Anesthesia injection device, automatic control method thereof and hair implanting robot

Abstract

This invention discloses an anesthesia injection device, its automatic control method, and a hair transplant robot, relating to the field of medical surgical equipment technology. The device includes: a fixing mechanism for mounting on a robotic arm and being driven by the robotic arm; a first feeding mechanism disposed on the fixing mechanism; an injection mechanism disposed on the first feeding mechanism, the first feeding mechanism driving the injection mechanism to move; and a vision control unit disposed on the fixing mechanism for acquiring images and controlling the movement of the first feeding mechanism and / or the robotic arm based on the acquired images, so that the injection mechanism reaches a target position. The anesthesia injection device, its automatic control method, and the hair transplant robot of this invention can automatically inject anesthetic into the scalp of a target person with low pain during injection, and the injection process is fast and efficient.

Description

Technical Field

[0001] This invention relates to the field of medical surgical equipment technology, and in particular to an anesthesia injection device and its automatic control method, as well as a hair transplant robot. Background Technology

[0002] In hair transplant surgery, anesthetic is typically administered by a doctor using a manual anesthetic syringe. A full-area injection is given in the surgical area before the actual surgery, and additional anesthetic injections are given during the procedure based on the patient's pain levels. However, manually injecting scalp anesthetic by the doctor is problematic. Firstly, it places a high degree of dependence on the doctor, has lower anesthetic efficiency, and increases the doctor's workload, affecting surgical efficiency. Secondly, administering anesthetic using existing syringes can cause significant pain for the patient. Summary of the Invention

[0003] The purpose of this invention is to provide an anesthesia injection device that can automatically inject an anesthetic into the scalp of a target person, making the injection process fast and efficient.

[0004] The above-mentioned objectives of the present invention can be achieved by the following technical solutions:

[0005] This invention provides an anesthesia injection device, comprising:

[0006] A fixing mechanism for mounting on a robotic arm so as to be driven by the robotic arm;

[0007] The first feed mechanism is mounted on the fixed mechanism;

[0008] An injection mechanism is mounted on the first feeding mechanism, which drives the injection mechanism to move.

[0009] A vision control unit, mounted on the fixed mechanism, is used to acquire images and control the movement of the first feeding mechanism and / or the robotic arm based on the acquired images, so that the injection mechanism reaches the target position.

[0010] In a preferred embodiment, the injection mechanism includes:

[0011] Injection parts;

[0012] A fixed pipe is fixedly mounted on the first feeding mechanism, and the injection component is located at the distal end of the fixed pipe;

[0013] Liquid supply pipeline;

[0014] The liquid supply module is connected to the fixed conduit via the liquid supply conduit. The liquid supply module is used to deliver the anesthetic agent inside it to the injection device through the liquid supply conduit and the fixed conduit.

[0015] In a preferred embodiment, the injection element is an injection needle, which has a guide section and an injection section, the injection section being disposed at the distal end of the guide section;

[0016] The guiding section includes a guiding tube, the interior of which is through-hole to allow the anesthetic to flow through, and at least one marking ring is formed on the outer wall of the guiding tube;

[0017] The injection segment includes multiple injection needles that extend from the proximal end to the distal end of the guide tube.

[0018] In a preferred embodiment, the injection device is an injection tube, the interior of which is through-hole to allow the anesthetic to flow through, and the inner wall surface at the distal end of the injection tube is tapered towards the axis of the injection tube from the proximal end to the distal end.

[0019] In a preferred embodiment, the liquid supply module includes:

[0020] The housing has a cavity for containing the anesthetic agent;

[0021] A hydraulic pump is disposed within the receiving cavity, and the supply pipeline is connected to the hydraulic pump.

[0022] In a preferred embodiment, the liquid supply module includes:

[0023] The container box;

[0024] An injection plate is disposed inside the receiving box, and the injection plate and the inner wall of the receiving box form a receiving cavity for receiving the anesthetic agent, and the supply pipe is connected to the receiving cavity;

[0025] A driver is used to move the injection plate within the receiving chamber to compress the receiving cavity and inject the anesthetic into the supply line.

[0026] In a preferred embodiment, the fixing mechanism includes a fixing member, the upper end of which is fixedly connected to the robotic arm, and the lower end of which forms a slide rail;

[0027] The first feed mechanism includes:

[0028] Drive components;

[0029] A sliding member is disposed on the slide rail and connected to the driving member. The injection mechanism is fixedly disposed on the sliding member so that the driving member can drive the injection mechanism to the target position.

