Treatment modes and clinical experiment of medical robot assisted photodynamic therapy of port wine stains

Port wine stains (PWS) are congenital vascular malformations, which usually appear at birth. Photodynamic therapy (PDT) is an effective approach in the treatment of PWS with laser. In clinical, the laser power density of laser spot used in PDT treatment is uneven and doctors need to keep moving laser fiber manually to uniformize laser irradiation, which is arbitrary and un-quantified, resulting in affecting the effect of treatment. In addition, long time manual operation makes doctors fatigue. So we developed a novel robotic system to assist doctors. In order to achieve uniform laser irradiation and reduce doctors´ labor intensity, we designed three treatment modes and analyzed the kinematics of each mode. The clinical results showed that these three treatment modes are useful in assisting doctors for PDT treatment of PWS.