Detect and remove edges/contours in pointcloud

[VictorGimenez]

After scanning and obtain the point clouds I am trying to detect points that belong from the point cloud contours to remove, see these two images, if you see there are outliers and points which came together with the arm, body side but they don't belong to them being noises.

I already tried to use the Statistical oulier and Radius outlier removal but the approach was bad, it still removes what I want but if these algorithms find regions with points far away from each other or dark regions they consider them as outliers. How could I solve it?