Hair follicle extraction system, method, electronic device and storage medium

Abstract

This application provides a hair follicle extraction system, method, electronic device, and storage medium, relating to the field of hair follicle extraction. The system includes: a processor and a data acquisition module; the processor is used to determine a first hair follicle extraction region on a three-dimensional model; the data acquisition module is used to acquire first hair follicle extraction data corresponding to the first hair follicle extraction region in the hair follicle extraction object; the processor is further used to determine one or more second hair follicle extraction regions within the first hair follicle extraction region, and to acquire target hair follicle extraction data corresponding to the second hair follicle extraction regions from the first hair follicle extraction data; the processor is also used to determine a hair follicle extraction plan; wherein the hair follicle extraction plan guides the hair follicle extraction process. Using the hair follicle extraction system provided in this application, hair follicles can be extracted with a simple system architecture, sensing the hair follicle environment, making corresponding hair follicle extraction plans, and improving the efficiency of hair follicle extraction.

Description

Technical Field

[0001] This application relates to the field of hair follicle extraction, and more specifically, to a hair follicle extraction system, method, electronic device, and storage medium. Background Technology

[0002] Hair transplantation involves extracting hair from areas of the scalp with abundant hair and then implanting it into areas of the scalp with sparse hair or other areas of the body where hair is needed, thereby solving the problem of insufficient hair in a certain part of the body (such as the scalp). Typically, hair extraction and implantation can be performed manually; however, due to the large workload, manual procedures are inefficient and time-consuming, requiring significant time and effort from both the doctor and the patient. To address this issue, hair transplant robots have emerged.

[0003] Currently, hair transplant robots have complex structures and controls; they are also quite expensive, and their accuracy and efficiency do not meet the requirements of hair transplant surgery. Summary of the Invention

[0004] The purpose of this application is to provide a hair follicle extraction system, method, electronic device, and storage medium. The hair follicle extraction system is equipped with a processor and a data acquisition module, which work together to plan the hair follicle extraction. The hair follicle extraction system provided in this application has a simple system architecture and uses a more concise method to achieve human-computer interaction. The system can quickly and accurately provide a corresponding hair follicle extraction plan based on preset hair follicle extraction information and hair follicle extraction area. This plan is used to extract hair follicles and can greatly improve the efficiency of hair follicle extraction.

[0005] In a first aspect, embodiments of this application provide a hair follicle extraction system, comprising: a processor and a data acquisition module; the processor is configured to determine a first hair follicle extraction region on a three-dimensional model; the processor is further configured to determine one or more second hair follicle extraction regions based on the first hair follicle extraction region; the data acquisition module is configured to extract target hair follicle extraction data corresponding to the second hair follicle extraction regions; the processor is further configured to determine a hair follicle extraction plan based on the target hair follicle extraction data and preset hair follicle extraction information; wherein, the hair follicle extraction plan is used to guide the hair follicle extraction process.

[0006] In the above implementation process, the hair follicle extraction system provided in this application embodiment determines a first hair follicle extraction area based on a three-dimensional model by a processor. Further, the processor then determines a second hair follicle extraction area based on the first hair follicle extraction area. Finally, a hair follicle extraction plan is determined based on the second hair follicle extraction area and preset hair follicle extraction information. The hair follicle extraction system provided in this application embodiment has a simple system architecture and uses a more concise method to achieve human-computer interaction. The system can quickly and accurately provide a corresponding hair follicle extraction plan based on preset hair follicle extraction information and hair follicle extraction area. This plan is used to extract hair follicles and can greatly improve the efficiency of hair follicle extraction.

[0007] Optionally, in this embodiment, the hair follicle extraction system further includes: a display device for displaying a user interface; the user interface is used to display a three-dimensional model; the user interface is also used to acquire a preset target hair follicle extraction area and preset hair follicle extraction information, and display them on the display device; wherein, the preset target hair follicle extraction area includes a target area input by the operator; the preset hair follicle extraction information includes hair follicle extraction information input by the operator, and the hair follicle extraction information includes actual hair follicle density, target hair follicle density, and target hair follicle extraction quantity, etc.; the user interface is also used to acquire target hair follicle extraction data from the processor and display it on the display device; wherein, the target hair follicle extraction data includes image data and / or video data.

[0008] In the above implementation process, the hair follicle extraction system provided in this application embodiment is also equipped with a display device with a user interface. The system operator can input a preset target hair follicle extraction area and preset hair follicle extraction information on the user interface, and the preset target hair follicle extraction area and preset hair follicle extraction information can be displayed on the display device. The display device can be used to display hair follicle extraction data and three-dimensional models. Due to the setting of the display device, the hair follicle extraction system provided in this application embodiment can be simpler and more convenient to use, and can also accurately and vividly reflect the relationship between data and actual operation, thereby improving the user experience.

[0009] Optionally, in this embodiment of the application, the hair follicle extraction system further includes: a tensioning and positioning element; the tensioning and positioning element is disposed at the outer edge of the second hair follicle extraction area and is used to tension and position the second hair follicle extraction area.

[0010] In the above implementation process, the hair follicle extraction system provided in this application embodiment may further include a tensioning and positioning component. The tensioning and positioning component is disposed at the outer edge of the second hair follicle extraction area. Using the tensioning and positioning component can achieve tensioning and positioning of the scalp in the target hair follicle extraction area, thereby improving the hair follicle extraction efficiency.

[0011] Optionally, in this embodiment, the data acquisition module includes a camera and a light source; during the process of extracting target hair follicle extraction data corresponding to the second hair follicle extraction area: the light source is used to emit light of different intensities to illuminate the second hair follicle extraction area; the camera is used to acquire target hair follicle extraction data.

[0012] In the above implementation process, the second hair follicle extraction area is illuminated by a light source, and the camera acquires images and / or videos of the hair follicle extraction area; the data acquisition module of the hair follicle extraction system provided in this application embodiment acquires videos and / or images of the target hair follicle extraction area through the cooperation of the camera and the light source, which is beneficial for accurate and efficient extraction of hair follicles.

[0013] Optionally, in this embodiment, the processor includes: a data judgment unit, a light source adjustment unit, and a region extraction unit; in the process of determining one or more second hair follicle extraction regions based on the first hair follicle extraction region: the data judgment unit is used to judge whether the target hair follicle extraction data meets the preset requirements; the light source adjustment unit is used to adjust the brightness of the light source when the data judgment unit determines that the target hair follicle extraction data does not meet the preset requirements; the region extraction unit is used to determine one or more second hair follicle extraction regions based on the target hair follicle extraction data when the data judgment unit determines that the target hair follicle extraction data meets the preset requirements.

[0014] In the above implementation process, the processor's data judgment module can judge the target hair follicle extraction data. If the target hair follicle extraction data does not meet the requirements, the light source adjustment unit adjusts the brightness of the light source and re-acquires the target hair follicle extraction data until the target hair follicle extraction data meets the requirements. Furthermore, the region extraction unit extracts one or more second hair follicle extraction regions based on the target hair follicle extraction data. The hair follicle extraction system provided in this application embodiment is equipped with a data judgment module, which can judge and filter the hair follicle extraction data, thereby improving the efficiency of hair follicle extraction.

