CN119055200A - Dermatoscope with high-precision positioning system and positioning method - Google Patents
Dermatoscope with high-precision positioning system and positioning method Download PDFInfo
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- CN119055200A CN119055200A CN202411572032.9A CN202411572032A CN119055200A CN 119055200 A CN119055200 A CN 119055200A CN 202411572032 A CN202411572032 A CN 202411572032A CN 119055200 A CN119055200 A CN 119055200A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
- A61B5/0077—Devices for viewing the surface of the body, e.g. camera, magnifying lens
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
- A61B5/0062—Arrangements for scanning
- A61B5/0064—Body surface scanning
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/44—Detecting, measuring or recording for evaluating the integumentary system, e.g. skin, hair or nails
- A61B5/441—Skin evaluation, e.g. for skin disorder diagnosis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/44—Detecting, measuring or recording for evaluating the integumentary system, e.g. skin, hair or nails
- A61B5/441—Skin evaluation, e.g. for skin disorder diagnosis
- A61B5/446—Scalp evaluation or scalp disorder diagnosis, e.g. dandruff
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Abstract
本发明公开了一种高精度定位系统的皮肤镜及定位方法，高精度定位系统的皮肤镜包括：弧形基板、固定在弧形基板顶部表面的Y坐标弧形齿条滑轨、固定在弧形基板前表面的X坐标弧形齿条滑轨、装设在X坐标弧形齿条滑轨或Y坐标弧形齿条滑轨上的行走支架、安装在行走支架上的高像素摄像头；高精度定位系统；定位方法是通过有X、Y坐标的弧形滑轨作为辅助，再采用编码器来精确控制其位置，可以实现高精度定位，然后在高精度定位技术粗配准的基础上，通过计算机视觉技术自动调整、匹配治疗前后的图片，以确保它们在同一视角和位置，以便进行准确的前后比较，不仅能提高医疗诊断的准确性和效率，还能带来显著的经济效益，并推动医疗技术的进步和创新。
The invention discloses a dermatoscope of a high-precision positioning system and a positioning method. The dermatoscope of the high-precision positioning system comprises: an arc-shaped substrate, a Y-coordinate arc-shaped rack slide fixed on the top surface of the arc-shaped substrate, an X-coordinate arc-shaped rack slide fixed on the front surface of the arc-shaped substrate, a traveling support mounted on the X-coordinate arc-shaped rack slide or the Y-coordinate arc-shaped rack slide, and a high-pixel camera mounted on the traveling support; a high-precision positioning system; the positioning method is to use an arc-shaped slide with X and Y coordinates as an auxiliary, and then use an encoder to accurately control its position, so as to achieve high-precision positioning, and then on the basis of the rough alignment of the high-precision positioning technology, automatically adjust and match the pictures before and after the treatment through computer vision technology to ensure that they are at the same viewing angle and position, so as to make an accurate before-after comparison, which can not only improve the accuracy and efficiency of medical diagnosis, but also bring significant economic benefits and promote the progress and innovation of medical technology.
Description
Technical Field
The invention belongs to the technical field of dermatoscopes, and particularly relates to a dermatoscope of a high-precision positioning system and a positioning method.
Background
The dermatoscope is used for detecting the hair follicle at the scalp of a user, the high-end dermatoscope technology at home and abroad is developing towards higher imaging quality, stronger data processing capability, better user experience and wider application range, a camera with high pixel number is adopted to provide clear images, micro details of the scalp and the hair can be displayed, more comprehensive scalp and hair information is provided by combining various imaging modes such as visible light, polarized light, UV light and the like, and the hair and scalp states such as hair density, growth cycle, hair follicle health condition and the like are automatically identified and classified by utilizing a deep learning algorithm.
However, in the design of the mainstream high-end skin mirror product, the aspects of high-quality image capturing, data analysis, user experience optimization and the like are often focused, but the high-precision comparison of the same position before and after treatment is ignored, which is a defect of the prior art, so that the invention provides a skin mirror and a positioning method of a high-precision positioning system.