[0030] In a preferred embodiment, the vision control unit includes:

[0031] Controller;

[0032] A vision module is mounted on the fixed mechanism and is signal-connected to the controller. The injection piece is located within the visual information acquisition range of the vision module, so that the controller controls the movement of the robotic arm and / or the first feeding mechanism according to the position of the injection piece.

[0033] Another objective of this invention is to provide an automatic control method for an anesthesia injection device that can automatically inject an anesthetic into the scalp of a target person, making the injection process fast and efficient.

[0034] The above-mentioned objectives of the present invention can be achieved by the following technical solutions:

[0035] This invention provides an automatic control method for an anesthesia injection device, the method comprising the following steps:

[0036] The RGB data and point cloud data of the target to be injected are obtained through the vision module;

[0037] A three-dimensional model of the target to be injected is generated using the RGB data and the point cloud data;

[0038] Plan at least one target location on the three-dimensional model of the target to be injected;

[0039] The controller controls the first feeding mechanism to drive the injection piece to the target position.

[0040] In a preferred embodiment, the injection element is an injection needle; when the controller controls the first feeding mechanism to drive the injection element to the target position, the following steps are included:

[0041] The visual module determines the relative position between the distal end of the injection needle and the target to be injected.

[0042] When the distal end of the injection needle has not contacted the target to be injected, the first feeding mechanism is controlled and the injection needle is moved at a first speed until the distal end of the injection needle contacts the target to be injected.

[0043] When the distal end of the injection needle contacts the target to be injected, the first feeding mechanism is controlled and the injection needle is moved at a second speed so that the injection needle enters the target to be injected. After the position of the marking ring of the injection needle is flush with the surface of the target to be injected, the anesthetic is injected into the target through the injection needle.

[0044] In a preferred embodiment, the injection element is an injection tube; when the controller controls the first feeding mechanism to drive the injection element to the target position, the following steps are included:

[0045] The visual module determines the relative position between the distal end of the injection tube and the target to be injected.

[0046] When the distal end of the injection tube has not yet contacted the target to be injected, the first feeding mechanism is controlled and the injection tube is moved at a first speed until the distal end of the injection tube contacts the target to be injected, and then the anesthetic is injected into the target to be injected through the injection tube.

[0047] Another objective of this invention is to provide a hair transplant robot capable of automatically injecting anesthetic into the scalp of a target person and extracting hair follicles, thereby making the hair transplant surgery process fast and efficient.

[0048] The above-mentioned objectives of the present invention can be achieved by the following technical solutions:

[0049] The present invention provides a hair transplant robot, including an extraction mechanism and an anesthesia injection device as described above. The extraction mechanism is disposed on the fixing mechanism for circumferential cutting and extraction of hair follicles.

[0050] In a preferred embodiment, the hair transplant robot includes a second feeding mechanism disposed on the fixing mechanism, and the suction mechanism is disposed on the second feeding mechanism, the second feeding mechanism being used to drive the suction mechanism.

[0051] In a preferred embodiment, the anesthesia injection device includes an injection element, a fixed conduit, and a liquid supply conduit; the injection element is an injection needle; and the aspiration mechanism includes:

[0052] The injection component;

[0053] The fixed pipeline;

[0054] The adsorption pipe, the liquid supply pipe and the adsorption pipe can both be connected to the fixed pipe;

[0055] An adsorption module is used to generate suction to draw hair follicles through the adsorption channel and the injection needle.

[0056] In a preferred embodiment, the system further includes a solenoid valve having a first interface, a second interface, and a third interface. The solenoid valve is used to control the first interface to connect with the second interface or the third interface. The fixed pipe is connected with the first interface, the liquid supply pipe is connected with the second interface, and the adsorption pipe is connected with the third interface.

[0057] The features and advantages of this invention are:

[0058] The anesthesia injection device and hair transplant robot of this invention can be mounted on a robotic arm, which can be controlled by a vision control unit. This allows the entire anesthesia injection device and hair transplant robot to be driven by the robotic arm for automatic movement. Simultaneously, the first feeding mechanism can also be controlled by the vision control unit, enabling the injection mechanism mounted on the first feeding mechanism to move automatically. Through the coordinated movement of the robotic arm and the first feeding mechanism, the injection mechanism can move to the target person's scalp and enter the target location within the scalp to inject the anesthetic, thereby achieving the effect of automatically injecting the anesthetic into the target person's scalp. Attached Figure Description

[0059] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0060] Figure 1 The diagram shown illustrates a usage scenario of the anesthesia injection device of the present invention.

