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BioMed Research International
Volume 2014 (2014), Article ID 384646, 10 pages
Research Article

A Medical Manipulator System with Lasers in Photodynamic Therapy of Port Wine Stains

1State Nuclear Power Technology Research & Development Centre, Floor 7, Building A, South Area of Future Science and Technology Park, Beiqijia Town, Changping District, State Nuclear Power Research Institute, Beijng 102209, China
2Intelligent Robotics Institute, Beijing Institute of Technology, 5 Nandajie, Zhongguancun, Haidian, Beijing 100081, China
3Department of Laser Medicine, Chinese People Liberation Army General Hospital, 28 Fuxing Road, Haidian, Beijing 100853, China

Received 23 April 2014; Revised 24 June 2014; Accepted 15 July 2014; Published 14 August 2014

Academic Editor: Silvia Moretti

Copyright © 2014 Xingtao Wang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Port wine stains (PWS) are a congenital malformation and dilation of the superficial dermal capillary. Photodynamic therapy (PDT) with lasers is an effective treatment of PWS with good results. However, because the laser density is uneven and nonuniform, the treatment is carried out manually by a doctor thus providing little accuracy. Additionally, since the treatment of a single lesion can take between 30 and 60 minutes, the doctor can become fatigued after only a few applications. To assist the medical staff with this treatment method, a medical manipulator system (MMS) was built to operate the lasers. The manipulator holds the laser fiber and, using a combination of active and passive joints, the fiber can be operated automatically. In addition to the control input from the doctor over a human-computer interface, information from a binocular vision system is used to guide and supervise the operation. Clinical results are compared in nonparametric values between treatments with and without the use of the MMS. The MMS, which can significantly reduce the workload of doctors and improve the uniformity of laser irradiation, was safely and helpfully applied in PDT treatment of PWS with good therapeutic results.