Disclosure of Invention
The invention aims to provide a dermatoscope of a high-precision positioning system and a positioning method thereof, so as to solve the problems in the background technology.
In order to achieve the above purpose, the invention provides a technical scheme that the dermatoscope of the high-precision positioning system comprises
An arc-shaped base plate, a Y-coordinate arc-shaped rack sliding rail fixed on the top surface of the arc-shaped base plate an X-coordinate arc rack slide rail fixed on the front surface of the arc-shaped base plate a walking bracket arranged on the X-coordinate arc-shaped rack slide rail or the Y-coordinate arc-shaped rack slide rail a high pixel camera mounted on the walking support;
The high-precision positioning system comprises a main control computer connected with the high-pixel camera, an image registration module and a positioning module which are connected with the main control computer.
Preferably, the walking bracket comprises two side frame plates, two supporting pulleys which are rotatably arranged between the two side frame plates and are in rolling contact with the Y-coordinate arc-shaped rack sliding rail or the X-coordinate arc-shaped rack sliding rail, a walking motor arranged on the outer side surface of one side frame plate, a driving gear which is rotatably arranged between the two side frame plates and is connected with the output end of the walking motor, the driving gear is meshed with a rack on the surface of the Y-coordinate arc-shaped rack sliding rail or the X-coordinate arc-shaped rack sliding rail, a seat plate is fixed on the outer side surface of the other side frame plate, and the high-pixel camera is arranged on the seat plate.
Preferably, the positioning module comprises an encoder for controlling the running of the running motor, the running motor is divided into an X-coordinate motor and a Y-coordinate motor, the X-coordinate motor is installed on an X-coordinate arc rack sliding rail, the Y-coordinate motor is installed on a Y-coordinate arc rack sliding rail, the image registration module comprises a picture matching module, a position matching module and a picture comparison module, the picture matching module is used for matching picture information before and after treatment, and the position matching module is used for quickly matching out position information corresponding to current picture information.
Preferably, the top surface of arc base plate rotates and installs the layer board, and the tip of layer board is equipped with the spacing cutting ferrule of integral type, the top surface of arc base plate is provided with the draw-in bar corresponding with spacing cutting ferrule position, and spacing cutting ferrule cover is on the draw-in bar, still be provided with the joint structure between layer board and the draw-in bar, the top center department of layer board installs the chin pad, and the top surface of chin pad is the arc, the chin pad is made for the sponge material, and the bottom of chin pad is provided with two integral type and takes in, two sockets corresponding with taking in are run through on the surface of layer board, and take in the bottom of bottom through the socket run through to the layer board, rotatory clamping bar is still rotatably installed to the bottom surface of layer board, take in the bottom surface of taking in the bottom of foot has offered the rectangle breach corresponding with rotatory clamping bar, rotatory clamping bar's tip screw in to the rectangle breach in, the both ends top of rotatory clamping bar all is fixed with circular arch, and the upper wall of rectangle breach sets up circular recess corresponding with circular arch, circular arch embedding is to circular recess.
Preferably, the clamping structure comprises a T-shaped chute arranged on the bottom surface of the supporting plate, a spring and a T-shaped sliding block arranged in the T-shaped chute, a side clamping block fixed on the side surface of the T-shaped sliding block, a side clamping groove arranged on the side surface of the clamping rod, wherein the end part of the side clamping block penetrates into the side clamping groove, and the bottom end of the T-shaped sliding block extends out to the bottom surface of the supporting plate and is fixed with a U-shaped bottom block.
The positioning method of the dermoscope applying the high-precision positioning system is characterized by comprising the following steps of:
S1, a coarse registration stage, namely performing coarse positioning on a high-pixel camera through an X-coordinate and Y-coordinate arc-shaped slide rail and a walking bracket, so that the camera approaches to a target position;
s2, image matching, namely carrying out feature extraction and matching on the images before and after treatment by utilizing an image registration module, and matching similar feature points of the images before and after treatment by utilizing an image processing technology;
S3, determining position coordinates, namely calculating deviation position coordinates of the camera and the target area by the positioning module according to an image matching result;
S4, direction and distance adjustment, namely determining the direction and distance to be adjusted of the camera according to the output result of the position matching module, and adjusting the position of the camera by the driving motor according to the feedback signal of the encoder;
s5, accurate matching, namely ensuring that the camera finally reaches the position through multiple fine tuning and position correction, and comparing images before and after treatment under the same visual angle.
