A multi-channel hair implantation device mounting module and an automatic hair implantation apparatus having the same

Abstract

According to an embodiment of the present application, there is disclosed an implant module which is mountable on a robot arm composed of a plurality of arms and joints, the implant module comprising: a bracket which is coupled to the robot arm; a first sliding block which is provided on the bracket and is capable of sliding the bracket in a vertical direction; and a second sliding block which is provided on the bracket and is provided side by side on one side of the first sliding block and is capable of sliding the bracket in the vertical direction; a multi-channel implant module which is detachably mounted on the first sliding block; and an automatic implant device having the implant module.

Description

TECHNICAL FIELD

[0001] The present application relates to a hair implantation device, and more particularly, to an automatic hair implantation apparatus capable of automatically performing a hair implantation operation on a patient's scalp using a hair implantation device. BACKGROUND

[0002] Hair transplantation is one of hair surgery methods, which takes hair from a hair-bearing area of the scalp and transplants it to a bald area of the scalp (bald patient) where hair is lost and transplanted, so as to have as much hair as a normal person.

[0003] In the hair transplantation surgery, a plurality of hair implantation devices (implanters) are used. The hair implantation device is a device that takes hair from a hair-bearing area of the scalp and transplants it to a bald area of the scalp (bald patient) where hair is lost and transplanted, and a widely used hair implanter in the related art has a body in which one hair implantation needle is provided, and a mandrel that is slidably provided in the hair implantation needle.

[0004] The existing hair implantation device is configured such that, in use, a surgeon holds the hair implantation device by hand and operates the hair implantation needle and the mandrel one by one (pressing or pulling up, etc.) by fingers.

[0005] However, in the case of such an existing single manual hair implantation device, one hair implantation device can implant only one hair root, and in order to implant a large number of hair roots, it is necessary to prepare a plurality of hair implantation devices, replace the devices one by one and perform surgery each time, and to operate the hair implantation needle and the mandrel by fingers, so it is a very difficult work.

[0006] That is, in the case of using the existing hair implanter, the surgeon (e.g., a doctor) who performs the hair implantation process needs to place the used hair implantation device on a separate workbench and pick up another prepared hair implantation device after completing one surgery of inserting the hair implantation needle into the scalp and operating the mandrel. In general, since the hair transplantation surgery is performed more than 1000 times at a time and takes a long time of about 3 to 5 hours, a large amount of labor and fatigue are inevitable for the surgeon in the hair implantation work in which the hair implantation needle and the mandrel are operated by fingers each time.

[0007] Prior Art Documents

[0008] Patent Documents

[0009] Patent Document 1: Korean Patent Publication No. 2008-0049793 (published on June 4, 2008)

[0010] Patent Document 2: Korean Patent Publication No. 2019-0109321 (published on September 25, 2019) SUMMARY

[0011] PROBLEMS TO BE SOLVED BY THE INVENTION

[0012] The present invention has been made to solve the above-described conventional problems, and an object thereof is to provide an automatic hair implantation device capable of automatically installing a multi-channel hair implantation device having a plurality of needles (hair implantation needles) and performing a hair implantation operation on a patient and automatically placing the multi-channel hair implantation device in a cradle to automatically perform almost the entire process of the hair implantation operation.

[0013] SOLUTION TO THE PROBLEM

[0014] According to an embodiment of the present invention, there is disclosed an automatic hair implantation device including a bracket combined with a robot arm composed of a plurality of arms and joints, a first sliding block provided on the bracket and capable of sliding the bracket in a vertical direction, and a second sliding block provided on the bracket and disposed side by side on one side of the first sliding block and capable of sliding the bracket in the vertical direction, and a multi-channel hair implantation device module detachably installed in the first sliding block (130), and an automatic hair implantation device having the same.

[0015] In an embodiment, a first track is formed on the bracket in a vertical direction at a predetermined length, and a second track is formed on the first sliding block in a vertical direction at a predetermined length and combined with the first track and slidably combined.

[0016] In an embodiment, the multi-channel hair implantation device module can include a multi-channel hair implantation device having a plurality of needles arranged in a radial direction around a central axis, and a hair implantation device support portion detachably combined with a sliding handle of an outer circumferential surface of the multi-channel hair implantation device.

[0017] In an embodiment, a third track is formed on the first sliding block in a vertical direction at a predetermined length, and a fourth track can be formed on the hair implantation device support portion, formed on one side surface of the hair implantation device support portion, and combined with the third track and slidably combined in a vertical direction.

[0018] The first sliding block further includes a support portion coupling protrusion formed on a surface of the first sliding block facing the implantation device support portion, and the implantation device support portion further includes a first recess portion formed on a surface of the implantation device support portion facing the first sliding block and configured to receive the support portion coupling protrusion. In this case, the multi-channel implantation device module is mounted to the first sliding block by the support portion coupling protrusion being inserted into the first recess portion in a state in which the third rail of the first sliding block and the fourth rail of the implantation device support portion are engaged.

[0019] In an embodiment, a push rod can be further included, which is disposed at an upper portion of the third rail of the first sliding block and applies pressure downward to the implantation device support portion mounted to the first sliding block by elastic force.

[0020] In an embodiment, the second sliding block can apply pressure to an upper end portion of the multi-channel implantation device module in a state in which the multi-channel implantation device module is mounted to the first sliding block.

[0021] According to an embodiment of the present application, an automatic implantation device for automatically performing an implantation operation of transplanting hair to a scalp of a patient using an implantation device includes an implantation device mounting module attached to a multi-joint robot arm, one or more carriers capable of placing the multi-channel implantation device module, and a control portion for controlling operations of the robot arm and the implantation device mounting module. The robot arm and the implantation device mounting module are driven by the control portion to perform an operation of mounting the multi-channel implantation device module placed on the carrier to the implantation device mounting module and an operation of placing the multi-channel implantation device module mounted to the implantation device mounting module on the carrier.