[0015] Optionally, in this embodiment, the processor further includes: a hair follicle evaluation unit and an extraction planning unit; in the process of determining the hair follicle extraction plan based on the target hair follicle extraction data and preset hair follicle extraction information: the hair follicle evaluation unit is used to obtain hair follicle parameters corresponding to the second hair follicle extraction area based on the target hair follicle extraction data; the hair follicle evaluation unit is also used to screen healthy hair follicles based on the hair follicle parameters and obtain healthy hair follicle data; the extraction planning unit is used to determine the hair follicle extraction plan based on the healthy hair follicle data and preset hair follicle extraction information.

[0016] In the above implementation process, the hair follicle evaluation unit obtains the hair follicle parameters corresponding to the second hair follicle extraction area based on the target hair follicle extraction data. Based on these parameters, the hair follicle evaluation unit filters healthy hair follicles and obtains healthy hair follicle data. Further, after the hair follicle evaluation unit identifies healthy hair and obtains healthy hair data, the extraction planning unit determines a hair follicle extraction plan based on the healthy hair follicle data and preset hair follicle extraction information. Using the hair follicle extraction system provided in this application embodiment allows for the screening of hair follicle health status, ensuring that the extracted hair follicles are healthy and of high quality, thereby increasing the survival rate of subsequent hair follicles.

[0017] Optionally, in this embodiment of the application, the hair follicle evaluation unit is further configured to obtain the tensile force corresponding to the target hair follicle in the healthy hair follicle and determine whether the tensile force is not less than the preset tensile force; the hair follicle evaluation unit is further configured to abandon the corresponding target hair follicle when the tensile force is less than the preset tensile force.

[0018] In the above implementation process, the hair follicle evaluation unit of the hair follicle extraction system provided in this application embodiment can also be used to simulate the pulling force on the target hair follicle and determine whether the target pulling force is less than the preset pulling force; if the simulated pulling force is less than the preset pulling force, it is determined that the hair follicle cannot withstand the preset pulling force, and the extraction of the target hair follicle is abandoned. The hair follicle extraction system provided in this application embodiment can not only screen hair follicles based on their health status, but also screen hair follicles based on the pulling force they can withstand; after two screenings, the success rate of hair follicle extraction can be greatly improved.

[0019] Optionally, in this embodiment of the application, the hair follicle extraction plan includes: planning the perforation angle; the processor further includes: a perforation angle analysis unit; the perforation angle analysis unit is used to obtain the scalp texture of the second hair follicle extraction area based on healthy hair follicle data; the perforation angle analysis unit is also used to determine the perforation resistance of the second hair follicle extraction area based on the scalp texture, and determine the perforation angle based on the perforation resistance.

[0020] In the above implementation process, the perforation angle analysis unit in the hair follicle extraction system provided in this application embodiment can sense and analyze the skin texture of the local skin in the second hair follicle extraction area, analyze the perforation resistance image factors, and set the corresponding perforation angle, thereby improving the overall efficiency of hair follicle extraction.

[0021] Optionally, in this embodiment of the application, the hair follicle extraction plan further includes: planning the hair follicle extraction path; the processor further includes: a path planning unit; the path planning unit is used to obtain a target hair follicle extraction list based on healthy hair follicle data and preset hair follicle extraction information; the path planning unit is also used to plan the hair follicle extraction path based on the target hair follicle extraction list.

[0022] In the above implementation process, the path planning unit in the hair follicle extraction system provided in this application embodiment can form a target hair follicle extraction list and a hair follicle extraction path based on healthy hair follicle data and hair follicle extraction information. The generated hair follicle extraction path integrates the health status and information of the hair follicles, and can extract hair follicles in a reasonable way, thereby improving the efficiency of hair follicle extraction.

[0023] Optionally, in this embodiment, the path planning unit further includes a region division subunit. During the process of obtaining a target hair follicle extraction list based on healthy hair follicle data and preset hair follicle extraction information: the region division subunit is used to divide the second hair follicle extraction area into multiple sub-regions. During the process of planning the hair follicle extraction path based on the target hair follicle extraction list: the path planning unit is specifically used to plan the hair follicle extraction path within the multiple sub-regions and the hair follicle extraction path between the multiple sub-regions.

[0024] In the above implementation process, the region division subunit in the path planning unit of this application embodiment can divide the second hair follicle extraction region into multiple sub-regions. After division, the path planning unit can perform path planning for each sub-region and also rationally plan the path from each sub-region to the present. Therefore, due to the existence of the path planning subunit, the hair follicle extraction region can be subdivided into more sub-regions, thereby improving the rationality and accuracy of path planning.

[0025] Optionally, in this embodiment of the application, the processor further includes a hair follicle extraction control unit; the hair follicle extraction control unit is used to determine the puncture stop point and the target puncture position based on healthy hair follicle data and hair follicle extraction plan.

[0026] In the above implementation process, the hair follicle extraction control unit provided in this application embodiment can determine the puncture stop point based on healthy hair follicle data and the hair follicle extraction plan; and at the puncture stop point, it determines whether the current puncture posture and the target puncture posture meet preset requirements. If the current puncture posture of the puncture actuator at the puncture stop point meets the preset requirements, then the puncture operation can continue. Therefore, since the hair follicle extraction control unit can determine the puncture stop point and the target puncture posture, and can determine whether the current puncture posture meets the requirements, the hair follicle extraction operation is carried out within the allowable range, improving the success rate of hair follicle extraction.

[0027] Optionally, in this embodiment, the hair follicle extraction system further includes: an execution mechanism; the hair follicle extraction control unit includes: a pose determination subunit; the execution mechanism is used to extract hair follicles according to the hair follicle extraction plan; during the process of determining the puncture stop point and the target puncture pose based on healthy hair follicle data and the hair follicle extraction plan: the processor is used to control the execution mechanism to move to the puncture stop point; the pose determination unit is used to determine whether the current puncture pose matches the target puncture pose, and if the actual puncture pose does not match the target pose, the corresponding hair follicle is discarded.

[0028] In the above implementation process, the actuator in this embodiment is used to perform hair follicle extraction according to the hair follicle extraction plan. During the process of determining the puncture stop point and target puncture pose based on healthy hair follicle data and the hair follicle extraction plan, the processor controls the actuator to move to the puncture stop point; further, it determines whether the current puncture pose of the actuator at the puncture stop point matches the target puncture pose.

[0029] Optionally, in this embodiment of the application, the hair follicle extraction plan further includes: planning the target puncture depth; the hair follicle extraction control unit further includes: a depth calculation subunit; the depth calculation subunit is used to acquire hair follicle depth features and preset depth data, and calculate the target puncture depth based on the hair follicle depth features and preset depth data.

[0030] In the above implementation process, the hair follicle extraction control unit provided in this application can determine whether the current puncture posture and the target puncture posture meet the preset requirements at the puncture pause point based on the pose judgment subunit. If the current puncture posture of the puncture actuator at the puncture pause point meets the preset requirements, the puncture operation can continue. Therefore, since the pose judgment subunit of the hair follicle extraction control unit can determine the puncture pause point and the target puncture posture, and can determine whether the current puncture posture meets the requirements, the hair follicle extraction operation is carried out within the allowable range, which can improve the success rate of hair follicle extraction.

[0031] Optionally, in the embodiments of this application, during the process of hair follicle extraction according to the hair follicle extraction plan: the actuator is specifically used to extract hair follicles according to the target puncture depth, hair follicle extraction path and puncture angle.