[0061] Figure 2 The diagram shown is a structural schematic of the anesthesia injection device of the present invention.

[0062] Figure 3 The diagram shown is a structural schematic of the injection mechanism of the anesthesia injection device of the present invention.

[0063] Figure 4 The diagram shown is a structural schematic of an embodiment of the injection component of the anesthesia injection device of the present invention.

[0064] Figure 5 The diagram shown is a structural schematic of another embodiment of the injection component of the anesthesia injection device of the present invention.

[0065] Figure 6 The diagram shown is a structural schematic of one embodiment of the fluid supply module of the anesthesia injection device of the present invention.

[0066] Figure 7 The diagram shown is a structural schematic of another embodiment of the fluid supply module of the anesthesia injection device of the present invention.

[0067] Figure 8 The diagram shown is a structural schematic of one embodiment of the drive component of the anesthesia injection device of the present invention.

[0068] Figure 9 The diagram shown is a structural schematic of an embodiment of the sliding component of the anesthesia injection device of the present invention.

[0069] Figure 10 The diagram shown is a structural schematic of another embodiment of the slider of the anesthesia injection device of the present invention.

[0070] Figure 11 The diagram shown is a structural schematic of the hair transplant robot of the present invention.

[0071] Figure 12 The diagram shown is a structural schematic of the suction mechanism of the hair transplant robot of the present invention. Detailed Implementation

[0072] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. It should be noted that when an element is referred to as being "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intervening element. The terms "installed," "connected," and "connected" should be interpreted broadly. For example, it can be a mechanical connection or an electrical connection, or it can be a connection within two elements. It can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation.

[0073] Example 1:

[0074] Please see Figure 1 and Figure 2 As shown, an embodiment of the present invention provides an anesthesia injection device A, comprising: a fixing mechanism 1 for mounting on a robotic arm B and being driven by the robotic arm B; a first feeding mechanism 2 disposed on the fixing mechanism 1; an injection mechanism 3 disposed on the first feeding mechanism 2, the first feeding mechanism 2 being used to drive the injection mechanism 3 to move; and a vision control unit 4 disposed on the fixing mechanism 1 for acquiring images and controlling the first feeding mechanism 2 and / or the robotic arm B to move according to the acquired images, so that the injection mechanism 3 reaches the target position.

[0075] The anesthesia injection device A provided in this embodiment of the invention can be mounted on a robotic arm B, which is controlled by a vision control unit 4. This allows the entire anesthesia injection device A to be driven by the robotic arm B for automatic movement. Simultaneously, the first feeding mechanism 2 is also controlled by the vision control unit 4, enabling the injection mechanism 3 mounted on the first feeding mechanism 2 to move automatically. Through the coordinated movement of the robotic arm B and the first feeding mechanism 2, the injection mechanism 3 can move to the scalp of the target person and enter the target location within the scalp to inject the anesthetic, thereby achieving the effect of automatically injecting the anesthetic into the scalp of the target person.

[0076] Specifically, in this embodiment of the invention, the anesthesia injection device A and the robotic arm B are fixedly connected via a fixing mechanism 1, allowing the hair transplant robot A to be directly driven by the robotic arm B, thus improving the driving efficiency of the robotic arm B. Simultaneously, the first feeding mechanism 2 and the vision control unit 4 are also fixedly connected to the fixing mechanism 1, thereby fixing the relative positions between the first feeding mechanism 2 and the vision control unit 4, ensuring that the drive of the injection mechanism 3 by the first feeding mechanism 2 can be quickly fed back to the vision control unit 4. The overall structure and connection relationships of the anesthesia injection device A in this embodiment of the invention are described below.

[0077] The anesthesia injection device A of this invention can achieve full automation of a series of operations, including assisted positioning, needle insertion, and drug injection. Please refer to [link / reference]. Figure 2 and Figure 3 As shown, in a preferred embodiment, the injection mechanism 3 includes: an injection element 31; a fixed conduit 32, which is fixedly mounted on the first feeding mechanism 2, with the injection element 31 located at the distal end of the fixed conduit 32; a liquid supply conduit 33; and a liquid supply module 34, wherein the fixed conduit 32 is connected to the liquid supply module 34 via the liquid supply conduit 33, and the liquid supply module 34 is used to deliver the anesthetic agent inside it to the injection element 31 through the liquid supply conduit 33 and the fixed conduit 32.