The image matching described in step 2 comprises the sub-steps of:
(a) Extracting the edge, texture and color characteristics of the pictures before and after treatment;
(b) Matching similar feature points by using a feature matching algorithm, and calculating differences between images;
in the step 3, the rotation angle and the position information of the motor are fed back in real time through the encoder, so that the accuracy of camera position adjustment is ensured;
In the step 4, the operation speed and direction of the motor are accurately adjusted according to the instruction of the main control computer and the feedback signal of the encoder by a closed-loop control strategy;
In step 5, the image comparison results before and after treatment are displayed in real time through automatic adjustment of the computer vision technology, so as to further assist manual or automatic fine adjustment.
Compared with the prior art, the invention has the beneficial effects that the arc-shaped slide rail with X, Y coordinates is used as an aid, the encoder is adopted to accurately control the position of the slide rail, high-precision positioning can be realized, and then on the basis of coarse registration of the high-precision positioning technology, the images before and after treatment are automatically adjusted and matched through the computer vision technology, so that the images are ensured to be at the same visual angle and position, and accurate front and back comparison is carried out, thus not only improving the accuracy and efficiency of medical diagnosis, but also bringing remarkable economic benefit, and promoting the progress and innovation of the medical technology.
Drawings
FIG. 1 is a top view of the present invention;
FIG. 2 is an enlarged view of a portion of the area A of FIG. 1 in accordance with the present invention;
FIG. 3 is a top view of an arcuate base and pallet of the present invention;
FIG. 4 is a front cross-sectional view of the connection of the chin rest and the support plate of the present invention;
FIG. 5 is a system diagram of a high precision positioning system of the present invention;
FIG. 6 is a front cross-sectional view of the snap-fit structure of the present invention;
the device comprises a1, an arc-shaped base plate, 11, clamping rods, 2, an X-coordinate arc-shaped rack sliding rail, 3, Y-coordinate arc-shaped rack sliding rail, 4, a high-pixel camera, 5, a walking bracket, 51, a side frame plate, 52, a supporting pulley, 53, a driving gear, 54, a walking motor, 55, a seat plate, 6, a supporting plate, 61, a limiting clamping sleeve, 62, a chin pad, 621, a pin, 622, a rectangular notch, 631, a T-shaped sliding groove, 632, a spring, 633, a U-shaped bottom block, 634, a T-shaped sliding block, 635, a side clamping block, 636, a side clamping groove, 64, a socket, 65, a rotating clamping strip, 651 and a circular protrusion.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Examples
Referring to FIGS. 1-6, a technical scheme of a dermatological mirror with a high-precision positioning system is provided according to an embodiment of the present invention, including
The scalp imaging device comprises an arc-shaped substrate 1, a Y-coordinate arc-shaped rack sliding rail 3 welded and fixed on the top surface of the arc-shaped substrate 1, an X-coordinate arc-shaped rack sliding rail 2 welded and fixed on the front surface of the arc-shaped substrate 1, a traveling bracket 5 arranged on the X-coordinate arc-shaped rack sliding rail 2 or the Y-coordinate arc-shaped rack sliding rail 3, and a high-pixel camera 4 arranged on the traveling bracket 5, wherein the high-pixel camera 4 is respectively arranged on the X-coordinate arc-shaped rack sliding rail 2 and the Y-coordinate arc-shaped rack sliding rail 3, so that the scalp of a patient can be positioned and shot with high precision in combination with the X direction and the Y direction;
The high-precision positioning system comprises a main control computer connected with the high-pixel camera 4, an image registration module and a positioning module which are connected with the main control computer, wherein the positioning module comprises an encoder for controlling the running of a running motor 54, the encoder is arranged on the running motor 54, the rotation angle and displacement of the motor can be monitored in real time, the high-precision positioning of the high-pixel camera 4 on an X coordinate and a Y coordinate is realized, the running motor 54 is divided into the X coordinate motor and the Y coordinate motor, the X coordinate motor is arranged on an X coordinate arc-shaped rack sliding rail 2, the Y coordinate motor is arranged on a Y coordinate arc-shaped rack sliding rail 3, the encoder can accurately feed back the position information of the motor on the arc-shaped sliding rail, and when the main control computer sends a running instruction, the