[0032] In the above implementation process, the hair follicle extraction system provided in this application embodiment is equipped with a depth calculation subunit. This depth calculation subunit simulates the perforation depth based on hair follicle depth characteristics and preset depth data; performs the puncture operation based on the simulation results, and obtains the actual perforation depth. Using this depth calculation subunit, the perforation depth for hair follicle extraction can be quickly and accurately determined, thereby improving the efficiency of hair extraction.

[0033] Optionally, in the embodiments of this application, the actuator further includes a gripping device and / or a suction device; during the hair follicle extraction process according to the hair follicle extraction plan: the gripping device is used to grip the target hair follicle according to the hair follicle extraction plan; the suction device is used to suction the target hair follicle according to the hair follicle extraction plan.

[0034] In the above implementation process, the hair follicle extraction system provided in this application embodiment has a first execution mechanism and a second execution mechanism; wherein, the first execution mechanism is used to perform the puncture operation, and the second execution mechanism is used to perform the hair follicle extraction operation. The second execution mechanism is further provided with a gripping device and / or a suction device to respectively achieve the gripping and suction of hair follicles, and the extraction of hair follicles can be achieved by gripping or suction.

[0035] Optionally, in this embodiment, the three-dimensional model includes a head three-dimensional model, and the processor further includes a modeling unit; the modeling unit is used to acquire head data acquired by the data acquisition module, and to perform image reconstruction based on the head data to obtain a head three-dimensional model; wherein, the head three-dimensional model includes a subcutaneous feature model; the subcutaneous feature model includes hair follicle features, the connection relationship between hair follicles and nerve endings, and the connection relationship between hair follicles and blood vessels.

[0036] In the above implementation process, the processor of the hair follicle extraction system provided in this application embodiment includes a modeling unit. The modeling unit can be configured to model the head of the detection object and extend the subcutaneous features. Based on obtaining the three-dimensional model and / or subcutaneous features of the detection object, the three-dimensional model, and even the subcutaneous features, can be displayed on the user interface of the display device. This not only vividly displays the three-dimensional model but also greatly enhances the user experience.

[0037] Secondly, embodiments of this application provide a hair follicle extraction method, which is applied to a hair follicle extraction system including a processor and a data acquisition module. The hair follicle extraction method includes: the processor determining a first hair follicle extraction region on a three-dimensional model; the processor determining one or more second hair follicle extraction regions based on the first hair follicle extraction region, and acquiring target hair follicle extraction data corresponding to the second hair follicle extraction regions; and the processor determining a hair follicle extraction plan based on the target hair follicle extraction data and preset hair follicle extraction information; wherein the hair follicle extraction plan is used to guide the hair follicle extraction process.

[0038] In the above implementation process, the hair follicle extraction method provided in this application embodiment determines a first hair follicle extraction region based on a three-dimensional model, and then determines one or more second hair follicle extraction regions based on the first hair follicle extraction region; finally, a hair follicle extraction plan is determined based on the second hair follicle extraction regions and preset hair follicle extraction information, and the hair follicle extraction plan is used to guide hair follicle extraction. Using the hair follicle extraction method provided in this application embodiment can improve both the accuracy and efficiency of hair follicle extraction.

[0039] Thirdly, embodiments of this application provide an electronic device, which includes a memory and a processor. The memory stores program instructions, and when the processor reads and runs the program instructions, it executes the steps in the implementation of the second aspect described above.

[0040] Fourthly, embodiments of this application also provide a computer-readable storage medium storing computer program instructions, which are read and executed by a processor to perform the steps in the second aspect of the implementation described above. Attached Figure Description

[0041] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is a first schematic diagram of the modules of the hair follicle extraction system provided in the embodiments of this application;

[0043] Figure 2 This is a schematic diagram of the hair follicle extraction area provided in an embodiment of this application;

[0044] Figure 3 A second schematic diagram of the modules of the hair follicle extraction system provided in the embodiments of this application;

[0045] Figure 4 This is a schematic diagram of the structure of the data acquisition module provided in an embodiment of this application;

[0046] Figure 5 A schematic diagram of a processor module provided in an embodiment of this application;

[0047] Figure 6 This is a schematic diagram of the hair follicle extraction system provided in the embodiments of this application;

[0048] Figure 7 A schematic diagram of the actuator provided in the embodiments of this application;

[0049] Figure 8 A flowchart of hair follicle extraction provided for embodiments of this application;

[0050] Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0051] Icons: Hair follicle extraction system - 100; Processor - 110; Data judgment unit - 111; Light source adjustment unit - 112; Region extraction unit - 113; Hair follicle evaluation unit - 114; Extraction planning unit - 115; Piercing angle analysis unit - 116; Path planning unit - 117; Region division subunit - 1171; Hair follicle extraction control unit - 118; Pose judgment subunit - 1181; Depth calculation subunit - 1182; Modeling unit - 119; Data acquisition module - 120; Light source - 121; Camera - 122; Display device - 130; Tensioning positioning component - 140; Actuator - 150; First actuator - 151; Second actuator - 152; First hair follicle extraction area - A; Second hair follicle extraction area - B. Detailed Implementation

[0052] The technical solutions of the embodiments of this application will now be described with reference to the accompanying drawings. For example, the flowcharts and block diagrams in the drawings illustrate the architecture, functions, and operations of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagram may represent a module, program segment, or part of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or can be implemented using a combination of dedicated hardware and computer instructions. In addition, the functional modules in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0053] Hair transplantation specifically involves extracting hair from areas of the scalp with abundant hair and then implanting it into areas of the scalp with sparser hair, thus solving the problem of large areas of hair loss on the scalp. Typically, hair extraction and implantation can be performed manually, but this is labor-intensive, inefficient, and time-consuming, requiring significant time and effort from both the doctor and patient. To address this issue, hair transplant robots have emerged.

[0054] However, during the research process, the applicant found that the current hair transplant robots are relatively complex in structure and control, and are also relatively expensive. Furthermore, the accuracy and efficiency of hair transplantation do not meet the requirements of surgery.

[0055] Existing hair extraction and transplantation robots have the following drawbacks:

[0056] The human-computer interaction process is cumbersome, and the 3D simulation function requires the operator to input too many parameters; after generating the 3D simulation model, the simulation model is not very practical and cannot provide more substantial auxiliary content for hair follicle extraction.

[0057] It has poor adaptability to the environment in which hair follicles are located, and cannot perceive the environment of hair follicles and take corresponding coping strategies; for example, in the case of scalp with excessive sebum secretion, the friction between the piercing needle and the skin is reduced due to the influence of sebum, and the difficulty of piercing increases.

[0058] It's difficult to control such soft and delicate tissue as hair follicles. For example, if the robotic arm applies too much force, it may break the follicle or pull on other scalp tissues connected to it; if the force is too weak, it won't be able to separate the follicle from the scalp. During hair transplantation, it's also difficult to effectively control the robotic arm to grasp the follicle and accurately apply force to fill it. Therefore, manual assistance from a doctor is needed to extract and implant the follicles.

[0059] Based on this, this application provides a hair follicle extraction system, method, electronic device, and storage medium; wherein, the hair follicle extraction system can provide a smoother human-computer interaction scenario, the system can analyze the environment in which the hair follicle is located before extraction and specify a response strategy, and can effectively control the pulling force of the robotic arm during the hair follicle extraction process, thereby improving the success rate and efficiency of hair follicle extraction.

[0060] Please refer to Figure 1 , Figure 1 This is a first schematic diagram of the modules of the hair follicle extraction system 100 provided in the embodiments of this application; in the embodiments of this application, the hair follicle extraction system 100 includes: a processor 110 and a data acquisition module 120.