[0078] The injection unit 31 is directly fixed on the first feeding mechanism 2 through a rigid fixed pipe 32, which can effectively improve the driving efficiency of the injection unit 31. The liquid supply module 34 is set separately and connected to the fixed pipe 32 through a flexible liquid supply pipe 33, which can effectively reduce the load weight of the robotic arm B used to drive the anesthesia injection device A, making the robotic arm B more flexible.

[0079] Specifically, the injection component 31 can be connected to the fixed pipe 32 via a threaded structure or via an interference fit. Preferably, the end of the fixed pipe 32 can be provided with an adjustable clamping structure, such as a three-jaw chuck, so that the injection component 31 can be quickly and easily detached from the fixed pipe 32.

[0080] To reduce pain when the injection device 31 enters the scalp of the target person and to facilitate the identification and control of the injection device 31 by the visual control unit 4, the injection device 31 of this embodiment minimizes the volume of its intrusion into the target person's scalp. Please refer to... Figure 4 As shown, in a preferred embodiment, the injection member 31 is an injection needle, and has a guide section 311 and an injection section 312. The injection section 312 is disposed at the distal end of the guide section 311. The interior of the guide section 311 is through-connected to allow the anesthetic to flow through. At least one marking ring 313 is formed on the outer wall surface of the guide section 311. The injection section 312 includes a plurality of injection needles 314, which extend from the proximal end to the distal end of the guide section 311. Specifically, the plurality of injection needles 314 are evenly distributed in the circumferential direction, and the radially outer surface of the injection needles 314 is gradually tapered from the proximal end to the distal end toward the axis of the injection section 312.

[0081] By designing the injection element 31 as a multi-segment injection needle 314 arranged in parallel, and making the needle tips of the injection needles 314 thinner, the volume of the injection element 31 penetrating the scalp of the target person can be effectively reduced, thereby reducing the pain when the injection element 31 injects the anesthetic. In addition, the anesthetic can quickly penetrate into the scalp of the target person through the gaps between the injection needles 314, thereby enabling the anesthetic to take effect quickly and effectively shortening the time for the target person to perceive pain. The guide segment 311 of the injection element 31 is also provided with a marking ring 313, which enables the vision control unit 4 to quickly identify the injection element 31 and the depth of the injection element 31 penetrating the scalp of the target person, thereby controlling the feeding mechanism 2 to ensure that the injection depth of the injection element 31 driven by the feeding mechanism 2 to the injection mechanism 3 is within a reasonable range.

[0082] Specifically, the guide section 311 of the injection needle has a hollow structure to deliver anesthetic agents. Furthermore, this injection needle can not only be used to inject anesthetic agents but also to cut tissue within the scalp of the target. Once the injection needle has penetrated the scalp to a certain depth, rotating the needle causes multiple injection needles 314 to move circumferentially, allowing the sides of the injection needles 314 to cut away scalp tissue. The hollow structure of the guide section 311 also facilitates the timely removal of the cut scalp tissue.

[0083] Please see Figure 5As shown, in another preferred embodiment, the injection element 31 is an injection tube 315. The interior of the injection tube 315 is through-hole to allow the anesthetic to flow through. The inner wall surface at the distal end of the injection tube 315 tapers towards the axis of the injection tube 315 from proximal to distal. By designing the injection element 31 as a non-puncture tubular structure, it is not necessary for the injection element 31 to penetrate the scalp of the target person. Instead, by making the inner wall surface of the injection tube 315 taper towards the axis of the injection tube 315 from proximal to distal, a small-diameter injection port is formed at the tip of the injection tube 315. This allows the anesthetic to form a high-pressure jet and rapidly atomize due to increased pressure at the injection port, thereby injecting it into the scalp of the target person, further reducing the pain of injecting the anesthetic. In addition, since the injection element 31 does not need to pierce the scalp, it is also easier for the visual control unit 4 to identify and control the injection element 31.

[0084] The supply module 34 delivers the anesthetic agent to the injection port 31 and provides pressure to inject the anesthetic agent into the scalp of the target person. See also... Figure 6 As shown, in a preferred embodiment, the liquid supply module 34 includes: a receiving box 341 having a receiving cavity for receiving anesthetic drugs; a hydraulic pump 342 disposed within the receiving cavity; and a liquid supply pipe 33 connected to the hydraulic pump 342, so that the hydraulic pump 342 draws in the anesthetic drugs and injects them into the liquid supply pipe 33. By pre-filling the anesthetic drugs in the receiving box 341 and drawing in the anesthetic drugs through the hydraulic pump 342 and injecting them into the injection device 31, automatic injection of the anesthetic drugs can be achieved, thereby further improving the integration and automation of the anesthesia injection device A.