[0022] In an embodiment, the carrier includes a plurality of implantation device placing portions for respectively receiving the multi-channel implantation device module, and a lever disposed adjacent to the implantation device placing portions, and when the implantation device mounting module in which the multi-channel implantation device module is mounted is lowered, the implantation device mounting module presses one end portion of the lever, and the multi-channel implantation device module can be detached from the first sliding block by the lever.

[0023] In an embodiment, the one or more carriers include a first carrier for placing one or more multi-channel implantation device modules before a hair transplantation operation and a second carrier for placing one or more multi-channel implantation device modules used during the hair transplantation operation.

[0024] Effects of the Invention

[0025] The installation module of the hair implant device according to an embodiment of the present application is capable of gripping the installed hair implant device and individually controlling and performing the action of pressing the upper cover, thereby having the advantage of being capable of automatically performing the hair implant operation that the operator holds the hair implant device and performs.

[0026] In addition, the automatic hair implant device according to an embodiment of the present application is capable of automatically performing the installation action of installing the hair implant device into the hair implant device installation module, the hair implant action of implanting hair into the scalp of the patient using the hair implant device installed into the hair implant device, and the placement action of placing the installed hair implant device on the cradle. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 FIG. 1 is a perspective view showing an automatic hair implant device employing a multi-channel hair implant device according to an embodiment of the present application.

[0028] Figure 2 FIG. 2 is a view for explaining a multi-channel hair implant device and a support part supporting the same according to an embodiment.

[0029] Figure 3 and Figure 4 FIG. 3 is a perspective view showing a hair implant device installation module in which a multi-channel hair implant device is installed.

[0030] Figure 5 and Figure 6 FIG. 4 is a perspective view showing the hair implant device installation module in a state in which the multi-channel hair implant device is not installed.

[0031] Figure 7 FIG. 5 is a perspective view showing a cradle of a hair implant device according to an embodiment.

[0032] Figure 8 FIG. 6 is a view for explaining an action of installing a hair implant device module in a hair implant device installation module.

[0033] Figure 9 FIG. 7 is a view for explaining an action of placing a hair implant device module installed in the installation module on a cradle.

[0034] Figure 10 FIG. 8 is a view showing an exemplary structure of an automatic hair implant device system having a mechanical arm and a hair implant device installation module according to an embodiment.

[0035] Figure 11 and Figure 12 FIG. 9 is a view showing the hair implant device installation module installed at the end of the mechanical arm in an enlarged manner.

[0036] Figure 13 FIG. 10 is a view for explaining devices arranged inside the system main body.

[0037] BRIEF DESCRIPTION OF DRAWINGS

[0038] 10: Hair implant device mounting module 20: Hair implant device module

[0039] 30: Multi-channel hair implant device 40: Hair implant device support

[0040] 50: Mechanical arm 60, 60': Hair implant device holder

[0041] 70: 3D scanner 80: Keyboard

[0042] 90: Display 100: Stand

[0043] 110, 120: Driving part 130, 140: Slide block

[0044] 150: Rotating part 160: Push rod

[0045] 200: System main part. DETAILED DESCRIPTION

[0046] The above objects, other objects, features and advantages of the present application can be more fully understood from the following detailed description taken in conjunction with the accompanying drawings, in which: However, the present application is not limited to the embodiments described herein and can be embodied in other forms. The embodiments described herein are provided in order to make the disclosure comprehensive and complete and in order to fully convey the idea of the present application to those skilled in the art.

[0047] In the present specification, when a structural element is referred to as being "on" (or "under", "right of", or "left of") another structural element, it can be directly on (or under, right of, or left of) the other structural element, or a third structural element can be interposed therebetween.

[0048] Also, the expressions "upper", "lower", "left", "right", "front surface", "rear surface", and the like used in the present specification for the purpose of explaining the positional relationship between the first and second structural elements can be a representation for explaining the relative position of the second structural element with respect to the first structural element.

[0049] In the present specification, when a structural element is referred to as being connected (or combined, joined, adhered, etc.) to another structural element, it can be directly connected (or combined, joined, adhered, etc.) to the other structural element, or a third structural element can be indirectly connected (or combined, joined, adhered, etc.) therebetween. In addition, with regard to the drawings of the present specification, in order to effectively explain the technical content, the length, thickness, and width of the structural elements in the drawings are exaggerated, and the relative size of one structural element with respect to another structural element also varies depending on the embodiment.

[0050] In the present specification, unless the context clearly indicates otherwise, the singular form of a structural element includes the plural form. In the present specification, the mention of "comprising", "consisting of", and "consisting" does not exclude the presence or addition of one or more other structural elements in addition to the structural element mentioned.

[0051] In the present specification, when the first, second, and the like terms are used to describe structural elements, the structural elements are not limited by the terms. The terms are used only to distinguish a certain structural element from other structural elements. The embodiments described and illustrated herein include their complementary embodiments.

[0052] Hereinafter, the present application will be described in detail with reference to the accompanying drawings. In describing the following specific embodiments, various specificities are intended to more specifically explain the present application and to facilitate the understanding of the present application. However, it can be understood by those skilled in the art that the present application can be used without the various specificities. It is previously noted that, in some cases, in order to avoid confusion in explaining the present application, parts that are well known in the art and are not greatly related to the present application are not described.

