Robotic System for Delivering Energy for Treatment of Skin of a Subject

A robotic system for delivering energy for medical or cosmetic treatment of a region of skin of a subject, the system comprising:

• (a) a multi-axis robotic arm mounted on a base and terminating at a holder;
• (b) an applicator for delivering energy to the skin, said applicator being mechanically associated with said holder;
• (c) at least three range sensors associated with said holder and deployed to generate outputs indicative of a distance to a corresponding at least three spaced apart locations on the surface of the skin;
• and
• (d) a controller associated with said robotic arm and said range sensors, said controller including at least one processor, said controller being configured to:
• (i) process said outputs from said at least three range sensors to determine an orientation of said holder relative to the skin, and
• (ii) actuate said robotic arm to adjust an orientation of said holder such that an orientation of said applicator relative to the skin is maintained within a predefined range of desired angles.