[0085] Please see Figure 7 As shown, in another preferred embodiment, the liquid supply module 34 includes: a receiving box 341a; an injection plate 343 disposed inside the receiving box 341a, the injection plate 343 and the inner wall of the receiving box 341a forming a receiving cavity for receiving anesthetic drugs, and a liquid supply pipe 33 communicating with the receiving cavity; and a driver 344 for pushing the injection plate 343 to move within the receiving box 341a to compress the receiving cavity and inject the anesthetic drugs into the liquid supply pipe 33. Similarly, by pre-filling the anesthetic drugs in the receiving box 341a and pushing the injection plate 343 with the driver 344 to inject the anesthetic drugs into the injection unit 31, automatic injection of anesthetic drugs can also be achieved, further improving the integration and automation of the anesthesia injection device A.

[0086] Specifically, the actuator 344 can be a rotary motor, a linear motor, or a linear cylinder. Correspondingly, the injection plate 343 can be connected to the rotary motor via a lead screw structure, or it can be directly connected to the linear motor or linear cylinder, so that the actuator 344 can drive the injection plate 343 to achieve linear movement and provide the liquid pressure necessary for injecting anesthetic agents.

[0087] Please see Figure 2 As shown, in a preferred embodiment, the fixing mechanism 1 includes a fixing member 11, the upper end of which is fixedly connected to the robotic arm B, and the lower end of which forms a slide rail 12; the first feeding mechanism 2 includes: a driving member 21; a sliding member 22, which is disposed on the driving member 12 and connected to the driving member 21; and an injection mechanism 3, which is fixedly disposed on the sliding member 22, so that the driving member 21 can drive the injection mechanism 3 to the target position. Specifically, the driving member 21 can be a rotary motor that is driven by a lead screw mechanism to the sliding member 22, or a linear motor 211 directly connected to the sliding member 22 (e.g., a linear motor 211). Figure 8 (As shown). For a better option, please refer to [link / reference needed]. Figure 9 and Figure 10 As shown, the drive component 21 of the first feeding mechanism 2 is a rotary motor, which drives the injection needle to rotate via a gear or belt drive structure, thereby enabling the injection needle to cut the scalp tissue of the target to be injected. The sliding component 22 is a linear cylinder 221 or a linear hydraulic cylinder 222, which enables the rapid movement response of the injection mechanism 3 mounted on the sliding component 22 via pneumatic or hydraulic drive.

[0088] The vision control unit 4 includes: a controller 41; a vision module 42, which is mounted on the fixed mechanism 1 and is signal-connected to the controller 41. The injection part 31 of the injection mechanism 3 is located within the visual information acquisition range of the vision module 42, so that the controller 41 controls the movement of the robotic arm B and / or the first feeding mechanism 2 according to the position of the injection part 31.

[0089] The first feeding mechanism 2, injection mechanism 3, and vision control unit 4 are fixedly mounted on the robotic arm B by the fixing member 11. This effectively improves the driving efficiency of the robotic arm B and facilitates the vision control unit 4 in determining the positions of the anesthesia injection device A and the injection mechanism 3, thereby enabling the vision control unit 4 to more accurately control the movement of the robotic arm B and the first feeding mechanism 2. Furthermore, the visual information acquisition range of the vision control unit 4 should specifically include the injection element 31 of the injection mechanism 3 to ensure that the injection element 31 accurately and smoothly injects into the scalp of the target person. By mounting the injection mechanism 3 on the sliding member 22, the resistance during the movement of the injection mechanism 3 can be reduced, making the motor 21 drive the injection mechanism 3 more smoothly and further improving the stability of the movement of the injection element 31.

[0090] Specifically, the controller 41 of the vision control unit 4 can be a computer or industrial control computer with certain data processing capabilities, and the vision module 42 can be a monocular camera. Two vision modules 42 can be set up side by side on the fixed mechanism 1 to form a binocular vision system to output RGB image information and three-dimensional point cloud data. The visual information acquisition range of the two vision modules 42 should include the injection mechanism 3, especially the injection part 31. The motor 21 used to drive the injection mechanism 3 can be a rotary stepper motor and is connected to the slider 22 through a lead screw mechanism to convert the rotational motion of the motor 21 into the linear motion of the injection mechanism 3. The motor 21 can also be a linear motor connected to the slider 22 to directly drive the injection mechanism 3.