[0053] Figure 1 is a perspective view showing an automatic hair implantation apparatus employing a multi-channel hair implantation device according to an embodiment of the present application. Referring to Figure 1 , the automatic hair implantation apparatus according to an embodiment includes a hair implantation device mounting module 10 attached to a robot arm 50 (hereinafter, referred to as "mounting module"), a hair implantation device module 20 detachably mounted to the mounting module 10, and a carrier 60, 60' for one or more hair implantation devices for placing the hair implantation device module 20. In an embodiment, the automatic hair implantation apparatus can further include a scanning device for scanning a surgical site of a patient and performing 3D modeling, a camera for capturing a real image (visible light) image or an infrared image, a laser sensor for measuring and tracking a distance or a positional relationship between the mounting module 10 and the surgical site of the patient and performing tracking, and it can be understood that these devices are omitted in Figure 1 .

[0054] The robot arm 50 is a device that is well known in the art, which is composed of a plurality of joints, a motor for moving each joint, and an encoder for detecting a motion, and moves the end portion 51 of the robot arm with a degree of freedom of 6 or more with high precision. In the present application, the hair implantation device mounting module 10 can be provided at the end portion 51 of the robot arm 50 that is well known.

[0055] In an embodiment, the one or more holders include a first holder 60 and a second holder 60'. The first holder 60 and the second holder 60' are holders having the same structure, and there is only a difference in use that the first holder 60 is used to place one or more multi-channel hair implant device modules 20 before a hair implant surgery, and the second holder 60' is used to place one or more multi-channel hair implant device modules 20 used in a hair implant surgery. However, this is only exemplary, and in alternative embodiments, all pre-use / post-use hair implant device modules 20 can be placed on one holder, or three or more holders can be used.

[0056] In an embodiment, the hair implant device mounting module 10 mounts the hair implant device module 20 placed in the first holder 60 in a holding manner, and performs a hair implant operation of implanting hair in the needle of the hair implant device into the scalp of a patient by moving or pressing the upper cover of the hair implant device module 20 in the up-down direction. In addition, when the hair implant device module 20 mounted in the hair implant device mounting module 10 completes the hair implant operation, the mounting module 10 can be moved to the second holder 60' by the robot arm 50, and an operation of placing the hair implant device module 20 in the second holder 60' can be performed.

[0057] These mounting operations, hair implant operations, and placement operations of the hair implant device mounting module 10 can be performed by a control unit (not shown) for controlling the robot arm 50 and the hair implant device mounting module 10. It should be understood that the control unit can be implemented in the manner of a computer algorithm, program, and / or software stored in a computer device as in the prior art.

[0058] Figure 2 is a view for explaining a multi-channel hair implant device and a support unit supporting the same according to an embodiment. Referring to Figure 1 and Figure 2 The hair implant device module 20 for the automatic hair implant apparatus of the present application is composed of a multi-channel hair implant device 30 (hereinafter referred to as "hair implant device") and a hair implant device support unit 40 for accommodating and supporting the hair implant device 20.

[0059] As a device for hair implantation, the hair implant device 30 can be a hair implant device having the same or similar structure as the "multi-channel hair implant device" of Korean Patent Publication No. 2019-0109321.

[0060] In an embodiment, the hair implant device 30 is composed of a barrel-shaped main body 31 and an upper cover 35 located above the same; a sliding handle 33 provided to surround at least a portion of the outer circumferential surface of the main body 31 and capable of sliding in the vertical direction with respect to the main body 31; and a plurality of needles 32 arranged in a radial direction around the central axis of the main body 31 within the main body 31 and protruding one by one toward the lower end portion of the main body 31.

[0061] In one embodiment, a hand grip portion 33a is formed to protrude from one side of the sliding handle 33 of the hair implantation device 30. The hand grip portion 33a is formed to protrude in a radial outward direction, so as to prevent the sliding handle 33 from slipping from the hand of the user when the user holds the sliding handle 33 and moves it up and down, thereby improving the grip feeling of the sliding handle 33 and preventing slippage.

[0062] When the user performs a manual hair implantation operation using the hair implantation device 30, the user can hold the sliding handle 33 of the hair implantation device 30 with the thumb and the middle finger, and insert the needle 32 of the hair implantation device into the scalp of the patient. Thereafter, the user can press the upper cover 35 with the index finger and move the sliding handle 33 upward, in the process of which the hair follicles inside the needle 32 are implanted into the scalp of the patient. Thereafter, the needle 32 is completely removed from the scalp of the patient by moving the hair implantation device 30 upward, and the above-described operation is repeated for the surgical site.

[0063] In order to automatically perform the hair implantation operation of the hair implantation device 30 as described above by the robot arm 50 and the hair implantation device mounting module 10, a plurality of driving units (e.g., motors, actuators, etc.) are required to be provided and their operation ranges and timings are appropriately controlled, so as to perform operations of moving the hair implantation device 30 up and down, holding and moving the sliding handle 33 up and down, pressing the upper cover 35, etc.

[0064] In one embodiment of the present application, the hair implantation device 30 is held using a hair implantation device support 40. The hair implantation device support 40 can be composed of a substantially cylindrical main body 41, and a protruding portion 45 protruding in a radial direction from one side of the main body 41. The main body 41 is formed in a cylindrical shape so as to surround at least a portion of the outer circumference of the sliding handle 33 of the hair implantation device 30. In the case of the illustrated embodiment, the hair implantation device support 40 is formed with a through-hole 41a in one side thereof to accommodate the hand grip portion 33a, and a side cover 42 covering a portion of the through-hole 41a can be fastened by a fastening unit 43 such as a bolt or a clip. Thus, the hair implantation device 30 and the hair implantation device support 40 can be assembled in an integrated hair implantation module 20 by first removing the side cover 42 from the hair implantation device support 40, inserting the hair implantation device 30 into the hair implantation device support 40 so that the hand grip portion 33a of the hair implantation device 30 is positioned in the through-hole 41a, and then fastening the side cover 42 to the hair implantation device support 40 by the fastening unit 43.

