires medical staff to operate with medical injection devices, which requires a lot of time and manpower. In this paper, a method to automate acne and wrinkles treatment using robotic manipulator with two RGB-D camera system is proposed. Through experiments with a UNIVERSAL ROBOT UR5 equipped with the medical injector, it is demonstrated that the proposed approach enables the camera on UR5 to detect and track acne and wrinkles on the flat head face mannequin. Using intrinsic and extrinsic matrix of the RGB-D camera, the coordinates of the targets can be automatically identified with precision. Such targets can be wrinkles or acne which can be detected by skeletonization or template matching methods in the camera system. The system will match the targets and plan the trajectory for the manipulator to follow. The method used in this research to estimate the normal vector of target is PCA (Principal Component Analysis). By trajectory planning, the angles of the manipulator joints can be determined through UR5 inverse kinematics solutions. With such method and optimizing the redundancy of freedom to reduce the motion time by Hill Climbing algorithm, the manipulator is able to move vertically along the skin and the injector can be controlled to aim to the target with precision. To ensure safety, the other camera is fixed on table to monitor working area of UR5 to avoid the manipulator end-effector hitting obstacles. This process enables the possibility of automated medical treatment.