[0061] The processor 110 is used to determine the first hair follicle extraction region A on the three-dimensional model. The three-dimensional model is a simulation model of the target object to be detected, which can be realized through methods such as three-dimensional modeling.

[0062] Processor 110 is also configured to determine one or more second hair follicle extraction regions B (e.g., based on the first hair follicle extraction region) Figure 2 (Area B shown in the diagram).

[0063] The data acquisition module 120 is used to acquire the target hair follicle extraction data corresponding to the second hair follicle extraction region B on the hair follicle extraction object.

[0064] In this embodiment, the target hair follicle data corresponding to the second hair follicle extraction region B can be image and / or video data about the second hair follicle extraction region B, and the hair follicle extraction data can also be other data types; different data types can be selected in practical applications, and the specific data type of the hair follicle extraction data in this embodiment should not be a limitation on the scope of protection of this embodiment.

[0065] The following is combined Figure 2 The relationship between the first hair follicle extraction area A and the second hair follicle extraction area B is explained in detail. Figure 2 This is a schematic diagram of the hair follicle extraction area provided in an embodiment of this application; Figure 2 In this embodiment, the first hair follicle extraction region A can be understood as the initial hair follicle extraction region, and the second hair follicle extraction region B can be understood as a sub-region of the first hair follicle extraction region A. In some possible implementations, the second hair follicle region B may be a region with an area larger than the first hair follicle extraction region A. That is, the first hair follicle extraction region A can be used as a positioning point to determine the second hair follicle extraction region B.

[0066] In the above implementation process, the hair follicle extraction system 100 first obtains the first hair follicle extraction region A based on the three-dimensional model, and then obtains one or more second hair follicle extraction regions B based on the first hair follicle extraction region A.

[0067] The processor 110 is also used to determine a hair follicle extraction plan based on the target hair follicle extraction data and preset hair follicle extraction information; wherein, the hair follicle extraction plan is used to guide the hair follicle extraction process. It should be noted that the preset hair follicle extraction information may include information such as hair follicle extraction area, target hair follicle density, target hair follicle extraction quantity, and target hair follicle extraction depth.

[0068] pass Figure 1 and Figure 2As can be seen, the hair follicle extraction system 100 provided in this application embodiment determines the first hair follicle extraction area A based on the three-dimensional model by the processor 110. Further, the processor 110 determines the second hair follicle extraction area B based on the first hair follicle extraction area A. Finally, a hair follicle extraction plan is determined based on the second hair follicle extraction area B and the preset hair follicle extraction information. The system architecture of the hair follicle extraction system 100 provided in this application embodiment is simple, and human-computer interaction is achieved in a more concise way. The system can quickly and accurately provide the corresponding hair follicle extraction plan based on the preset hair follicle extraction information and the hair follicle extraction area. The plan is used to extract hair follicles, which can greatly improve the efficiency of hair follicle extraction.

[0069] Please refer to Figure 3 , Figure 3 This is a second schematic diagram of the modules of the hair follicle extraction system 100 provided in the embodiments of this application; in an optional embodiment of this application, the hair follicle extraction system 100 further includes a display device 130 for displaying a user interface.

[0070] The user interface is used to display the 3D model; and to obtain the preset target hair follicle extraction area and preset hair follicle extraction information, which are then displayed on the display device 130.

[0071] It should be noted that the preset target hair follicle extraction area includes the target area input by the operator; the preset hair follicle extraction information includes the hair follicle extraction information input by the operator, which includes the actual hair follicle density, target hair follicle density, and target hair follicle extraction quantity, etc. The preset target hair follicle extraction area can be a parameter input by the operator of the hair follicle extraction system 100, which can be recognized by the machine to obtain the first hair follicle extraction area A, the first hair follicle extraction area A (e.g. Figure 2 The area A shown in the diagram represents the target area to be extracted in the planned hair follicle extraction surgery.

[0072] The user interface is also used to acquire target hair follicle extraction data from the processor 110 and display it on the display device 130. The target hair follicle extraction data includes image data and / or video data.

[0073] During the above process, the user interface on the display device 130 of the hair follicle extraction system 100 can display the three-dimensional model after the three-dimensional modeling is completed; it can obtain the preset target hair follicle extraction area and preset hair follicle extraction information input by the system operator and display them on the display device 130; it can also obtain the first hair follicle extraction data and the target hair follicle extraction data from the processor 110 and display them on the display device 130.

[0074] pass Figure 3As can be seen, the hair follicle extraction system 100 provided in this application embodiment is also provided with a display device 130 with a user interface. The system operator can input a preset target hair follicle extraction area and preset hair follicle extraction information on the user interface, and the preset target hair follicle extraction area and preset hair follicle extraction information can be displayed on the display device 130. The display device 130 can be used to display hair follicle extraction data and three-dimensional models. Due to the setting of the display device 130, the hair follicle extraction system 100 provided in this application embodiment can be simpler and more convenient to use, and can also accurately and vividly reflect the relationship between data and actual operation, thereby improving the user experience.

[0075] Please continue reading. Figure 2 In an optional embodiment of this application, the hair follicle extraction system 100 further includes a tensioning and positioning element 140.

[0076] Tensioning and positioning element 140 is disposed on the outer edge of the second hair follicle extraction area A, and is used to tension and position the second hair follicle extraction area B.

[0077] For example, the tensioning positioning element 140 can be a scalp tensioner. When the hair follicle extraction system 100 extracts hair follicles, the tensioner is installed on the scalp to pull and tighten the scalp in the surgical area, so that the hair shaft and hair root are fully exposed in the field of vision. The tight scalp makes it difficult for the needle to slip, thereby reducing damage to the hair follicle.

[0078] Therefore, the hair follicle extraction system 100 provided in this application embodiment may further include a tensioning and positioning member 140. The tensioning and positioning member 140 is disposed on the outer edge of the second hair follicle extraction area B. Using the tensioning and positioning member 140 can achieve tensioning and positioning of the scalp in the target hair follicle extraction area, thereby improving the hair follicle extraction efficiency.

[0079] Please refer to Figure 4 , Figure 4 This is a schematic diagram of the structure of the data acquisition module 120 provided in an embodiment of this application; in an optional embodiment of this application, the data acquisition module 120 includes a camera 122 and a light source 121.

[0080] During the extraction of target hair follicle extraction data corresponding to the second hair follicle extraction area B: light source 121 is used to emit light of different intensities to illuminate the second hair follicle extraction area B; camera 122 is used to acquire the first hair follicle extraction data of the second hair follicle extraction area B.

[0081] For example, in the embodiments of this application, the camera 122 of the data acquisition module 120 can be a group of cameras 122, which may include a global camera 122 and a local camera 122; wherein, the global camera 122 can be understood as the main camera 122, the local camera 122 can be understood as the auxiliary camera 122, and the number of local cameras 122 can be arbitrary and can be adaptively adjusted according to the actual situation.

[0082] For example, in this embodiment, the light source 121 in the data acquisition module 120 can be a bar light source, a surface light source, a ring light source, or a coaxial light source. The brightness of the light source 121 in this embodiment is adjustable, and the brightness of the light source 121 can be adjusted according to different external environments and needs.