encoder compares the actual position of the motor with the instruction position to form a position deviation signal; according to the position deviation signal, the encoder can accurately control the operation of the motor by adjusting the control signal, for example, if the actual position is behind the command position, the encoder can increase the driving current or pulse frequency of the motor to accelerate the motor to reduce the position deviation, the encoder can adopt a closed-loop control strategy to continuously monitor and adjust the operation of the motor to ensure that the motor accurately reaches the specified position and improve the precision, in order to improve the positioning precision, the encoder can adopt a high-resolution coding technology, for example, an optical encoder or a magnetic encoder, the resolution of which can reach the micrometer or even the nanometer level, the calibration and the error compensation of the encoder are important means for improving the precision, and the errors caused by manufacturing errors, installation errors and environmental factors can be eliminated by periodically calibrating the encoder, the measuring precision of the encoder is improved;
The first step is to adjust the high-pixel camera 4 to the positioned position information by driving the motor to operate through the positioning module, finish preliminary rough positioning, the high-pixel camera 4 is adjusted to the approximate position information, at this time, although the position is close to the target position, the possible change of the head position of the patient still needs further accurate adjustment, and the rough registration stage mainly depends on the encoder and motor control of the positioning module, and the camera is moved to the approximate treatment position by receiving the instruction of the main control computer;
Application of computer vision technology
The picture matching module automatically adjusts and matches picture information before and after treatment by utilizing a computer vision technology, firstly, the pictures before and after treatment are subjected to feature extraction, such as extracting the edge, texture, color and other features of the images, then the pictures before and after treatment are matched by a feature matching algorithm, and the common feature matching algorithm comprises SIFT (Scale-INVARIANT FEATURE TRANSFORM, scale invariant feature transform) and SURF (Speeded Up Robust Features, acceleration robust feature), and the algorithms can find similar feature points under different visual angles and illumination conditions, so that the matching of the pictures is realized;
assurance of the same viewing angle and position
The position matching module is used for quickly matching the position coordinate information corresponding to the current picture information, on the basis of picture matching, the direction and the distance which the camera needs to adjust can be more accurately determined by combining the position information, the pictures before and after treatment are at the same visual angle and the same position by continuously adjusting the position of the camera, the position matching module can be realized by comparing the positions of characteristic points of the pictures, the geometric shapes of the pictures and the like, for example, if the position of a certain characteristic point in the pictures before and after treatment is found to be changed, the position of the camera can be adjusted according to the change, and the characteristic point is returned to the original position;
automatic adjustment and matching process
The computer vision technology can realize the process of automatically adjusting and matching pictures, once the picture matching module and the position matching module determine the direction and distance to be adjusted, the positioning module can drive the motor to operate again according to the information, or the medical staff can manually move the camera in a small range to realize accurate positioning, in the adjustment process, the picture comparison module can display the picture comparison results before and after treatment in real time so that the medical staff can judge whether the adjustment is accurate, and if the picture comparison results are displayed at the same visual angle and position, the adjustment can be continued until the requirements are met;
Through the steps, the encoder accurately controls the position to realize high-precision positioning, and the computer vision technology automatically adjusts and matches the pictures before and after treatment on the basis of coarse registration of the high-precision positioning technology, so that the pictures are ensured to be in the same view angle and position, accurate front and back comparison is provided for medical diagnosis, and the accuracy and efficiency of diagnosis are improved.