[0065] In the illustrated embodiment, inner rails 46 can be formed on both side edges of the protruding portion 45 of the hair implantation device support 40. The inner rails 46 are a kind of guide rails that guide the movement of the first sliding block 51 and the second sliding block 52, which will be described later, in the radial direction. Figure 4the outer rail 136 of the first sliding block 130, so that the hair implant support 40 is fastened to the first sliding block 130. The inner rail 46 can be a prescribed concave-convex structure formed along the long direction (lengthwise direction) on both side edges of the side protrusion 45.

[0066] This inner rail-outer rail structure is exemplary, and for example, the inner rail can be formed in the first sliding block 130, and the outer rail can be formed in the hair implant support 40, and in addition, the first sliding block 130 can guide the hair implant support 40 by other well-known structures such as an LM guide.

[0067] In an embodiment, the first groove portion 47, the second groove portion 48, and the step portion 49 can be formed on the surface of the side protrusion 45. The first groove portion 47 is a recessed area formed on the surface of the side protrusion 45 at a prescribed depth, the second groove portion 48 is a recessed area formed on the upper side of the first groove portion 47, and the upper portion thereof is open. The step portion 49 is located between the first groove portion 47 and the second groove portion 48, and has a surface higher than the recessed surface of the first and second groove portions 47, 48. As will be described later, the coupling protrusion (not shown in the drawings) of the support portion of the first sliding block 130 is clamped in the first groove portion 47, whereby the hair implant support 40 can be installed in the first sliding block 130. In addition, at this time, the outer rail 136 of the first sliding block 130 is engaged with and in close contact with the inner rail 46 of the hair implant support 40, so that when the hair implant support 40 is installed in the first sliding block 130, it can be firmly fixed without shaking in the up-down direction or the left-right direction with respect to the first sliding block 130. Figure 5

[0068] Hereinafter, with reference to Figures 3 to 6 A hair implant installation module 10 according to an embodiment will be described. Figure 3 and Figure 4 are perspective views of the hair implant installation module 10 on which a hair implant module 20 is installed, respectively, viewed from different angles, Figure 5 and Figure 6 are perspective views of the hair implant installation module 10 on which a hair implant module 20 is not installed, respectively, viewed from different angles.

[0069] With reference to Figures 3 to 6 , the hair implant installation module 10 according to an embodiment can include a bracket 100, a first driving portion 110, a second driving portion 120, a first sliding block 130, a second sliding block 140, and a rotating member 150.

[0070] ​The bracket 100 is a component constituting a frame of the hair implant device mounting module 10, and functions to fix or support the first and second driving portions 110 and 120, the first and second sliding blocks 130 and 140, and the like. The bracket 100 can be detachably coupled to the end portion 51 of the robot arm 50.

[0071] The first and second driving portions 110 and 120 can be driving sources that generate rotational driving or linear reciprocating driving, such as a motor or an actuator. In the illustrated embodiment, the first and second driving portions 110 and 120 can be implemented in the form of a motor, and are fixedly installed in the bracket 100, respectively.

[0072] The driving shaft of the first driving portion 110 is coupled to the gear portion 111, and the gear portion 111 is coupled downward to the shaft 112, so that the shaft 112 can be rotated by the first driving portion 110. The first sliding block 130 is slidably coupled to the shaft 112 in the up-and-down direction. As an example, the shaft 112 can be a screw shaft having a thread formed on a surface thereof, and the first sliding block 130 can have a screw hole through which the shaft 112 passes, and as the shaft 112 is rotated to the left or right, the first sliding block 130 can move in the up-and-down direction. However, this coupling method of coupling the shaft 112 and the first sliding block 130 through a screw structure is merely exemplary, and the first sliding block 130 can be slidably coupled to the shaft 112 through other known coupling methods.

[0073] The second driving portion 120 is disposed in parallel with the first driving portion 110 at a position adjacent to the first driving portion 110. The driving shaft of the second driving portion 120 is coupled to the gear portion 121, and the gear portion 121 is coupled downward to the shaft 122, so that the shaft 122 can be rotated by the second driving portion 120. The second sliding block 140 is slidably coupled to the shaft 122 in the up-and-down direction. The coupling structure of the shaft 122 and the second sliding block 140 can be the same as that of the shaft 112 and the first sliding block 130, or can be slidably coupled through other known coupling methods.

[0074] The first sliding block 130 can move in the up-and-down direction with respect to the bracket 100 by the first driving portion 110. On the other hand, in order to facilitate the description of the moving directions of the various structural elements in the present specification, unless the moving direction of a specific component is specifically described, it is assumed that the X-axis direction is the front-and-rear direction, the Y-axis direction is the left-and-right direction, and the Z-axis direction is the up-and-down direction, based on the coordinate system illustrated in FIG. 1. Figure 3

[0075] In an embodiment, in order to allow the first sliding block 130 to slide with respect to the bracket 100 while being firmly coupled to the bracket 100, the bracket 100 and the first sliding block 130 can be engaged with each other by a guide rail. For example, as illustrated in FIG. 2, the bracket 100 can have a guide rail 101 formed on the upper surface thereof, and the first sliding block 130 can have a guide groove 131 formed on the lower surface thereof, so that the first sliding block 130 can be engaged with the guide rail 101 of the bracket 100. Figure 4 ​As shown in FIG. 1, an outer rail 105 in the up-down direction is formed on the surface of the bracket 100 facing the first sliding block 130, and an inner rail 135 in the up-down direction is formed on the surface of the first sliding block 130 facing the bracket 100, and the sliding is achieved by the mutual engagement of the outer rail 105 and the inner rail 135. Thus, the first sliding block 130 is moved in the up-down direction by the first driving part 110, and since it is firmly combined to the bracket 100 by the outer rail-inner rail, the shaking during the movement can be prevented.