[0083] Therefore, by illuminating the second hair follicle extraction area B with the light source 121, the camera 122 acquires images and / or videos of the hair follicle extraction area; the data acquisition module 120 of the hair follicle extraction system 100 provided in this application embodiment, through the cooperation of the camera 122 and the light source 121, realizes the acquisition of videos and / or images of the target hair follicle extraction area, which is beneficial for accurate and efficient extraction of hair follicles.

[0084] Please refer to Figure 5 , Figure 5 This is a schematic diagram of the processor 110 provided in an embodiment of this application. In an optional embodiment of this application, the processor 110 includes: a data judgment unit 111, a light source adjustment unit 112, and a region extraction unit 113.

[0085] In the process of determining one or more second hair follicle extraction regions B based on the first hair follicle extraction region A:

[0086] The data judgment unit 111 is used to determine whether the target hair follicle extraction data meets the preset requirements.

[0087] The light source adjustment unit 112 is used to adjust the brightness of the light source 121 when the data judgment unit 111 determines that the target hair follicle extraction data does not meet the preset requirements.

[0088] The region extraction unit 113 is used to determine one or more second hair follicle extraction regions B based on the target hair follicle extraction data when the data judgment unit 111 determines that the target hair follicle extraction data meets the preset requirements.

[0089] In the process of determining one or more second hair follicle extraction regions B based on the first hair follicle extraction region A, the data judgment unit 111 determines whether the target hair follicle extraction data meets preset requirements. For example, the target hair follicle extraction data corresponding to the second hair follicle extraction region B is defined as a target hair follicle image; then, the data judgment unit 111 determines whether the target hair follicle image meets preset requirements; wherein, the preset requirements may be image resolution and image contrast, etc. If the target hair follicle image meets the preset requirements, the target hair follicle extraction data can be used for the next step of processing.

[0090] If the target hair follicle extraction data does not meet the preset requirements, the light source adjustment unit 112 adjusts the brightness of the light source 121. After adjustment, with the cooperation of the camera 122 and the light source 121 in the data acquisition module 120, the first hair follicle extraction data of the second hair follicle extraction area B is acquired again. Until the judgment unit determines that the target hair follicle extraction data meets the preset requirements, the area extraction unit 113 determines one or more second hair follicle extraction areas B based on the first hair follicle extraction area A.

[0091] pass Figure 5 It is understood that the data judgment module of the processor 110 can judge the target hair follicle extraction data. If the target hair follicle extraction data does not meet the requirements, the light source adjustment unit 112 adjusts the brightness of the light source 121 and re-acquires the target hair follicle extraction data until the target hair follicle extraction data meets the requirements. Furthermore, the region extraction unit 113 extracts one or more second hair follicle extraction regions B based on the target hair follicle extraction data. The hair follicle extraction system 100 provided in this application embodiment is equipped with a data judgment module, which can judge and filter the hair follicle extraction data, thereby improving the efficiency of hair follicle extraction.

[0092] Please continue reading. Figure 5 In an optional embodiment of this application, the processor 110 further includes a hair follicle evaluation unit 114 and an extraction planning unit 115.

[0093] In the process of determining the hair follicle extraction plan based on the target hair follicle extraction data and the preset hair follicle extraction information:

[0094] The hair follicle evaluation unit 114 is used to obtain the hair follicle parameters corresponding to the second hair follicle extraction region B based on the target hair follicle extraction data. The hair follicle evaluation unit 114 is also used to screen healthy hair follicles based on the hair follicle parameters and obtain healthy hair follicle data.

[0095] In the above process, the hair follicle evaluation unit 114 obtains the hair follicle parameters corresponding to the second hair follicle extraction region B based on the target hair follicle extraction data. For example, the hair follicle parameters may be one or more of the following: hair follicle location, hair follicle depth, number of hairs in the hair follicle, hair follicle tilt angle, hair follicle distribution, hair follicle density, and growth pattern. Based on the aforementioned hair follicle parameters, the hair follicle evaluation unit 114 filters healthy hair follicles and obtains healthy hair follicle data. The healthy hair data may include the number of healthy hairs, the location of healthy hairs, and / or the morphology of healthy hairs.

[0096] The extraction planning unit 115 is used to determine the hair follicle extraction plan based on healthy hair follicle data and preset hair follicle extraction information.

[0097] After the hair follicle assessment unit 114 identifies healthy hair and obtains healthy hair data, the extraction planning unit 115 determines the hair follicle extraction plan based on the healthy hair follicle data and preset hair follicle extraction information. The preset hair follicle extraction information may include hair follicle extraction information input by the operator, including actual hair follicle density, target hair follicle density, and target number of hair follicles to be extracted.

[0098] Therefore, the hair follicle evaluation unit 114 obtains the hair follicle parameters corresponding to the second hair follicle extraction region B based on the target hair follicle extraction data. Based on these parameters, the hair follicle evaluation unit 114 filters healthy hair follicles and obtains healthy hair follicle data. Further, after the hair follicle evaluation unit 114 determines healthy hair and obtains healthy hair data, the extraction planning unit 115 determines a hair follicle extraction plan based on the healthy hair follicle data and preset hair follicle extraction information. Using the hair follicle extraction system 100 provided in this application embodiment for hair follicle extraction allows for the screening of hair follicle health status, ensuring that the extracted hair follicles are healthy and of high quality, thereby increasing the survival rate of subsequent hair follicles.

[0099] Please continue reading. Figure 5 The hair follicle assessment unit 114 is also used to obtain the pulling force corresponding to the target hair follicle in the healthy hair follicle and determine whether the pulling force is not less than the preset pulling force; if the pulling force is less than the preset pulling force, the corresponding target hair follicle is abandoned.

[0100] In one embodiment, the hair follicle extraction system 100 provided in this application includes a material mechanics model. This model is used to predict and analyze the mechanical behavior of pulling hair follicles and to assess the pull-out force. When the pull-out force that a hair follicle can withstand is assessed, the hair follicle is deemed to meet the transplantation criteria. If the analysis results indicate that the hair follicle breaks or its physical characteristics are damaged after being subjected to the pull-out force, the hair follicle is assessed as not meeting the transplantation criteria; furthermore, the hair follicle is abandoned from extraction, and the next target hair follicle is processed.

[0101] Therefore, the hair follicle evaluation unit 114 of the hair follicle extraction system 100 provided in this application embodiment can also be used to simulate the pulling force on the target hair follicle and determine whether the target pulling force is less than the preset pulling force; if the simulated pulling force is less than the preset pulling force, it is determined that the hair follicle cannot withstand the preset pulling force, and the extraction of the target hair follicle is abandoned. The hair follicle extraction system 100 provided in this application embodiment can not only screen hair follicles based on their health status, but also screen hair follicles based on the pulling force they can withstand; after two screenings, the success rate of hair follicle extraction can be greatly improved.

[0102] Please continue reading. Figure 5 The hair follicle extraction plan in this embodiment includes the planning of the perforation angle, and the processor 110 also includes: a perforation angle analysis unit 116.

[0103] The perforation angle analysis unit 116 is used to obtain the scalp texture of the second hair follicle extraction area B based on healthy hair follicle data; the perforation angle analysis unit 116 is also used to determine the perforation resistance of the second hair follicle extraction area B based on the scalp texture, and determine the perforation angle based on the perforation resistance.

[0104] For example, the piercing angle analysis unit 116 obtains the scalp texture of the second hair follicle extraction area B. If the skin of the second hair follicle extraction area B is oily, the friction between the piercing needle and the skin is reduced due to the oil. Therefore, the required tilt angle between the piercing needle and the scalp will be increased during piercing.

