A Medical Manipulator System with Lasers in Photodynamic Therapy of Port Wine Stains
Figure 11
The clinical treatment with MMS. (a) Lesion selection and patient protection. (b) Passive arm operation. (c) The human-computer interface. (d) Active wrist operating the laser fiber. (e) Lesion response diagnosis. (f) Another case of MMS assisted PDT treatment of PWS.