[0076] This inner rail-outer rail structure is exemplary, for example, the inner rail can be formed on the bracket 100, the outer rail can be formed on the first sliding block 130, and in addition, the bracket 100 can guide the first sliding block 130 by other known structures such as LM guide, etc.

[0077] In an embodiment, the hair implant device module 20 is detachably mounted on the first sliding block 130. Referring to Figure 5 and Figure 6 A support part clamping part 133 for clamping the side protruding part 45 of the hair implant support part 40 is formed on the surface of the first sliding block 130 facing the hair implant device module 20. As shown, the support part clamping part 133 can be formed as a groove part with a concave shape on the surface of the first sliding block 130, but since it is open below, the side protruding part 45 of the hair implant support part 40 can slide from below to above of the support part clamping part 133 and clamp into the support part clamping part 133.

[0078] An outer rail 136 can be formed on the left and right sides of the support part clamping part 133, and correspondingly, an inner rail 46 engagingly combined with the outer rail 136 is formed on the edge area of the both sides of the side protruding part 45 of the hair implant support part 40. Thus, when the side protruding part 45 of the hair implant support part 40 moves from below to above of the support part clamping part 133, the inner rail 46 and the outer rail 136 engage and clamp, and continue to rise in this state, and completely clamp into the support part clamping part 133.

[0079] A rotating part 150 can be attached to the lower end part of the first sliding block 130. As shown in Figure 5 and Figure 6 As shown in FIG. 1, a rotating shaft 155 is located at the end part of one side in the horizontal direction of the rotating part 150, and a support part latching protrusion 151 is formed at the end part of the other side. The support part latching protrusion 151 protrudes in the direction of the horizontal front, and has a size and shape capable of clamping into the first groove part 47 of the hair implant support part 40. In addition, the bottom surface of the support part latching protrusion 151 is formed as an inclined surface 152.

[0080] In an embodiment, the rotating part 150 further comprises a lever latching part 153 formed extending downward. The lever latching part 153 latches the lever Figure 7The rotation member 150 can be rotated so that the rotation member 150 can be switched from the closed state to the open state. The operation of the lever engaging portion 153 and the lever 620 will be described later. Figure 8 and Figure 9 , the operation of the lever engaging portion 153 and the lever 620 will be described later.

[0081] The rotation member 150 can be switched between the "closed state" and the "open state" by rotation. As the state illustrated in Figure 5 or Figure 6 , the "closed state" is a state in which the engaging protrusion 151 of the rotation member 150 passes through the slot 133a of the support portion engaging portion 133 and protrudes more forward (i.e., faces the hair implantation device support portion 40) than the surface of the support portion engaging portion 133. The "open state" is a state in which the rotation member 150 is rotated to the rear side (i.e., a direction away from the hair implantation device support portion 40) so that the support portion engaging protrusion 151 is disengaged from the slot 133a of the support portion engaging portion 133. In an embodiment, when no external force is applied to the rotation member 150, the rotation member 150 is configured to maintain the closed state. For example, by using a spring or the like elastic unit, the rotation member 150 can be configured to be in the closed state without an external force being applied.

[0082] According to this configuration, when the hair implantation device support portion 40 is slid upward in a state in which the inner rail 46 of the side protrusion 45 of the hair implantation device support portion 40 and the outer rail 136 of the support portion engaging portion 133 are engaged, the support portion engaging protrusion 151 in the "closed state" is relatively moved from the upper side to the lower side of the side protrusion 45 of the hair implantation device support portion 40, the support portion engaging protrusion 151 is engaged and placed into the first groove portion 47 through the second groove portion 48 and the step portion 49, so that the hair implantation device support portion 40 is mounted to the first sliding block 130. In such a mounted state, the support portion engaging protrusion 151 is engaged in the first groove portion 47, and the left and right sides are engaged in the support portion engaging portion 133 by the inner rail-outer rail structure so that the side protrusion 45 of the hair implantation device support portion 40 is engaged, thereby enabling the hair implantation device support portion 40 to be firmly mounted to the first sliding block 130 without shaking left and right or up and down.

[0083] In the illustrated embodiment, the first sliding block 130 can further include a push rod 160 that moves up and down. The push rod 160 is a rod-shaped member and is located in front of the first sliding block 130, and preferably, as shown in Figure 5 , the end portion 161 of the lower end of the push rod 160 can be moved downwardly facing the space of the support portion engaging portion 133.

[0084] The push rod 160 is combined with the first sliding block 130 by a spring or the like elastic member, and when no external force is applied to the push rod 160, as shown in Figure 5As shown, the push rod 160 slides downward, so that the end 161 is in a state of protruding into the space of the support clamping part 133.

[0085] Reference Figure 5 The first sliding block 130 also includes an extension 137 extending in the lateral direction, and correspondingly, the bracket 100 may also include a brake 107 protruding forward. The extension 137 and the brake 107 are positioned to interfere with each other. Therefore, when the first sliding block 130 descends a predetermined distance, the extension 137 collides with the brake 107, thereby limiting the descent movement of the first sliding block 130.

[0086] Furthermore, the second sliding block 140 is configured to be arranged side-by-side with the first sliding block 130 on one side, and moves vertically relative to the bracket 100 via the second drive unit 120. The second sliding block 140 is located adjacent to the first sliding block 130. The second sliding block 130 has a forward-protruding pressure cap 141.

