Skin function unit transplantation device and method for optimizing donor and receptor areas

Abstract

The invention discloses a skin function unit transplantation device and method for optimizing a donor-receptor area, and the transplantation device is an independent modular operation terminal or a cooperative execution terminal embedded in a surgical robot. The transplantation device is provided with an equipment shell, a skin attaching support, a skin function unit extracting mechanism, a skin taking depth limiting mechanism and a skin tension maintaining mechanism, and the equipment shell is an integrated shell internally integrated with a power management module, a main control chip set and a wireless communication module; a display control panel used for real-time parameter adjustment, state visualization and emergency braking is arranged on the outer side of the equipment shell. The skin attaching support is arranged on the edge of the bottom side of the equipment shell and attached to the surface of the donor area skin, and the skin attaching support is used for covering, supporting and protecting the donor area skin. The skin taking depth can be accurately controlled, small skin function units with complete epidermis, dermis and accessory structures can be accurately extracted, and excessive damage caused by large-area skin cutting to a donor area is avoided.

Description

Technical Field

[0001] The present invention relates to the field of skin transplantation, and in particular to a skin functional unit transplantation device and method with optimized donor and recipient areas. Background Art

[0002] As the largest organ in the human body, the skin acts as a sturdy and intelligent defense, fulfilling complex and diverse physiological functions. It is not only the body's first barrier against external aggressors, effectively blocking the invasion of pathogens, chemicals, and physical damage, but also plays a key role in maintaining fluid balance, preventing excessive water loss and excessive water infiltration from the outside world. The basic structure of the skin consists of the epidermis, dermis, and the underlying subcutaneous tissue. The epidermis, the outermost layer, is primarily composed of keratinocytes and is divided into the basal layer, stratum spinosum, stratum granulosum, stratum lucidum (exclusively found on the palms and soles), and stratum corneum. The basal layer is the germinal layer of the epidermis, where stem cells continuously divide and proliferate, differentiate upward to form the cells of the other layers, and achieve cell renewal in the epidermis. A distinct interface exists between the basal layer and the dermis, where pigment cells (such as melanocytes) are concentrated. These cells regulate skin color by synthesizing and secreting melanin. It also contains important components such as immune cells, which participate in the regulation of immune responses. The dermis, located beneath the epidermis, provides the skin with elasticity, toughness, and a rich blood supply, supporting normal skin metabolism and repair. The dermis can be divided into the superficial papillary layer and the deeper reticular layer. The papillary layer is rich in capillaries and nerve endings and is closely connected to the epidermis. The reticular layer is composed of thick collagen and elastic fibers, which give the skin its strong toughness and elasticity. The fibrous tissue, vascular network, nerve endings, and rich matrix components contained within it together constitute the complex microenvironment of the dermis. Epidermal appendages such as sebaceous glands, sweat glands, and hair follicles all originate from beneath the epidermis and are deeply embedded in the dermis.

[0003] In clinical treatment, autologous skin transplantation is an important means of treating burns, trauma, chronic ulcers and various skin defects. Currently, traditional autologous skin transplantation mainly uses split-thickness skin grafts (STSG) and full-thickness skin grafts (FTSG), but both have certain limitations.

[0004] STSG transplants usually only include the epidermis and part of the dermis. Its advantage is that the donor area can rely on the remaining skin structure to heal on its own, making it suitable for large-area skin harvesting. And because of its thin thickness, the blood reperfusion rate is fast, and the survival rate is relatively high. However, the skin grafts formed after surgery lack accessory structures such as sebaceous glands, sweat glands, and hair follicles, resulting in incomplete skin function in the repaired area. Patients often experience problems such as dry skin, itching, and easy damage. Due to the lack of sebum secreted by the sebaceous glands for lubrication, the skin barrier function is weakened, making it more susceptible to external stimuli and damage. At the same time, the lack of sweat glands prevents patients from effectively dissipating heat in hot environments, affecting the body's ability to regulate heat.