The walking bracket 5 comprises two side frame plates 51, two supporting pulleys 52 rotatably installed between the two side frame plates 51 and in rolling contact with the Y-coordinate arc-shaped rack slide rail 3 or the X-coordinate arc-shaped rack slide rail 2, a walking motor 54 installed on the outer side surface of one side frame plate 51, and a driving gear 53 rotatably installed between the two side frame plates 51 and connected with the output end of the walking motor 54, wherein the driving gear 53 is meshed with racks on the surface of the Y-coordinate arc-shaped rack slide rail 3 or the X-coordinate arc-shaped rack slide rail 2, the driving gear 53 can be driven to rotate when the later walking motor 54 operates, the driving gear 53 can drive the side frame plates 51 to walk on the X-coordinate arc-shaped rack slide rail 2 or the Y-coordinate arc-shaped rack slide rail 3 when rotating, so that the high-pixel camera 4 walks on the X-coordinate arc-shaped rack slide rail 2 or the Y-coordinate arc-shaped rack slide rail 3, the automatic adjustment of the position is completed, the outer side surface of the other side frame plate 51 is fixedly provided with a 55, and the high-pixel camera 4 is installed on the seat plate 55.
Wherein, the top surface rotation of arc base plate 1 installs layer board 6, and the tip of layer board 6 is equipped with the spacing cutting ferrule 61 of integral type, the top surface of arc base plate 1 is provided with the clamping lever 11 corresponding with spacing cutting ferrule 61 position this moment, and spacing cutting ferrule 61 cover is on clamping lever 11, make the patient can get into the inboard of arc base plate 1 with the neck, then rotatory the messenger spacing cutting ferrule 61 cover of layer board 6 on clamping lever 11, can take patient's chin on layer board 6, still be provided with the joint structure between layer board 6 and the clamping lever 11, the joint structure is including seting up the T-shaped slide slot 631 in layer board 6 bottom surface, install spring 632 and T-shaped slider 634 in T-shaped slide slot 631, fix the side fixture 635 in T-shaped slider 634 side, set up the side draw-in groove 636 in 11 side, and the tip of side fixture 635 runs through to side fixture 636, the bottom of T-shaped slider 634 stretches out to the bottom of 6 and is fixed with U-shaped pedestal 633 piece, when operating personnel need rotate in clamping lever 11 department, can push down the U-shaped pedestal 633 side, make the slider side 635 push out the side of the U-shaped pedestal mount 633, make the side 635 take the side of the slider 635 smoothly, make the side 635 can be used for the side at the side of the back-shaped slider 636, the side of the jack mount 635 can be opened at the side of the jack mount 635, the end of the side of the jack is guaranteed, the side of the jack mount 635 can be used at the side, the side of the jack mount 635, and the jack mount is convenient to the side at the side of the side jack mount 635, and the end of the jack mount is convenient to the end to the side to rotate.
Wherein, the chin rest 62 is installed at the center of the top of the supporting plate 6, the top surface of the chin rest 62 is arc-shaped, the chin rest 62 is made of sponge material, two integrated pins 621 are arranged at the bottom of the chin rest 62, the pins 621 are made of sponge material, elastic deformation can occur when the pins are extruded, two sockets 64 corresponding to the pins 621 are penetrated and arranged on the surface of the supporting plate 6, the bottom ends of the pins 621 penetrate to the bottom of the supporting plate 6 through the sockets 64, a rotary clamping strip 65 is also rotatably installed on the bottom surface of the supporting plate 6, a rectangular notch 622 corresponding to the rotary clamping strip 65 is arranged on the bottom end surface of the pins 621, the end part of the rotary clamping strip 65 is screwed into the rectangular notch 622, the pins 621 can be stably limited, the installation stability of the chin rest 62 is ensured, the circular protrusions 651 are fixed at the tops of the two ends of the rotating clamping strip 65, the circular grooves corresponding to the circular protrusions 651 are formed in the upper wall of the rectangular notch 622, the circular protrusions 651 are embedded into the circular grooves, when the end portions of the rotating clamping strip 65 are screwed into the rectangular notch 622, the circular protrusions 651 can be extruded into the circular grooves, the auxiliary positioning of the rotating clamping strip 65 is achieved, accordingly, the mounting stability of the chin rest pad 62 is further improved, when the chin rest pad 62 needs to be detached for overhauling or replacement in the later period, only the rotating clamping strip 65 needs to be rotated forcefully, the circular protrusions 651 are extruded out of the circular grooves, the end portions of the rotating clamping strip 65 can be smoothly rotated out of the rectangular notch 622, the chin rest pad 62 can be directly detached under the limit condition without the rotating clamping strip 65, and the chin rest pad 62 can be conveniently detached and replaced in the later period.