[0105] Therefore, it can be seen that the perforation angle analysis unit 116 in the hair follicle extraction system 100 provided in this application embodiment can sense and analyze the skin texture of the local skin at the second hair follicle extraction area B, analyze the perforation resistance image factors, and set the corresponding perforation angle, thereby improving the overall efficiency of hair follicle extraction.

[0106] Please continue reading. Figure 5 The hair follicle extraction planning in this embodiment includes the planning of the hair follicle extraction path, and the processor 110 also includes a path planning unit 117.

[0107] The path planning unit 117 is used to obtain a target hair follicle extraction list based on healthy hair follicle data and preset hair follicle extraction information; the path planning unit 117 is also used to plan a hair follicle extraction path based on the target hair follicle extraction list.

[0108] The path planning unit 117 obtains a target hair follicle extraction list based on healthy hair follicle data and preset hair follicle extraction information. For example, the target hair follicle extraction list is obtained based on hair follicle health data and hair follicle density. It should be noted that the target hair follicle extraction list may include target hair follicles in a specific second hair follicle extraction region B, or it may include target hair follicles in each of multiple second hair follicle extraction regions B. The hair follicle extraction path is planned based on the target hair follicle list. Those skilled in the art will understand that the target hair follicle extraction list is a list that includes the location information and hair follicle information of each target hair follicle.

[0109] Therefore, it can be seen that the path planning unit 117 in the hair follicle extraction system 100 provided in this application embodiment can form a target hair follicle extraction list and a hair follicle extraction path for healthy and qualified target hair follicles based on healthy hair follicle data and hair follicle extraction information. The generated hair follicle extraction path integrates the health status and hair follicle information of the hair follicles, and can extract hair follicles in a reasonable way, thereby improving the efficiency of hair follicle extraction.

[0110] Please continue reading. Figure 5 In an optional embodiment of this application, the path planning unit 117 further includes a region division subunit 1171.

[0111] In the process of obtaining the target hair follicle extraction list based on healthy hair follicle data and preset hair follicle extraction information: the region division subunit 1171 is used to divide the second hair follicle extraction region B into multiple sub-regions.

[0112] In the process of planning the hair follicle extraction path based on the target hair follicle extraction list: the path planning unit 117 is specifically used to plan the hair follicle extraction path within multiple sub-regions and the hair follicle extraction path between multiple sub-regions.

[0113] In the above process, the region division subunit 1171 is used to divide the second hair follicle extraction region B into multiple sub-regions; then the target hair follicle extraction list may include target hair follicles in a specific second hair follicle extraction region B, or it may include target hair follicles in each of multiple second hair follicle extraction regions B.

[0114] Therefore, the region division subunit 1171 in the path planning unit 117 of this application embodiment can divide the second hair follicle extraction region B into multiple sub-regions. After division, the path planning unit 117 can perform path planning for each sub-region and also rationally plan the path from each sub-region to the present. Therefore, due to the existence of the path planning subunit, the hair follicle extraction region can be subdivided into more sub-regions, thereby improving the rationality and accuracy of path planning.

[0115] Please continue reading. Figure 5 In an optional embodiment of this application, the processor 110 further includes a hair follicle extraction control unit 118.

[0116] The hair follicle extraction control unit 118 is used to determine the puncture stop point and target puncture position based on healthy hair follicle data and hair follicle extraction plan.

[0117] For example, based on information such as the location, depth, and tilt angle of healthy hair follicles from the healthy hair follicle data, and the hair follicle extraction plan (which includes the planning of the puncture angle and the hair follicle extraction path), the puncture pause point and the target puncture pose are determined. Punctures are performed sequentially according to the hair follicle extraction path and puncture angle in the hair follicle extraction plan. Before puncture, the puncture pause point and puncture pose are determined based on the information such as the location, depth, and tilt angle of the healthy hair follicles. It should be noted that the puncture pause point is the position where the current puncture pose is approximately matched with the target puncture pose, and the target puncture pose is the standard for determining the puncture pose.

[0118] In one optional embodiment, the hair follicle extraction control unit 118 can determine the current puncture posture at the pause point. If the current puncture posture does not meet the target puncture posture requirements, such as whether the current puncture posture is within a specified range, the hair follicle extraction control unit will readjust the current posture until it is within the specified range before performing the puncture and hair follicle extraction operation. In some embodiments, if the current puncture posture is not within the specified range, the hair follicle extraction control unit will abandon the hair follicle extraction operation for the target hair follicle.

[0119] Therefore, the hair follicle extraction control unit 118 provided in this application embodiment can determine the puncture stop point based on healthy hair follicle data and the hair follicle extraction plan; and at the puncture stop point, it determines whether the current puncture posture and the target puncture posture meet the preset requirements. If the current puncture posture of the puncture actuator 150 at the puncture stop point meets the preset requirements, then the puncture operation can continue. Thus, because the hair follicle extraction control unit 118 can determine the puncture stop point and the target puncture posture, and can determine whether the current puncture posture meets the requirements, the hair follicle extraction operation is performed within the allowable range, improving the success rate of hair follicle extraction.

[0120] Please continue reading. Figure 3 In an optional embodiment of this application, the hair follicle extraction system 100 provided in this application embodiment further includes an actuator 150.

[0121] The executing device 150 is used to extract hair follicles according to the hair follicle extraction plan. Please refer to [link / reference needed]. Figure 6 , Figure 6 This is a schematic diagram of the structure of the hair follicle extraction system 100 provided in the embodiments of this application; Figure 6 The actuator 150 is located at the end of the robotic arm of the entire mechanical structure. It is a mechanism that can control the movement of the robotic arm and perform hair follicle extraction operations.

[0122] During the process of determining the puncture stop point and target puncture position based on healthy hair follicle data and hair follicle extraction plan: processor 110 is used to control actuator 150 to move to the puncture stop point.

[0123] The pose determination unit is used to determine whether the current puncture pose matches the target puncture pose, and if the actual puncture pose does not match the target pose, the corresponding hair follicle is discarded.

[0124] In the above implementation process, the actuator 150 in this embodiment is used to perform hair follicle extraction operation according to the hair follicle extraction plan. During the process of determining the puncture stop point and target puncture pose based on healthy hair follicle data and the hair follicle extraction plan, the processor 110 controls the actuator 150 to move to the puncture stop point; further, it determines whether the current puncture pose of the actuator 150 at the puncture stop point matches the target puncture pose.

[0125] Therefore, the hair follicle extraction control unit 118 provided in this application embodiment can determine whether the current puncture posture and the target puncture posture meet the preset requirements at the puncture pause point based on the posture judgment subunit 1181. If the current puncture posture of the puncture actuator 150 at the puncture pause point meets the preset requirements, the puncture operation can continue. Thus, since the posture judgment subunit 1181 of the hair follicle extraction control unit 118 can determine the puncture pause point and the target puncture posture, and can determine whether the current puncture posture meets the requirements, the hair follicle extraction operation is performed within the allowable range, thereby improving the success rate of hair follicle extraction.

[0126] Please continue reading. Figure 5 In an optional embodiment of this application, the hair follicle extraction plan further includes: planning the target puncture depth.

[0127] The hair follicle extraction control unit 118 also includes a depth calculation subunit 1182.

[0128] The depth calculation subunit 1182 is used to acquire hair follicle depth features and preset depth data, and calculate the target puncture depth based on the hair follicle depth features and preset depth data.