[0087] like Figure 3 and Figure 4 As shown, with the hair transplant module 20 installed on the first sliding block 130, the pressure cap 141 of the second sliding block 140 is in close contact with the upper cover 35 of the hair transplant 30, and as the second sliding block 140 moves downward, the pressure cap 141 can apply pressure to the cover 35.

[0088] Figure 7 This is a perspective view of a hair transplant device holder 60 according to one embodiment. Because... Figure 1 The first bracket 60 and the second bracket 60' shown in the figure have the same structure. The first bracket 60 will be described below, and the "first bracket" will be referred to as the "bracket".

[0089] Reference Figure 7 The hair transplant device holder 60 includes a holder block 600 having multiple hair transplant device placement portions 610. For example... Figure 7 As shown, multiple placement sections 610 can be arranged in a row, and each hair transplant placement section 610 can accommodate one hair transplant module 20.

[0090] When Figure 7 When the X-axis direction is taken as the front-back direction, the lever 620 is positioned in front of the hair transplant placement portion 610 of the bracket block 600. The lever 620 may have a length that spans the entire hair transplant placement portion 610 along the long side direction (i.e., the Y-axis direction) of the bracket block 600. However, in an alternative embodiment, a different lever 620 may be independently provided in front of each placement portion 610.

[0091] In one embodiment, when the hair implant device mounting module 10 in which the multi-channel hair implant device module 20 is mounted is lowered from the upward direction of the cradle 60, the hair implant device mounting module 10 presses one end portion of the lever 620 and makes the multi-channel hair implant device module 20 be configured in a detachable manner from the first sliding block 130 through the lever 620.

[0092] The lever 620 is composed of a first rotating portion 621 and a second rotating portion 622 which move along the upward and downward directions (i.e., the Z-axis direction) with the lever shaft 623 provided along the long side direction of the cradle block 600 as a center. The first rotating portion 621 is located in front of the lever shaft 623, and the second rotating portion 622 is located in rear of the lever shaft 623. In the illustrated embodiment, on the second rotating portion 622, in the region facing each of the first recessed portions 47 of the hair implant devices 20 placed on the placement portion 610, a through hole 622a is formed. The through hole 622a is formed to prevent interference between the lever engaging portion 153 and the second rotating portion 622 when the mounting operation to be described later is performed. Figure 8 The through hole 622a is formed to prevent interference between the lever engaging portion 153 and the second rotating portion 622 when the mounting operation to be described later is performed.

[0093] Hereinafter, the operation of mounting the hair implant device module 20 placed on the cradle 60 in the mounting module 10 and the operation of placing the mounted hair implant device module 20 on the cradle 60 will be described with reference to Figure 8 and Figure 9

[0094] First, Figure 8 The operation of mounting the hair implant device module 20 placed on the cradle 60 of the hair implant device in the mounting module 10 is shown.

[0095] With reference to Figure 8 (a), the hair implant device module 20 is placed on the cradle 60, and the mounting module 10 is located in the upward direction of the cradle 60. At this time, the inner rail 46 of the side surface protrusion portion 45 of the hair implant device support portion 40 is aligned with the outer rail 136 of the first sliding block 130 along the upward and downward directions. In addition, in Figure 8 In (a), the first sliding block 130 and the second sliding block 140 are in a state of relative movement in the upward direction with respect to the bracket 100, and thus it can be understood that the lower end portion 103 of the bracket is lowered more than the lever engaging portion 153.

[0096] In this set state, the mounting module 10 is lowered downward toward the cradle 60 by the operation of the robot arm 50. As Figure 8 ​(b) shown, with the installation module 10 down, the lower end 103 of the bracket presses the first rotating part 621 of the lever 620, so that the second rotating part 622 remains in the position of rising. Moreover, with the installation module 10 continuing to descend, the inner rail 46 of the hair transplant device support part 40 and the outer rail 136 of the first sliding block 130 engage, the support part clamping protrusion 151 of the rotating part 150 in the closed state passes downward through the second groove part 48 and the step part 49 of the hair transplant device support part 40, and is clamped into the first groove part 47, so that the hair transplant device module 20 is installed in the installation module 10.

[0097] At this time, in the process of the clamping protrusion 151 of the lever descending and clamping into the first groove part 47, as Figure 8 (b) shown, since the second rotating part 622 of the lever 620 is located in the position of upward rising, and a through hole 622a is formed in the second rotating part 622, therefore, the clamping protrusion 151 of the lever will not be interfered by the second rotating part 622, and the rotating part 150 can remain in the closed state.

[0098] By installing the hair transplant device module 10 in the installation module 20 in the above-mentioned manner, the hair transplant device module 20 can be moved to the surgical site of the patient by moving the mechanical arm 50, and by controlling the first sliding block 130 and the second sliding block 140 respectively, the hair transplant action of the hair transplant device 30 can be performed.

[0099] Figure 9 The action of placing the hair transplant device module 20 installed in the hair transplant device installation module 10 on the hair transplant device cradle 60 is shown.

[0100] Referring to Figure 9 (a), the hair transplant device module 20 is installed in the installation module 10, and the installation module 10 is located in the upward direction of the empty hair transplant device placing part 610 of the cradle 60. At this time, from the comparison with Figure 8 (a), it can be known that in Figure 9 (a), the first sliding block 130 is in a state of relative movement in the downward direction relative to the bracket 100, therefore, the lower end 103 of the cradle and the lever clamping part 153 are at similar heights to each other.

[0101] In this setting state, by the action of the mechanical arm 50, the installation module 10 descends downward toward the cradle 60. As Figure 9(b) shown, as the mounting module 10 is lowered, the lower end 103 of the bracket presses the first rotating part 621 of the lever 620, so that the second rotating part 622 is raised upward, at this time, the lever clamping part 153 is clamped on the second rotating part 622, so that the rotating part 150 is rotated, and the rotating part 150 is converted to the open state. Thus, the support part clamping protrusion 151 of the rotating part 150 is disengaged from the first groove part 47 of the hair transplant device support part 40, and is lowered downward by its own weight of the hair transplant device module 20, and is placed on the placing part 610 of the cradle 60.