[0005] FTSG completely transplants the epidermis and the entire dermis. After transplantation, the skin thickness is intact, the texture is soft, the elasticity is good, and the function is well restored. Because the complete dermal structure is retained, the fibrous tissue and accessory structures contained therein can better maintain the physiological function of the skin, and are closer to normal skin in appearance and function. However, FTSG also has obvious problems. Because it is thick, it is highly dependent on blood supply in the early stage of transplantation. If the local blood supply is insufficient, it is easy to cause skin necrosis. Moreover, difficulty in draining the effusion is a common problem. The accumulation of effusion will affect the fit between the skin graft and the recipient area, hinder the blood supply and the exchange of nutrients, and thus affect the survival rate. In addition, the donor site is severely damaged. After the entire dermis is removed, the donor site cannot heal on its own and needs to be closed by flap transfer or direct suture. This not only increases the complexity and risk of the operation, but also prolongs the healing time of the donor site, bringing greater pain and recovery burden to the patient.

[0006] As clinical requirements for skin repair quality continue to rise, patients not only expect effective wound repair but also hope that the repaired skin is as close to normal skin as possible in terms of function, appearance, and texture. At the same time, minimizing donor site damage, accelerating wound healing, and shortening the recovery period are also common goals pursued by patients and clinicians.

[0007] Although researchers and clinicians have conducted a series of explorations and improvements, such as developing new skin harvesting devices and transplantation technologies, such as the precise automatic skin harvester for flap transplantation disclosed in Publication No. CN114081588A and the precise skin harvesting and transplantation method and tool disclosed in Publication No. CN113288350A, most of these methods and tools still have shortcomings, as exemplified by the following examples:

[0008] Some new skin harvesting devices have a certain effect in improving the accuracy of skin harvesting, but it is still difficult to accurately control the depth of skin harvesting and protect the skin's appendages;

[0009] Some transplantation technologies have made some progress in promoting angiogenesis and wound healing, but the effect is still not ideal in restoring the complete physiological function of the skin in the affected area, especially the functions of accessory structures such as sweat glands and hair follicles.

[0010] Therefore, how to restore the original physiological function of the recipient skin while minimizing damage to the donor site and accelerating wound healing has become a key issue that needs to be urgently addressed in the field of skin transplantation. However, the current traditional transplantation methods have bottlenecks that are difficult to break through in terms of donor site damage control and recipient site function recovery. Existing improved technologies have also failed to fully take into account the above core needs, causing many patients to still have to endure the pain of donor site healing difficulties and recipient site function defects, which seriously affects their quality of life and recovery process. In this context, the development of a device and method that can accurately extract small skin functional units with complete epidermis, dermis and accessory structures and achieve efficient transplantation has important clinical value. Summary of the Invention

[0011] The purpose of the present invention is to provide a skin functional unit transplantation device and method with optimized donor and recipient areas. Through the synergistic effect of the skin functional unit extraction mechanism, the skin extraction depth limiting mechanism and the skin tension maintaining mechanism, the skin extraction depth can be accurately controlled, and small skin functional units with complete epidermis, dermis and accessory structures can be accurately extracted, avoiding excessive damage to the donor area caused by large-area skin cutting, and effectively protecting the skin structure and functional integrity of the donor area.

[0012] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a skin functional unit transplantation device with optimized donor and recipient areas, wherein the transplantation device is an independent modular operation terminal or a collaborative execution terminal embedded in a surgical robot, and the transplantation device comprises a device housing, a skin attachment bracket, a skin functional unit extraction mechanism, a skin extraction depth limiting mechanism and a skin tension maintaining mechanism, wherein: the device housing is an integrated shell with an internal integrated power management module, a main control chipset and a wireless communication module, and a display control panel for real-time parameter adjustment, status visualization and emergency braking is provided on the outside of the device housing; the skin attachment bracket is arranged on the bottom edge of the device housing and is in contact with the surface of the donor skin, and the skin attachment bracket is used to cover, support and protect the donor skin; the skin tension maintaining mechanism is arranged on the inside of the device housing and its The front end extends from the bottom side of the device housing, and the skin tension maintaining mechanism is used to stretch the skin of the donor area. The skin tension maintaining mechanism includes an upper bracket, a first driving member, a worm, a worm gear, a tension maintaining arm and a tension roller; the skin functional unit extraction mechanism is arranged on the inner side of the device housing and its front end extends from the bottom side of the device housing. A servo for driving its operation is provided on the upper side of the skin functional unit extraction mechanism. The skin functional unit extraction mechanism includes an extraction head, an inner bracket, a cross guide rail bracket, a second driving member, a main cone wheel and a transmission rod group. The cross guide rail bracket is installed on the inner side of the inner bracket, the second driving member is installed on the upper side of the inner bracket, and the shaft end of the second driving member is connected to the main cone wheel; the upper end of the skin removal depth limiting mechanism is installed on the upper bracket of the skin tension maintaining mechanism, and the lower end of the skin removal depth limiting mechanism is connected to the inner bracket of the skin functional unit extraction mechanism.