[0129] For example, the depth calculation subunit 1182 acquires preset depth data and hair follicle depth features; wherein, the preset depth data is preset perforation depth data of the target hair follicle obtained based on healthy hair follicle data; the hair follicle depth features include specific subcutaneous tissue of the hair follicle, specific subcutaneous bone of the hair follicle, etc. The depth calculation subunit 1182 combines the hair follicle depth features of the second hair follicle extraction area B with the preset perforation depth data to simulate the skin resistance of puncturing the area and obtain a simulated puncture depth; further, the depth calculation subunit 1182 controls the actuator 150 to perform puncture at the simulated puncture depth, thereby obtaining the actual perforation depth.

[0130] Therefore, the hair follicle extraction system 100 provided in this application embodiment is equipped with a depth calculation subunit 1182. This depth calculation subunit 1182 simulates the perforation depth based on the hair follicle depth characteristics and preset depth data; performs the puncture operation based on the simulation results, and obtains the actual perforation depth. Using the depth calculation subunit 1182, the perforation depth for hair follicle extraction can be obtained quickly and accurately, thereby improving the efficiency of hair extraction.

[0131] Please refer to Figure 7 , Figure 7 A schematic diagram of the module of the execution mechanism 150 provided in the embodiments of this application; in an optional embodiment of this application, the execution mechanism 150 includes a first execution mechanism 151 and a second execution mechanism 152.

[0132] The first actuator 151 is used to perform the puncture operation, and the second actuator 152 is used to perform the hair follicle extraction operation.

[0133] The second actuator 152 includes a gripping device and / or a suction device.

[0134] During the hair follicle extraction process according to the hair follicle extraction plan: the gripping device is used to grip the target hair follicles according to the hair follicle extraction plan; the suction device is used to suction the target hair follicles according to the hair follicle extraction plan.

[0135] pass Figure 7 As can be seen, the hair follicle extraction system 100 provided in this application embodiment has an actuator 150 comprising a first actuator 151 and a second actuator 152; wherein, the first actuator 151 is used to perform a puncture operation, and the second actuator 152 is used to perform a hair follicle extraction operation. The second actuator 152 is further provided with a gripping device and / or a suction device, which respectively realize the gripping and suction of hair follicles, and hair follicles can be extracted by gripping or suction.

[0136] Please continue reading. Figure 5 In an optional embodiment of this application, the three-dimensional model includes a head three-dimensional model, and the processor 110 further includes a modeling unit 119.

[0137] The modeling unit 119 is used to acquire the data acquired by the data acquisition module 120 and to perform image reconstruction based on the data to obtain a three-dimensional model.

[0138] It should be noted that the three-dimensional model includes a subcutaneous feature model; the subcutaneous feature model includes hair follicle features, the connection between hair follicles and nerve endings, and the connection between hair follicles and blood vessels. For example, hair follicle features include hair shaft, hair bulge, dermal papilla, and hair matrix.

[0139] Therefore, it can be seen that the processor 110 of the hair follicle extraction system 100 provided in this application embodiment includes a modeling unit 119. The modeling unit 119 can be used to model the detection object and extend the subcutaneous features. Based on obtaining the three-dimensional model and / or subcutaneous features of the detection object, the three-dimensional model and even the subcutaneous features can be displayed on the user interface of the display device 130. This not only vividly displays the three-dimensional model, but also greatly enhances the user experience.

[0140] Please refer to Figure 8 , Figure 8 This application provides a flowchart of a hair follicle extraction process according to an embodiment of the present application; a second aspect of the present application provides a hair follicle extraction method, which is applied to a hair follicle extraction system 100 including a processor and a data acquisition module; the hair follicle extraction method includes the following steps:

[0141] Step S100: The processor determines the first hair follicle extraction area on the three-dimensional model.

[0142] In step S100 above, the processor determines the first hair follicle extraction region on the three-dimensional model; the three-dimensional model is a simulation model of the target detection object, which can be realized by methods such as three-dimensional modeling.

[0143] Step S101: The processor determines one or more second hair follicle extraction regions based on the first hair follicle extraction region.

[0144] In step S101 above, the processor determines one or more second hair follicle extraction regions based on the first hair follicle extraction region.

[0145] Step S102: The data acquisition module extracts the target hair follicle extraction data corresponding to the second hair follicle extraction area on the hair follicle extraction object.

[0146] In step S102 above, the data acquisition module obtains the target hair follicle extraction data corresponding to the second hair follicle extraction region on the hair follicle extraction object; the target hair follicle extraction data obtained through the second hair follicle extraction region can be image and / or video data about the target hair follicle extraction region, and the hair follicle extraction data can also be other data types.

[0147] Step S103: The processor determines a hair follicle extraction plan based on the target hair follicle extraction data and preset hair follicle extraction information.

[0148] In step S103 above, the processor determines a hair follicle extraction plan based on the target hair follicle extraction data and preset hair follicle extraction information. The hair follicle extraction plan may include planning the piercing angle, the hair follicle extraction path, and the target puncture depth. The preset hair follicle extraction information may include information such as the hair follicle extraction area, the target hair follicle density, the target number of hair follicles to be extracted, and the target hair follicle extraction depth.

[0149] It should be noted that the hair follicle extraction plan obtained by the above hair follicle extraction method is used to guide the hair follicle extraction process.

[0150] pass Figure 8 As can be seen, the hair follicle extraction method provided in this application determines a first hair follicle extraction area through a three-dimensional model, and then determines one or more second hair follicle extraction areas based on the first hair follicle extraction area; finally, a hair follicle extraction plan is determined based on the second hair follicle extraction areas and preset hair follicle extraction information, and the hair follicle extraction plan is used to guide hair follicle extraction. Using the hair follicle extraction method provided in this application can improve both the accuracy and efficiency of hair follicle extraction.

[0151] The hair follicle extraction method provided in this application embodiment can work in conjunction with the hair follicle extraction system provided in the first aspect of this application or other hair follicle extraction systems to achieve the functions of the hair follicle extraction system provided in the first aspect or other hair follicle extraction systems.

[0152] In an optional embodiment, the hair follicle extraction system 100 is disposed inside a trolley, and the trolley is equipped with components and circuits for performing various operations of the hair follicle extraction system 100.

[0153] Here is a brief explanation of how to use the system:

[0154] The trolley is equipped with a power button. Pressing the power button starts the system; at this time, the host computer starts, and the entire hair follicle extraction system enters a self-test state. The software interface displays a startup animation and a self-test interface. When the system self-test is successful, the login interface is entered; otherwise, when the device self-test fails, the system enters an error state, and the software interface displays the error code, error content, and an interface for viewing after-sales service contact information.

[0155] When a user uses the hair follicle extraction system 100 for the first time, if the operating head and adjusting arm obstruct the touchscreen, rendering it inoperable, the position of the operating head and adjusting arm needs to be adjusted. If the operating head and adjusting arm do not obstruct the touchscreen, this step is skipped. Both the touchscreen and adjusting arm are mounted on a trolley, and adjustment buttons and indicator lights are located near the touchscreen on the trolley. The adjustment buttons may include drag, up, down, tilt, and pitch buttons, and the indicator lights may illuminate green, blue, etc., and can be flexibly set according to actual needs. Specifically, pressing and holding the drag button allows the adjusting arm to be dragged horizontally to a suitable position; pressing and holding the up and down buttons adjusts the height of the adjusting arm's lifting column; pressing and holding the tilt button adjusts the tilt angle of the operating head.