[0102] In an embodiment, in the case where the first sliding block 130 has the push rod 160, the push rod 160 can assist the lowering action of the hair transplant device module 20. Since the push rod 160 always wants to move downward by the elasticity, even in the state where the hair transplant device support part 40 is mounted on the first sliding block 130, the end 161 of the push rod 160 always presses the upper surface of the side protrusion part 45 of the hair transplant device support part 40 (i.e., 45a in Figure 2 When the rotating part 150 is converted to the open state so that the support part clamping protrusion 151 is disengaged from the first groove part 47 of the hair transplant device support part 40, in addition to the lowering of the hair transplant device module 20 by its own weight, the pressing action of the end 161 of the push rod 160 to push the hair transplant device support part 40 downward, the first sliding block 130 of the hair transplant device module 20 can be ensured to slide downward and disengage.

[0103] As described above, when the hair transplant device module 20 is placed on the cradle 60, by moving the mechanical arm 50 so that the mounting module 10 moves to the upper part of the hair transplant device module 20 placed on the other placing part 610 in the cradle 60, the action of mounting the hair transplant device module 20 as shown in Figure 8 Thus, the action of replacing the hair transplant device module 20 and performing hair transplantation on the patient can be automatically performed without the participation of the operator.

[0104] Hereinafter, referring to Figures 10 to 13 The exemplary configuration of the automatic hair transplantation device system according to an embodiment will be described.

[0105] Figure 10 The exemplary configuration of the automatic hair transplantation device system as a whole having the mechanical arm 50 and the hair transplant device mounting module 10 according to an embodiment is schematically shown. Referring to Figure 10According to an embodiment, the system can include a main body 200, a mechanical arm 50 provided on the main body 200, a hair implant device mounting module 10 and a 3D scanner 70 detachably provided on the mechanical arm 50, a keyboard 80 and a display 90 provided on a bracket 210 of the main body 200, and the like. In an embodiment, in addition to the keyboard, other input devices such as a mouse (not shown) can be additionally placed on the bracket 210. It can be understood that the present application is not limited to specific input devices such as the keyboard 80 and the mouse.

[0106] The main body 200 can have various computer devices, control devices, and power supply devices (see Figure 13 described later), the mechanical arm 50 is provided on the upper portion of the main body 200, and the hair implant device mounting module 10 can be attached to the front end of the mechanical arm 50. The mechanical arm 50 and the hair implant device mounting module 10 can be devices as described with reference to Figures 1 to 9 or similar devices.

[0107] The main body 200 can be provided with a bracket 210 of a folding structure, and the keyboard 80 and the display 90 can be equipped at the end of the bracket 210. A user can input a user command through the input / output device such as the keyboard 80 or the display 90 to control the operation state of the hair implant device, so that the automatic hair implant device system operates.

[0108] The 3D scanner 70 can be provided adjacent to the hair implant device mounting module 10 at the end of the mechanical arm 50. The 3D scanner 70 can perform 3D modeling by scanning the surgical site of a patient. In alternative embodiments, in the device of the illustrated 3D scanner 70, a camera for photographing a real image (visible light) image or an infrared image, and / or a laser sensor for measuring and tracking the distance or positional relationship between the mounting module 10 and the surgical site of the patient, and the like can be further included.

[0109] In the illustrated embodiment, the hose 55 can be provided side by side along the mechanical arm 50, and is configured such that various electric wires can pass through the inside of the hose 55. For example, when it is necessary to connect control wires or power supply wires from the main body 200 to the hair implant device mounting module 10 and / or the 3D scanner 70, the power supply wires or the control wires can be extended from the main body 200 through the hose 55 and connected to the hair implant device mounting module 10 and / or the 3D scanner 70.

[0110] Figure 11 is a view showing the hair implant device mounting module 10 and the 3D scanner 70 mounted at the end of the mechanical arm 50 in an enlarged manner; Figure 12 is a view showing the internal structure of the cover member 75 in an outline manner.

[0111] With reference to Figure 11 and Figure 12The hair-transplanting device mounting module 10 can be attached to the front end 51 of the robot arm 50, and the cover member 75 can be attached to the front end 51 of the robot arm 50. The cover member 75 has a shape that surrounds at least a portion of the upper portion and the side surface of the hair-transplanting device mounting module 10. Also, in an embodiment, the 3D scanner 70 can be provided at the front surface of the cover member 75.

[0112] Although not illustrated in FIG. 1, a soft tube 55 extending from the hair-transplanting device mounting module 10 can be attached to the front end 51 of the robot arm 50. Thus, the control lines 115, 125 extending from the first driving portion 110 and the second driving portion 120 of the hair-transplanting device mounting module 10, respectively, can enter from one end of the soft tube 55 and be connected to the main body 200 after passing through the inside of the soft tube 55. Figure 11 and Figure 12 Figure 10 Thus, the control lines 115, 125 extending from the first driving portion 110 and the second driving portion 120 of the hair-transplanting device mounting module 10, respectively, can enter from one end of the soft tube 55 and be connected to the main body 200 after passing through the inside of the soft tube 55.

[0113] Figure 13 Exemplary devices provided inside the main body 200 are schematically illustrated. In Figure 13 , the main body 200 has an internal space 200a so that the devices can be provided inside. In the illustrated embodiment, in the internal space 200a, a computer main body 220, a robot arm control device 230, a driving portion control device 240, and a power supply device 250 can be provided.