[0013] Preferably, the independent modular operation terminal is extremely flexible. It does not rely on complex external systems and can be easily transported to different surgical scenarios. Whether it is the flexible deployment and use of multiple operating rooms in large comprehensive hospitals, or the requirements of primary medical institutions for equipment portability due to limited resources, or emergency and complex environments such as field first aid sites, it can be put into use quickly. For example, in temporary medical points set up in earthquake-stricken areas, it can perform skin transplantation operations on the injured in a timely manner, greatly expanding the coverage of medical services and allowing more patients to receive effective treatment at critical moments. The collaborative execution terminal embedded in the surgical robot can give full play to the advantages of the surgical robot and adapt to various complex surgical scenarios. The surgical robot has a multi-joint structure and multi-degree-of-freedom movement capabilities, which can enable the transplant device to flexibly adjust its posture and position in three-dimensional space, easily cope with skin transplantation operations on complex parts such as the face and joints, and meet the surgical needs of different parts and angles.

[0014] Preferably, the upper bracket is fixed in the device housing, a first driving member is arranged in the middle of the upper bracket, an outer bracket is arranged on the outer cover of the first driving member, and an axial end of the first driving member is connected to the worm.

[0015] Preferably, the first driving member and the second driving member are both micromotors, the outer diameter of the micromotors is in the range of 3-5 mm, and the axial length is in the range of 8-12 mm.

[0016] Preferably, a plurality of side plates are distributed in a ring shape on the lower side of the outer bracket, the worm gear is rotatably mounted on the side plates and the number of the worm gear is consistent with the number of the side plates, and the worm gear is engaged with the worm.

[0017] Preferably, the tension maintaining arm includes a short arm A, a short arm B and a long arm, wherein the long arm is provided with a long hole, the rear ends of the short arm A and the short arm B are respectively connected to the upper and lower ends of the long hole, the front end of the short arm A is hinged to the end face of the worm gear, and the front end of the short arm B is hinged to the side plate.

[0018] Preferably, a tension roller is mounted at the bottom of the long arm. The long arm meshes and swings with the worm and worm gear, allowing the tension roller to evenly stretch the skin in the donor area. This uniform stretching method avoids the localized overstretching or understretching that can occur with traditional stretching methods, reduces damage to the donor skin, and promotes blood circulation and healing. Furthermore, uniform stretching creates favorable conditions for subsequent extraction of functional skin units, improving the accuracy and success rate of extraction.

[0019] Preferably, the transmission rod group is provided with four transmission rods distributed in a rectangular shape around the inner bracket. Each transmission rod group includes a transmission screw, a secondary bevel wheel and a slide. The front end of the transmission screw is rotatably connected to the cross guide rail bracket, and the rear end of the transmission screw is provided with a secondary bevel wheel engaged with the main bevel wheel.

[0020] Preferably, the slide is arranged on the outside of the transmission screw and is slidably connected to the cross-shaped guide rail bracket, and the extraction cutter head is installed at the bottom end of the slide.

[0021] Preferably, the skin graft depth limiter is an electric linear drive assembly with multi-level depth adjustment. Because skin thickness varies between patients, and even within the same patient, skin thickness can vary across different body parts, this multi-level adjustment allows for precise control of graft depth in small increments, ensuring the ideal graft depth each time. This prevents damage to subcutaneous tissue from grafting too deeply, or incomplete extraction of functional skin units from grafting too shallowly.

