Method for guiding a robot arm, guiding system

A method for guiding in real time a robot arm for processing data of a surface of a body, comprising:

• generating a 3D body model of all or part of a surface of a human body comprising a meshing of points;
• planning a treatment trajectory on the surface of the body model with a calculator;
• calculating a guiding trajectory for a distal end of the robot arm;
• generating a kinematic of the robot arm such that a point of a head arranged at the distal end of the robot arm is enslaved on the guiding trajectory;
• activating the kinematic of the robot arm to cover the guiding trajectory, said guiding trajectory being calculated in real time from the 3D model of the surface of the human body;
• generating a new 3D body model of the surface of the human body at regular times ensuring the calculation of a new kinematic of the robot arm to manage its displacements automatically in real time, a new calculated surface of the 3D body model leading to a calculation of a new treatment trajectory and a calculation of a new guiding trajectory,
• receiving at least one position of a target point of space;
• activating at least one transmission of a transmitter and/or acquisition of a sensor of an operator device, said operator device being arranged at the distal end of the robot arm, the activation being carried out when an orientation of an axis of the sensor or the transmitter is merged with a predefined straight line passing through a target point, said target point being referenced on the generated 3D body model, wherein the treatment trajectory is used to establish a shot strategy of a laser beam from a laser transmitter, said laser transmitter being fixed to the operator device and wherein the body model comprises a homogeneous meshing so as to create a new meshing defined by an arrangement of circles, at least one circle defining a position of a target point of space.