[0091] Example 2:

[0092] Please see Figures 1 to 5 As shown, this embodiment of the invention provides an automatic control method for an anesthesia injection device. The method includes the following steps: acquiring RGB data and point cloud data of the target to be injected through a vision module 42; generating a three-dimensional model of the target to be injected using the RGB data and point cloud data; planning at least one target position for injecting an anesthetic on the three-dimensional model of the target to be injected; and controlling a first feeding mechanism 2 and driving an injection mechanism 3 so that the injection component 31 reaches the target position.

[0093] The vision control unit 4 can identify and generate a three-dimensional model of the scalp of the target to be injected. Simultaneously, the vision control unit 4 identifies the real-time position of the injection device 31 relative to the scalp of the target, enabling automatic control of the injection device 31. Based on the three-dimensional model of the target's scalp, it achieves rapid positioning of the injection point, making the anesthetic injection positioning process more accurate and efficient. After the injection device 31 is positioned, when inserting it into the target person's scalp, the vision control unit 4 can again visually identify the injection device 31 to achieve automatic control of the needle depth.

[0094] Specifically, different depth positioning methods can be used for the two different injection devices 31 mentioned above. In a preferred embodiment, the injection device 31 is the injection needle described in Embodiment 1. When the controller 41 controls the first feeding mechanism 2 to drive the injection device 31 to the target position, the following steps are included: determining the relative position between the distal end of the injection needle and the target to be injected through the vision module 42; when the distal end of the injection needle has not contacted the target to be injected, controlling the first feeding mechanism 2 and moving the injection needle at a first speed until the distal end of the injection needle contacts the target to be injected; when the distal end of the injection needle contacts the target to be injected, controlling the first feeding mechanism 2 and moving the injection needle at a second speed so that the injection needle enters the target to be injected until the position of the marking ring 313 of the injection needle is flush with the surface of the target to be injected, and then injecting anesthetic into the target to be injected through the injection needle. By setting the marking ring 313 on the outside of the injection device 31, the vision control unit 4 can quickly identify the depth to which the injection device 31 penetrates the scalp of the target person. Furthermore, the visual control unit 4 can also identify and control the movement speed of the injection device 31, making the injection device 31 more gentle when it pierces the scalp of the target person, thereby reducing the target person's pain and making the injection process more efficient, thus improving the injection efficiency of the anesthetic. Specifically, the first speed can be between 5 cm / s and 10 cm / s to meet the rapid feeding and positioning of the injection device 31 before injecting the anesthetic, and the second speed can be between 2 cm / s and 5 cm / s to meet the slow insertion of the injection device 31, thereby alleviating the pain of the needle piercing the scalp.

[0095] In another preferred embodiment, the injection device 31 is the injection tube 315 described in Embodiment 1. When the controller 41 controls the first feeding mechanism 2 to drive the injection device 31 to the target position, the following steps are included: determining the relative position between the distal end of the injection tube 315 and the target to be injected through the vision module 42; when the distal end of the injection tube 315 has not contacted the target to be injected, controlling the first feeding mechanism 2 and moving the injection tube 315 at a first speed until the distal end of the injection tube 315 contacts the target to be injected, and then injecting anesthetic into the target through the injection tube 315. By setting the injection device 31 to be tubular, the pain of the target person can be further reduced. In addition, since the tubular injection device 31 does not need to be inserted into the scalp of the target person, it helps the vision control unit 4 to better identify and control the injection device 31 and control its movement speed, so that the injection device 31 is gentler when it contacts the scalp of the target person, thereby reducing the pain of the target person and making the injection process more efficient, thus improving the injection efficiency of the anesthetic. Specifically, the first speed can be between 5 cm / s and 10 cm / s to meet the rapid feeding and positioning requirements of the injection unit 31 before injecting the anesthetic.

[0096] Example 3:

[0097] This invention also provides a hair transplant robot; please refer to [link / reference]. Figure 2As shown, the device includes an aspiration mechanism 5 and an anesthesia injection device A as described in Embodiment 1. The aspiration mechanism 5 is mounted on the fixing mechanism 1 and is used for circumferential cutting and aspirating hair follicles. By mounting the aspiration mechanism 5 on the fixing mechanism 1, the aspiration mechanism 5 can also be driven by the robotic arm B, thereby automatically reaching the target position required for aspirating hair follicles.

[0098] Specifically, the suction mechanism 5 of the hair transplant robot can be arranged side-by-side with the injection mechanism in the anesthesia injection device A. Please refer to [link / reference]. Figure 2 As shown, in a preferred embodiment, the hair transplant robot includes a second feeding mechanism 6, which is mounted on the fixing mechanism 1, and a suction mechanism 5 is mounted on the second feeding mechanism 6. The second feeding mechanism 6 is used to drive the suction mechanism 5.