[0022] The present invention also provides a method for transplanting skin functional units with optimized donor and recipient areas, which is implemented based on the transplantation device. The specific transplantation steps include:

[0023] S1: Patient assessment and determination and marking of donor and recipient sites. A comprehensive physical examination and skin condition assessment are performed on the patient, including the elasticity, thickness, and presence of lesions in the donor skin, and the degree, extent, and blood supply of the recipient skin. Based on the assessment results, combined with surgical requirements and aesthetic principles, the donor and recipient sites are precisely selected and marked on the patient's body surface.

[0024] S2: Donor skin fixation and tension adjustment: Place the skin attachment bracket on the selected donor skin surface to ensure it fits tightly with the skin, covering and protecting the donor skin; start the skin tension maintaining mechanism, the first drive member operates and drives the worm to rotate, which in turn drives the worm gear to rotate. The worm gear drives the long arm to swing through short arms A and B, so that the tension roller evenly stretches the donor skin. The skin tension is observed in real time through the display and control panel, and the speed and direction of the first drive member are adjusted as needed to ensure that the donor skin reaches an appropriate tension state, creating conditions for the subsequent extraction of skin functional units;

[0025] S3: Adjusting the spacing between the extraction blades. Based on the surgical requirements and the actual conditions of the donor skin, the second drive member of the skin functional unit extraction mechanism is controlled through the display and control panel. The second drive member drives the main cone wheel to rotate. The main cone wheel engages with the secondary cone wheel of the transmission rod group, driving the transmission screw to rotate. The rotation of the transmission screw causes the slide to move on the cross-shaped guide rail bracket, thereby adjusting the spacing between the extraction blades.

[0026] S4: Setting the skin extraction depth limit: Based on the thickness measurement results in S1, the electric linear drive component of the skin extraction depth limit mechanism is set through the display and control panel. The appropriate multi-level depth limit gear is selected to set the cutting depth of the skin functional unit extraction mechanism to ensure that the extracted skin unit contains the complete epidermis, dermis and some skin accessory structures.

[0027] S5: Extraction of skin functional units. After confirming the settings of various parameters, start the extraction head to cut the skin of the donor area. After the cutting is completed, the extracted skin functional units will be separated from the donor area and placed in sterile saline to maintain their activity and integrity for subsequent transplantation.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] 1. Through the synergistic effects of a skin functional unit extraction mechanism, a skin graft depth limiting mechanism, and a skin tension maintenance mechanism, this invention precisely controls the graft depth and accurately extracts small skin functional units with intact epidermis, dermis, and accessory structures. Compared to traditional transplantation methods, this method avoids excessive damage to the donor site caused by large-scale skin removal, effectively preserving the structural and functional integrity of the donor area.

[0030] 2. The skin tension-maintaining mechanism of the present invention uniformly stretches the donor skin. The skin tension is monitored in real time via a display panel, and the speed and direction of the first drive member are adjusted as needed to achieve an appropriate tension state for the donor skin. This creates favorable conditions for subsequent extraction of functional skin units, helping to improve the accuracy and success rate of extraction. It also facilitates the recovery of the donor skin after extraction and reduces healing problems caused by uneven skin tension.

[0031] 3. The skin extraction depth limiting mechanism of the present invention can set an appropriate cutting depth to ensure that the extracted skin unit contains a complete structure. At the same time, the skin functional unit extraction mechanism can operate precisely to reduce damage to the extracted unit. During the transplantation process, these measures help to improve the survival rate of the skin functional unit in the recipient area and promote wound healing. In addition, reasonable skin tension regulation also facilitates the fit of the transplanted skin to the recipient area, improves local blood circulation, provides adequate nutrition for the transplanted skin, and further improves the survival rate.

[0032] 4. The transplantation device of the present invention is a standalone modular operation terminal or a collaborative execution terminal embedded in a surgical robot. It integrates multiple functional modules and enables real-time parameter adjustment, status visualization, and emergency braking functions through a display and control panel. This allows the surgeon to more conveniently and accurately control each operation step during the operation, improving the efficiency and safety of the operation. For example, the surgeon can quickly adjust parameters such as the extraction blade spacing and the skin extraction depth limit based on the actual surgical situation through the display and control panel, achieving precise control over the extraction of skin functional units and reducing human error.