[0114] The computer main body 220 can be, for example, a conventional PC computer main body, and can be used to execute a program for controlling the entire system. For example, the computer main body 220 can be connected to the robot arm control device 230, the driving portion control device 240, the 3D scanner 70, the keyboard 80, and the display 90 through wired or wireless connection.

[0115] The robot arm control device 230 is a device that moves by controlling the robot arm 50, for example, receives a movement command of the robot arm 50 according to an automatic hair-transplanting program executed in the computer main body 220, and drives a plurality of motors mounted in the robot arm 50 according to the command to control the robot arm 50 to perform a specific movement.

[0116] The driving portion control device 240 is a device that controls the first driving portion 110 and the second driving portion 120 of the hair-transplanting device mounting module 10, for example, is a device connected to the control lines 115, 125 described with reference to Figure 11 . For example, the driving portion control device 240 can receive a movement command of the first driving portion 110 and the second driving portion 120 according to an automatic hair-transplanting program executed in the computer main body 220, and control the first driving portion 110 and the second driving portion 120 according to the command to drive the first driving portion 110 and the second driving portion 120.

[0117] ​The power supply device 250 is a device that supplies power supplied from the outside to the computer main body 220, the control device 230, the control device 240, the robot arm 50, the hair implantation device mounting module 10, and the like, and can be implemented by, for example, an SMPS.

[0118] As described above, various modifications and changes can be made by those skilled in the art to which the present application pertains from the description of the above specification. Therefore, the scope of the present application should not be limited by the described embodiments, but should be determined by the appended claims and the scope equivalent thereto.

Claims

1. A hair transplant device mounting module, which can be mounted on a robotic arm composed of multiple arms and joints, characterized in that, include: A support (100) is integrated with a robotic arm; The first sliding block (130) is disposed on the bracket and is capable of sliding relative to the bracket in the vertical direction; as well as The second sliding block (140) is disposed on the bracket and arranged side by side with the first sliding block on one side, and is capable of sliding relative to the bracket in the vertical direction. The multi-channel hair transplant module (20) is detachably mounted on the first sliding block (130). The multi-channel hair transplant module (20) includes a multi-channel hair transplant device (30) having a body (31) and a sliding handle (33), wherein the sliding handle (33) is slidably mounted on the outer peripheral surface of the body (31). With the multi-channel hair transplant module (20) installed on the first sliding block (130), the second sliding block (140) can apply pressure to the upper end of the multi-channel hair transplant (30), causing the main body (31) of the multi-channel hair transplant to slide downward.

2. The hair transplant device installation module according to claim 1, characterized in that, include: A first track (105) is formed on the support along the vertical direction for a specified length; as well as The second track (135) is formed along the vertical direction at a predetermined length in the first sliding block (130) and engages with the first track in a slidable manner.

3. The hair transplant device installation module according to claim 1, characterized in that, The multi-channel hair transplant device (30) has multiple needles arranged radially around a central axis. The multi-channel hair transplant module (20) also includes: The hair transplant device support (40) is detachably attached to the sliding handle (33).

4. The hair transplant device installation module according to claim 3, characterized in that, The third track (136) is formed along the vertical direction at a predetermined length in the first sliding block (130). The hair transplant support (40) includes a fourth track (46), which is formed on one side of the hair transplant support (40) and engages with the third track and is slidably coupled in the vertical direction.

5. The hair transplant device installation module according to claim 4, characterized in that, The first sliding block (130) also includes a support engagement protrusion (151) formed on the surface of the first sliding block facing the hair transplant support. The hair transplant support (40) further includes a first groove (47) formed on the surface of the hair transplant support facing the first sliding block and used to accommodate the support snap-fit ​​protrusion (151). With the third track (136) of the first sliding block and the fourth track (46) of the hair transplanter support engaged, the first groove (47) is clamped by the snap-fit ​​protrusion (151) of the support, so that the multi-channel hair transplanter module (20) is installed on the first sliding block (130).

6. The hair transplant device installation module according to claim 4, characterized in that, Also includes: A push rod (160) is disposed on the upper part of the third track (136) of the first sliding block (130) and applies downward pressure to the hair transplant support (40) mounted on the first sliding block (130) by means of elastic force.

7. An automated hair transplant device, comprising an automated hair transplant instrument for transplanting hair to a patient's scalp, characterized in that, include: A hair transplant device mounting module (10) according to any one of claims 1 to 6 is attached to a multi-joint robotic arm (50); One or more brackets capable of holding multiple multi-channel hair transplant module (20) according to any one of claims 1 to 6; and A control unit for controlling the movements of the robotic arm and the hair transplant device installation module. The control unit drives the robotic arm and the hair transplanter installation module to perform the actions of installing the multi-channel hair transplanter module (20) placed on the bracket onto the hair transplanter installation module (10), and placing the multi-channel hair transplanter module (20) installed on the hair transplanter installation module (10) onto the bracket (60).

8. The automatic hair transplant device according to claim 7, characterized in that, The bracket includes: multiple hair transplanter placement sections (610) for respectively accommodating the multi-channel hair transplanter module; and a lever (620) disposed adjacent to the hair transplanter placement section. When the hair transplanter installation module (10) with the multi-channel hair transplanter module is lowered, the hair transplanter installation module presses one end of the lever (620) and removes the multi-channel hair transplanter module from the first sliding block (130) through the lever.

9. The automatic hair transplant device according to claim 7, characterized in that, The one or more brackets include: a first bracket (60) and a second bracket (60'), The first bracket is used to place one or more multi-channel hair transplant modules before the hair transplant surgery, and the second bracket is used to place one or more multi-channel hair transplant modules used in the hair transplant surgery.

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