[0099] By arranging the injection mechanism 3 and the aspiration mechanism 5 side by side on the first feeding mechanism 2 and the second feeding mechanism 6, the injection mechanism 3 and the aspiration mechanism 5 can be driven by the first feeding mechanism 2 and the second feeding mechanism 6 respectively, reducing the interference between the injection mechanism 3 and the aspiration mechanism 5. Furthermore, by controlling the translation of the anesthesia injection device A through the robotic arm B, the rapid switching between the injection mechanism 3 and the aspiration mechanism 5 can be achieved, effectively reducing the time spent between the injection of anesthesia and the aspiration of hair follicles during the operation and improving the efficiency of the surgical procedure.

[0100] To further improve the integration of the hair transplant robot in this embodiment of the invention, and to further enhance the efficiency of the mechanism drive and the surgery, the injection mechanism 3 and the suction mechanism 5 described above can be combined into a single structure. Please refer to... Figure 11 As shown, in a preferred embodiment, the anesthesia injection device of the hair transplant robot includes an injection element 31a, a fixed conduit 32a, and a liquid supply conduit 33. The injection element 31a is an injection needle. The suction mechanism 5 includes: an injection element 31a shared with the injection mechanism 3; a fixed conduit 32a shared with the injection mechanism 3; a separately provided adsorption conduit 51, both of which can be connected to the fixed conduit 32a; and an adsorption module, which generates suction to extract hair follicles through the adsorption conduit 51 and the injection element 31a.

[0101] By merging the injection mechanism 3 and the suction mechanism 5 into a single structure, the structural compactness of the hair transplant robot can be further improved, and the number of repositioning operations can be reduced. After positioning is completed, the fixed pipe 32a is first connected to the liquid supply pipe 33, allowing the injection component 31a to be used for injecting anesthetic. The fixed pipe 32a is then connected to the suction pipe 51, allowing the injection component 31a to be used for suctioning hair follicles. This allows the hair transplant robot to complete the two steps of injection anesthesia and suctioning hair follicles in a single positioning operation, further improving the driving efficiency of the hair transplant robot and further reducing the time between injection anesthesia and suctioning hair follicles during the operation, thus improving the efficiency of the surgical procedure. Specifically, the suction module can be a negative pressure vacuum pump that can provide negative pressure suction to suction hair follicles from the scalp of the target patient. The structure of the injection component 31a is the same as the injection needle described in Embodiment 1, which has multiple injection needles 314 that can penetrate into the scalp and cut off the skin tissue containing hair follicles so that the suction mechanism 5 can suction the hair follicle tissue.

[0102] When the injection mechanism 3 and the suction mechanism 5 are combined into a single structure, the piping can be configured with a controllable valve structure to reuse both injection and suction functions. Please refer to [link / reference]. Figure 11 As shown, in a preferred embodiment, the hair transplant robot further includes a solenoid valve 52. The solenoid valve 52 has a first interface, a second interface, and a third interface. The solenoid valve 52 is used to control the first interface to communicate only with the second interface or the third interface. The fixed pipe 32a is connected to the first interface via a flexible tube, the liquid supply pipe 33 is connected to the second interface, and the adsorption pipe 51 is connected to the third interface. By connecting the liquid supply pipe 33 and the adsorption pipe 51 to the fixed pipe 32a via the solenoid valve 52, structural redundancy can be effectively reduced, the integration of the injection mechanism 3 can be improved, thereby enhancing the surgical efficiency of the injection mechanism 3.

[0103] Please see Figure 12 As shown, specifically, the adsorption pipe 51 can be connected to the collection box 53, and the other end of the collection box 53 is connected to the negative pressure pump through the negative pressure pipe 54, so that negative pressure is generated in the adsorption pipe 51 and the collection box 53 to draw out hair follicles. A filter layer 55 is provided inside the collection box 53 to trap hair follicles and prevent them from being sucked away by the negative pressure pump. Thus, the hair follicles in the scalp of the person to be injected, which are cut by the injection needle and drawn by the fixed pipe 32a, are left in the collection box 53 for subsequent operations.