[0033] 5. Because the present invention can extract and transplant functional skin units with intact epidermis, dermis, and accessory structures (such as sebaceous glands, sweat glands, and hair follicles), it can effectively restore the original physiological functions of the skin in the recipient area. Patients are no longer prone to the problems of dryness, itching, skin damage, and thermal regulation dysfunction associated with traditional transplantation methods, significantly improving their quality of life. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 The overall structure of the present invention is shown in FIG. Figure 1 ;

[0035] Figure 2 The overall structure of the present invention is shown in FIG. Figure 2 ;

[0036] Figure 3 Schematic diagram of the skin functional unit extraction mechanism, skin extraction depth limiting mechanism, and skin tension maintaining mechanism in an embodiment of the present invention;

[0037] Figure 4 Schematic diagram of a skin tension maintaining mechanism according to an embodiment of the present invention;

[0038] Figure 5 Schematic diagram of the skin functional unit extraction mechanism in an embodiment of the present invention.

[0039] In the picture:

[0040] 1. Equipment housing;

[0041] 2. Skin-attached stent;

[0042] 3. Skin functional unit extraction mechanism; 301. Extraction blade; 302. Inner bracket; 303. Cross-shaped guide rail bracket; 304. Second drive member; 305. Main cone wheel; 306. Transmission rod assembly;

[0043] 4. Skin removal depth limit mechanism;

[0044] 5. Skin tension maintaining mechanism; 501. Upper bracket; 502. First driving member; 503. Worm gear; 504. Short arm A; 505. Short arm B; 506. Long arm; 507. Tension roller;

[0045] 6. Display and control panel. DETAILED DESCRIPTION

[0046] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0047] In the description of the present invention, it should be noted that the terms "vertical", "up", "down", "horizontal", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limiting the present invention.

[0048] In the description of the present invention, it should also be noted that, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections or electrical connections; they may refer to direct connections or indirect connections through an intermediate medium; and they may refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0049] The present invention provides a technical solution: a skin functional unit transplant device with optimized donor and recipient sites. The transplant device can be a standalone modular operation terminal or a collaborative actuator embedded in a surgical robot. The standalone modular operation terminal offers exceptional flexibility, does not rely on complex external systems, and can be easily transported to various surgical locations. Whether flexibly deploying multiple operating rooms in large general hospitals, requiring device portability due to limited resources in grassroots medical institutions, or in emergency situations with complex environments such as field emergency response, the device can be quickly deployed. For example, in temporary medical centers in earthquake-stricken areas, it can promptly perform skin transplants on injured patients, significantly expanding the reach of medical services and allowing more patients to receive effective treatment at critical moments. The collaborative actuator embedded in the surgical robot fully utilizes the advantages of the surgical robot and adapts to various complex surgical scenarios. The surgical robot's multi-joint structure and multi-degree-of-freedom motion capabilities enable the transplant device to flexibly adjust its posture and position in three dimensions, easily facilitating skin transplants on complex areas such as the face and joints, meeting the needs of surgeries at different locations and angles.

[0050] See also Figure 1 、 Figure 2 A skin functional unit transplantation device with optimized donor and recipient areas comprises a device housing 1, a skin attachment bracket 2, a skin functional unit extraction mechanism 3, a skin extraction depth limiting mechanism 4 and a skin tension maintaining mechanism 5.

[0051] In this embodiment, the device housing 1 is an integrated shell that integrates a power management module, a main control chipset and a wireless communication module. A display control panel 6 for real-time parameter adjustment, status visualization and emergency braking is provided on the outside of the device housing 1.

[0052] In this embodiment, the skin attachment bracket 2 is arranged on the bottom side edge of the device housing 1 and is attached to the surface of the donor skin. The skin attachment bracket 2 is used to cover, support and protect the donor skin.