The signal type output by the encoder is various, and is usually of an incremental type and an absolute type, the incremental encoder outputs a pulse signal corresponding to the position change, the pulse signal can measure the relative position change of the motor, but position information can be lost after the power is off, the incremental encoder is suitable for the application needing continuous monitoring of the position change, but reference point calibration is needed when the system is started, the absolute encoder outputs a digital signal corresponding to the absolute position, the pulse signal can keep the position information after the power is off, the reference point calibration is not needed, and the absolute encoder is suitable for the application needing accurate knowing of the position of the motor, but the price is usually higher than that of the incremental encoder;
considering that the working environment of the encoder is also an important factor for selection, if severe conditions such as dust, moisture, vibration or high temperature exist in the working environment, an encoder with high protection level and strong anti-interference capability should be selected, for example, if a large amount of dust exists in the working environment, an encoder with good sealing performance can be selected;
The mounting mode of the encoder should be matched with the motor and the mechanical structure, common mounting modes include a shaft sleeve type, a flange type and a hollow shaft type, and when the mounting mode is selected, the convenience, the reliability and the influence on the motor performance of the encoder should be considered, and meanwhile, the mounting precision of the encoder should be ensured so as to ensure the accuracy of measurement.
A positioning method of a dermatoscope applied to a high-precision positioning system is characterized by comprising the following steps:
S1, a coarse registration stage, namely performing coarse positioning on a high-pixel camera through an X-coordinate and Y-coordinate arc-shaped slide rail and a walking bracket, so that the camera approaches to a target position;
s2, performing feature extraction and matching on the images before and after treatment by using an image registration module, and matching similar feature points of the images before and after treatment by using an image processing technology, such as SIFT or SURF algorithm;
S3, determining position coordinates, namely calculating deviation position coordinates of the camera and the target area by the positioning module according to an image matching result;
S4, direction and distance adjustment, namely determining the direction and distance to be adjusted of the camera according to the output result of the position matching module, and adjusting the position of the camera by the driving motor according to the feedback signal of the encoder;
s5, accurate matching, namely ensuring that the camera finally reaches the position through multiple fine tuning and position correction, and comparing images before and after treatment under the same visual angle.
The image matching in step 2 comprises the following sub-steps:
(a) Extracting the edge, texture and color characteristics of the pictures before and after treatment;
(b) Matching similar feature points by using a feature matching algorithm, and calculating differences between images;
in the step 3, the rotation angle and the position information of the motor are fed back in real time through the encoder, so that the accuracy of camera position adjustment is ensured;
In the step 4, the operation speed and direction of the motor are accurately adjusted according to the instruction of the main control computer and the feedback signal of the encoder by a closed-loop control strategy;
In step 5, the image comparison results before and after treatment are displayed in real time through automatic adjustment of the computer vision technology, so as to further assist manual or automatic fine adjustment.
Although embodiments of the present invention have been shown and described in detail with reference to the foregoing detailed description, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations may be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
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| WO2024078640A1 (en) * | 2022-10-10 | 2024-04-18 | 厦门松霖科技股份有限公司 | Face and head skin detection instrument |
| CN116530941A (en) * | 2023-06-08 | 2023-08-04 | 深圳致美力禾实业发展有限公司 | Intelligent AI skin analyzer |
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