[0104] The above are merely a few embodiments of the present invention. Those skilled in the art can make various modifications or variations to the embodiments of the present invention based on the content disclosed in the application documents. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

Claims

1. A hair transplant robot, characterized in that, include: Suction mechanism, anesthesia injection device, and solenoid valve; The anesthesia injection device includes: A fixing mechanism is used to mount the robotic arm so as to be driven by the robotic arm; a first feeding mechanism is disposed on the fixing mechanism; An injection mechanism is mounted on a first feeding mechanism, which drives the injection mechanism to move. The injection mechanism includes: an injection element, which is an injection needle having a guide section and an injection section. The injection section is located at the distal end of the guide section and is internally continuous to allow anesthetic to flow through. The injection section includes multiple injection needles spaced apart circumferentially, extending from the proximal end to the distal end of the guide section. The multiple injection needles can cut scalp tissue when rotated; a fixed conduit; a fluid supply conduit; and a fluid supply module. The fixed conduit is connected to the fluid supply module via the fluid supply conduit. The fluid supply module is used to deliver its internal anesthetic to the injection element through the fluid supply conduit and the fixed conduit. A vision control unit, mounted on the fixed mechanism, is used to acquire images and control the movement of the first feeding mechanism and / or the robotic arm based on the acquired images, so that the injection mechanism reaches the target position. The suction mechanism is disposed on the fixing mechanism and is used to circumferentially cut and suction hair follicles. The suction mechanism includes: the injection component; the fixing pipe; the adsorption pipe, wherein both the liquid supply pipe and the adsorption pipe can be connected to the fixing pipe; and the adsorption module, which is used to generate suction to suction hair follicles through the adsorption pipe and the injection needle. The solenoid valve enables the reuse of both injection and suction functions.

2. The hair transplant robot as described in claim 1, characterized in that, The fixed pipe is fixedly mounted on the first feeding mechanism, and the injection component is located at the distal end of the fixed pipe.

3. The hair transplant robot as described in claim 2, characterized in that, At least one marking ring is formed on the outer wall surface of the guide segment.

4. The hair transplant robot as described in claim 3, characterized in that, The radial outer surface of the injection needle is tapered from the proximal end to the distal end toward the axis of the injection segment.

5. The hair transplant robot as described in claim 2, characterized in that, The liquid supply module includes: The housing has a cavity for containing the anesthetic agent; A hydraulic pump is disposed within the receiving cavity, and the liquid supply pipeline is connected to the hydraulic pump.

6. The hair transplant robot as described in claim 2, characterized in that, The liquid supply module includes: The container box; An injection plate is disposed inside the receiving box, and the injection plate and the inner wall of the receiving box form a receiving cavity for receiving the anesthetic agent, and the supply pipe is connected to the receiving cavity; A driver is used to move the injection plate within the receiving chamber to compress the receiving cavity and inject the anesthetic into the supply line.

7. The hair transplant robot as described in claim 1, characterized in that, The fixing mechanism includes a fixing member, the upper end of which is fixedly connected to the robotic arm, and the lower end of which forms a slide rail; The first feed mechanism includes: Drive components; A sliding member is disposed on the slide rail and connected to the driving member. The injection mechanism is fixedly disposed on the sliding member so that the driving member can drive the injection mechanism to the target position.

8. The hair transplant robot as described in claim 2, characterized in that, The vision control unit includes: Controller; A vision module is mounted on the fixed mechanism and is signal-connected to the controller. The injection piece is located within the visual information acquisition range of the vision module, so that the controller controls the movement of the robotic arm and / or the first feeding mechanism according to the position of the injection piece.

9. The hair transplant robot as described in claim 1, characterized in that, The injection mechanism and the suction mechanism are combined into a single structure.

10. The hair transplant robot as described in claim 1, characterized in that, The solenoid valve has a first interface, a second interface, and a third interface. The solenoid valve is used to control the connection between the first interface and the second interface or the third interface. The fixed pipe is connected to the first interface, the liquid supply pipe is connected to the second interface, and the adsorption pipe is connected to the third interface.

11. An automatic control method for a hair transplant robot as described in any one of claims 1 to 10, characterized in that, The method includes the following steps: The RGB data and point cloud data of the target to be injected are obtained through the vision module; A three-dimensional model of the target to be injected is generated using the RGB data and the point cloud data; Plan at least one target location on the three-dimensional model of the target to be injected; The controller controls the first feeding mechanism to drive the injection piece to the target position.

12. The automatic control method for the hair transplant robot as described in claim 11, characterized in that, The injection component is an injection needle; when the controller controls the first feeding mechanism to drive the injection component to the target position, the following steps are included: The visual module determines the relative position between the distal end of the injection needle and the target to be injected. When the distal end of the injection needle has not contacted the target to be injected, the first feeding mechanism is controlled and the injection needle is moved at a first speed until the distal end of the injection needle contacts the target to be injected.

Images