[0053] See also Figure 3 、 Figure 4 In this embodiment, the skin tension maintaining mechanism 5 is arranged on the inner side of the device housing 1 and its front end extends from the bottom side of the device housing 1. The skin tension maintaining mechanism 5 is used to stretch the skin of the donor area. The skin tension maintaining mechanism 5 includes an upper bracket 501, a first driving member 502, a worm (not shown in the figure), a worm gear 503, a tension maintaining arm and a tension roller 507. The upper bracket 501 is fixed in the device housing 1. The first driving member 502 is arranged in the middle of the upper bracket 501. The outer cover of the first driving member 502 is provided with an outer bracket. The shaft end of the first driving member 502 is connected to the worm; the lower side of the outer bracket is annularly distributed with multiple edges. Plate, worm gears 503 are rotatably installed on the side plates and their number is consistent with the number of side plates, and the worm gears 503 are engaged with the worm; the tension maintaining arm includes a short arm A504, a short arm B505 and a long arm 506, wherein the long arm 506 is provided with a long hole, the rear ends of the short arms A504 and B505 are respectively connected to the upper and lower ends of the long hole, the front end of the short arm A504 is hinged to the end face of the worm gear 503, and the front end of the short arm B505 is hinged to the side plate; a tension roller 507 is installed at the bottom end of the long arm 506, and the long arm 506 meshes and swings with the worm and worm gear 503 so that the tension roller 507 can evenly stretch the skin of the donor area.

[0054] See also Figure 3 、 Figure 5 In this embodiment, the skin function unit extraction mechanism 3 is arranged on the inner side of the device housing 1 and its front end extends from the bottom side of the device housing 1. The upper side of the skin function unit extraction mechanism 3 is provided with a servo (not shown in the figure) for driving it to perform a rotary cutting action. The skin function unit extraction mechanism 3 includes an extraction cutter head 301, an inner bracket 302, a cross-shaped guide rail bracket 303, a second driving member 304, a main cone wheel 305 and a transmission rod group 306. The cross-shaped guide rail bracket 303 is installed on the inner side of the inner bracket 302, and the second driving member 3 04 is installed on the upper side of the inner bracket 302, and the shaft end of the second driving member 304 is connected to the main bevel wheel 305; the transmission rod group 306 is provided with four rectangular distributions around the inner bracket 302, and each transmission rod group 306 includes a transmission screw, a secondary bevel wheel and a slide. The front end of the transmission screw is rotatably connected to the cross guide rail bracket 303, and the rear end of the transmission screw is provided with a secondary bevel wheel engaged with the main bevel wheel 305; the slide is provided on the outside of the transmission screw and is slidably connected to the cross guide rail bracket 303, and the extraction cutter head 301 is installed at the bottom end of the slide.

[0055] See also Figure 3In this embodiment, the upper end of the skin removal depth limiting mechanism 4 is installed on the upper bracket 501 of the skin tension maintaining mechanism 5, and the lower end of the skin removal depth limiting mechanism 4 is connected to the inner bracket 302 of the skin functional unit extraction mechanism 3. The skin removal depth limiting mechanism 4 is an electric linear drive component with multi-level depth limit adjustment.

[0056] In combination with the above embodiments, the present invention further provides a method for transplanting skin functional units with optimized donor and recipient areas, which is implemented based on the transplantation device in the above embodiments. The specific transplantation steps include:

[0057] S1: Patient assessment and determination and marking of donor and recipient sites. A comprehensive physical examination and skin condition assessment are performed on the patient, including the elasticity, thickness, and presence of lesions in the donor skin, and the degree, extent, and blood supply of the recipient skin. Based on the assessment results, combined with surgical requirements and aesthetic principles, the donor and recipient sites are precisely selected and marked on the patient's body surface.

[0058] S2: Fixing and tensioning the donor skin: Place the skin attachment bracket 2 on the selected donor skin surface to ensure that it fits tightly with the skin, covering and protecting the donor skin; start the skin tension maintaining mechanism 5, the first driving member 502 operates and drives the worm to rotate, thereby driving the worm gear 503 to rotate. The worm gear 503 drives the long arm 506 to swing through the short arm A504 and the short arm B505, so that the tension roller 507 evenly stretches the donor skin. The skin tension is observed in real time through the display and control panel 6, and the speed and direction of the first driving member 502 are adjusted as needed to make the donor skin reach an appropriate tension state, creating conditions for the subsequent extraction of skin functional units;

[0059] S3: Adjusting the spacing between the extraction heads 301: Based on the surgical requirements and the actual conditions of the donor skin, the second driving member 304 of the skin functional unit extraction mechanism 3 is controlled by the display and control panel 6. The second driving member 304 drives the main cone wheel 305 to rotate. The main cone wheel 305 engages with the secondary cone wheel of the transmission rod assembly 306 to drive the transmission screw to rotate. The rotation of the transmission screw causes the slide to move on the cross-shaped guide rail bracket 303, thereby adjusting the spacing between the extraction heads 301.

[0060] S4: Setting the skin extraction depth limit: Based on the thickness measurement result in S1, the electric linear drive component of the skin extraction depth limit mechanism 4 is set through the display and control panel 6, and an appropriate multi-level depth limit gear is selected to set the cutting depth of the skin functional unit extraction mechanism 3 to ensure that the extracted skin unit contains the complete epidermis, dermis and some skin appendages;

[0061] S5: Extraction of skin functional units. After confirming the settings of various parameters, start the extraction blade 301 to cut the skin of the donor area. After the cutting is completed, the extracted skin functional units are separated from the donor area and placed in sterile saline for storage to maintain their activity and integrity for subsequent transplantation.

[0062] The embodiments of the present invention are provided for the purpose of illustration and description. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present invention. Any changes, modifications, replacements and variations of the above embodiments by ordinary technicians in this field within the scope of the present invention should be included in the scope of protection of the present invention.

Claims

1. A skin functional unit transplantation device for optimizing the donor and recipient area, the transplantation device being an independent modular operation terminal or a collaborative execution terminal embedded in a surgical robot, the transplantation device comprising a device housing (1), a skin attachment bracket (2), a skin functional unit extraction mechanism (3), a skin extraction depth limiting mechanism (4), and a skin tension maintaining mechanism (5), characterized in that: The device housing (1) is an integrated housing that integrates a power management module, a main control chipset, and a wireless communication module. A display control panel (6) for real-time parameter adjustment, status visualization, and emergency braking is provided on the outside of the device housing (1); The skin attachment bracket (2) is arranged on the bottom side edge of the device housing (1) and is attached to the surface of the donor skin. The skin attachment bracket (2) is used to cover, support and protect the donor skin. The skin tension maintaining mechanism (5) is arranged on the inner side of the device housing (1) and its front end extends from the bottom side of the device housing (1). The skin tension maintaining mechanism (5) is used to stretch the skin of the donor area. The skin tension maintaining mechanism (5) includes an upper bracket (501), a first driving member (502), a worm, a worm gear (503), a tension maintaining arm and a tension roller (507); The skin function unit extraction mechanism (3) is arranged on the inner side of the device housing (1) and its front end extends from the bottom side of the device housing (1). A servo for driving the operation of the skin function unit extraction mechanism (3) is provided on the upper side. The skin function unit extraction mechanism (3) comprises an extraction cutter head (301), an inner bracket (302), a cross-shaped guide rail bracket (303), a second driving member (304), a main cone wheel (305) and a transmission rod group (306). The cross-shaped guide rail bracket (303) is installed on the inner side of the inner bracket (302), the second driving member (304) is installed on the upper side of the inner bracket (302), and the shaft end of the second driving member (304) is connected to the main cone wheel (305). The upper end of the skin-taking depth-limiting mechanism (4) is mounted on the upper bracket (501) of the skin tension maintaining mechanism (5), and the lower end of the skin-taking depth-limiting mechanism (4) is connected to the inner bracket (302) of the skin functional unit extraction mechanism (3).

2. The skin functional unit transplantation device with optimized donor and recipient areas according to claim 1, characterized in that: The upper bracket (501) is fixed in the device housing (1), a first driving member (502) is arranged in the middle of the upper bracket (501), an outer bracket is arranged outside the first driving member (502), and the shaft end of the first driving member (502) is connected to the worm.

3. The skin functional unit transplantation device with optimized donor and recipient areas according to claim 2, characterized in that: A plurality of side plates are distributed in a ring shape on the lower side of the outer bracket. The worm gears (503) are rotatably mounted on the side plates and the number of the worm gears (503) is the same as the number of the side plates. The worm gears (503) are meshed with the worm.

4. The skin functional unit transplantation device with optimized donor and recipient areas according to claim 1, characterized in that: The tension retaining arm comprises a short arm A (504), a short arm B (505) and a long arm (506), wherein the long arm (506) is provided with a long hole, the rear ends of the short arm A (504) and the short arm B (505) are respectively connected to the upper and lower ends of the long hole, the front end of the short arm A (504) is hinged to the end face of the worm gear (503), and the front end of the short arm B (505) is hinged to the side plate.

5. The skin functional unit transplantation device with optimized donor and recipient areas according to claim 4, characterized in that: A tension roller (507) is installed at the bottom end of the long arm (506), and the long arm (506) engages and swings with the worm and worm wheel (503) so that the tension roller (507) can evenly stretch the skin of the donor area.

6. The skin functional unit transplantation device with optimized donor and recipient areas according to claim 1, characterized in that: The transmission rod group (306) is provided with four rectangular rods distributed around the inner bracket (302). Each transmission rod group (306) includes a transmission screw, a secondary cone wheel and a slide seat. The front end of the transmission screw is rotatably connected to the cross guide rail bracket (303), and the rear end of the transmission screw is provided with a secondary cone wheel engaged with the main cone wheel (305).

7. The skin functional unit transplantation device with optimized donor and recipient areas according to claim 6, characterized in that: The slide is arranged outside the transmission screw and is slidably connected to the cross-shaped guide rail bracket (303), and the extraction cutter head (301) is installed at the bottom end of the slide.

8. The skin functional unit transplantation device with optimized donor and recipient areas according to claim 1, characterized in that: The skin-taking depth-limiting mechanism (4) is an electric linear drive component with multi-stage depth-limiting adjustment.

9. A method for transplanting skin functional units with optimized donor and recipient areas, which is implemented based on the transplantation device according to any one of claims 1 to 8, wherein the specific transplantation steps include: S1: Patient assessment and determination and marking of donor and recipient sites. A comprehensive physical examination and skin condition assessment are performed on the patient, including the elasticity, thickness, and presence of lesions in the donor skin, and the degree, extent, and blood supply of the recipient skin. Based on the assessment results, combined with surgical requirements and aesthetic principles, the donor and recipient sites are precisely selected and marked on the patient's body surface. S2: Fixation and tension adjustment of the donor skin: Place the skin attachment bracket (2) on the selected donor skin surface, ensuring that it fits tightly with the skin, covering and protecting the donor skin; The skin tension maintaining mechanism (5) is started, the first driving member (502) is operated and drives the worm to rotate, thereby driving the worm wheel (503) to rotate, and the worm wheel (503) drives the long arm (506) to swing through the short arm A (504) and the short arm B (505), so that the tension roller (507) evenly stretches the donor area skin. The skin tension is observed in real time through the display control panel (6), and the speed and direction of the first driving member (502) are adjusted as needed to make the donor area skin reach an appropriate tension state, creating conditions for the subsequent extraction of skin functional units; S3: Adjusting the spacing between the extraction heads (301). According to the surgical requirements and the actual conditions of the donor skin, the second driving member (304) of the skin functional unit extraction mechanism (3) is controlled by the display and control panel (6). The second driving member (304) drives the main cone wheel (305) to rotate. The main cone wheel (305) engages with the secondary cone wheel of the transmission rod group (306) to drive the transmission screw to rotate. The rotation of the transmission screw causes the slide to move on the cross-shaped guide rail bracket (303), thereby adjusting the spacing between the extraction heads (301). S4: setting the skin extraction depth limit. According to the thickness measurement result in S1, the electric linear drive component of the skin extraction depth limit mechanism (4) is set through the display control panel (6), and the appropriate multi-level depth limit gear is selected to set the cutting depth of the skin functional unit extraction mechanism (3) to ensure that the extracted skin unit contains the complete epidermis, dermis and part of the skin appendage structure; S5: Extraction of skin functional units. After confirming the settings of various parameters, the extraction blade (301) is started to cut the skin of the donor area. After the cutting is completed, the extracted skin functional units are separated from the donor area and placed in sterile saline to maintain their activity and integrity for subsequent transplantation.

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