[0156] Further, launch the software and log in to the system by entering your account and password on the interface. Select a system mode, including surgical mode and historical data viewing mode. If you choose surgical mode, you need to read the disclaimer, sign it after confirmation, and click "Agree to the Agreement and Confirm" to enter the equipment preparation page; if you choose historical data viewing mode, you can select or search for the client's name to view the surgical details.

[0157] Each time the camera is powered on, a camera 122 calibration is required. Specifically, move the adjusting arm to ensure the operating head is unobstructed. Then, the adjusting arm and operating head automatically adjust their vertical and horizontal positions, and you must manually adjust their horizontal position. Once the adjusting arm and operating head are in position, the brake automatically locks, preventing further movement. Next, manually push out the calibration plate and click "Start Calibration" to perform the camera 122 calibration. If the calibration fails, restart the calibration process; if the calibration is successful, manually push back the operating head, adjusting arm, and calibration plate.

[0158] Furthermore, in a sterile environment, when the needle hub is advanced to the foremost position, the needle is manually installed on the needle hub. After the needle is installed, the needle is manually rotated slightly to check if it is installed correctly. If it is not installed correctly, the needle is removed and the installation steps are repeated. If the needle is installed correctly, the needle hub automatically retracts.

[0159] Furthermore, before the surgery begins, the patient's identity and surgical plan are planned and confirmed. First, the patient's information is entered, and then the hair transplant design is carried out. Specifically, the hair transplant donor area is drawn on the 3D model, and information including: current hair follicle density, expected density, number of hairs to be transplanted, etc. is entered. After completion, click next to proceed with the surgery.

[0160] Further, after adjusting the patient to a suitable sitting position, gauze is wrapped around the patient, and anesthetic and tumescent agents are injected, followed by the application of a tensioner. Following the tensioner's instructions, the patient and the adjusting arm are adjusted so that the four points of the tensioner align with the four points on the alignment interface. If the tensioner shifts or falls off during the procedure, the above steps must be repeated after it is reinserted onto the scalp to ensure proper acquisition of the harvest area. The hair retrieval procedure is then performed, with the system's retrieval needles automatically extracting hair follicles.

[0161] Please see Figure 9 , Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. An electronic device 300 provided in this application includes: a processor 301 and a memory 302. The memory 302 stores machine-readable instructions executable by the processor 301. When the machine-readable instructions are executed by the processor 301, the method described above is performed.

[0162] Based on the same inventive concept, embodiments of this application also provide a computer-readable storage medium storing computer program instructions, which, when read and executed by a processor, perform the steps in any of the above implementations.

[0163] The computer-readable storage medium can be any medium capable of storing program code, such as Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM). The storage medium stores the program, and the processor executes the program after receiving an execution instruction. The method executed by the electronic terminal as defined in any embodiment of this invention can be applied to the processor or implemented by the processor.

[0164] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0165] Furthermore, the units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0166] Furthermore, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0167] It can be replaced and can be implemented, wholly or partially, through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented, wholly or partially, in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present invention are generated.

[0168] The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means.

[0169] In this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, without necessarily requiring or implying any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0170] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A hair follicle extraction system, characterized in that, The hair follicle extraction system includes: a processor and a data acquisition module; The processor is used to determine the first hair follicle extraction region on the three-dimensional model; The processor is further configured to use the first hair follicle extraction area as a positioning point to determine one or more second hair follicle extraction areas, wherein the area of ​​the second hair follicle extraction area is larger than the area of ​​the first hair follicle extraction area. The data acquisition module is used to extract the target hair follicle extraction data corresponding to the second hair follicle extraction area on the hair follicle extraction object; The processor is further configured to determine a hair follicle extraction plan based on the target hair follicle extraction data and preset hair follicle extraction information; wherein the hair follicle extraction plan is used to guide the hair follicle extraction process; The processor also includes: a hair follicle evaluation unit and an extraction planning unit; In the process of determining the hair follicle extraction plan based on the target hair follicle extraction data and the preset hair follicle extraction information: The hair follicle evaluation unit is used to obtain hair follicle parameters corresponding to the second hair follicle extraction area based on the target hair follicle extraction data. The hair follicle assessment unit is also used to screen healthy hair follicles based on the hair follicle parameters and obtain healthy hair follicle data; The extraction planning unit is used to determine the hair follicle extraction plan based on the healthy hair follicle data and the preset hair follicle extraction information; The hair follicle extraction plan includes: planning the perforation angle; the processor further includes: a perforation angle analysis unit; The perforation angle analysis unit is used to obtain the scalp texture of the second hair follicle extraction area based on the healthy hair follicle data; The perforation angle analysis unit is also used to determine the perforation resistance of the second hair follicle extraction area based on the scalp texture, and to determine the perforation angle based on the perforation resistance.

2. The system according to claim 1, characterized in that, The hair follicle extraction system also includes: a display device for displaying the user interface; The user interface is used to display the 3D model; The user interface is also used to obtain a preset target hair follicle extraction area and preset hair follicle extraction information, and display them on the display device; The preset target hair follicle extraction area includes the target area input by the operator; the preset hair follicle extraction information includes the hair follicle extraction information input by the operator, which includes the actual hair follicle density, the target hair follicle density, and the number of target hair follicles extracted. The user interface is also used to obtain the target hair follicle extraction data from the processor and display it on the display device; The target hair follicle extraction data includes image data and / or video data.

3. The system according to claim 1, characterized in that, The hair follicle extraction system also includes: a tensioning and positioning component; The tensioning and positioning element is disposed at the outer edge of the second hair follicle extraction area and is used to tension and position the second hair follicle extraction area.

4. The system according to claim 1, characterized in that, The data acquisition module includes a camera and a light source; During the process of extracting the target hair follicle extraction data corresponding to the second hair follicle extraction region: The light source is used to emit light of different intensities to illuminate the second hair follicle extraction area; The camera is used to acquire the target hair follicle extraction data.

5. The system according to claim 4, characterized in that, The processor includes: a data judgment unit, a light source adjustment unit, and a region extraction unit; In the process of determining one or more second hair follicle extraction regions based on the first hair follicle extraction region: The data judgment unit is used to determine whether the target hair follicle extraction data meets preset requirements; The light source adjustment unit is used to adjust the brightness of the light source when the data judgment unit determines that the target hair follicle extraction data does not meet the preset requirements. The region extraction unit is used to determine one or more second hair follicle extraction regions based on the first hair follicle extraction region when the data judgment unit determines that the target hair follicle extraction data meets the preset requirements.

6. The system according to claim 1, characterized in that, The hair follicle assessment unit is also used to obtain the tensile force corresponding to the target hair follicle in the healthy hair follicle, and to determine whether the tensile force is not less than the preset tensile force. The hair follicle evaluation unit is also used to discard the corresponding target hair follicle when the pulling force is less than the preset pulling force.

7. The system according to claim 1, characterized in that, in, The hair follicle extraction plan further includes: planning the hair follicle extraction path; the processor further includes: a path planning unit; The path planning unit is used to obtain a target hair follicle extraction list based on the healthy hair follicle data and the preset hair follicle extraction information. The path planning unit is also used to plan a hair follicle extraction path based on the target hair follicle extraction list.

8. The system according to claim 7, characterized in that, The path planning unit also includes a region division subunit; In the process of obtaining the target hair follicle extraction list based on the healthy hair follicle data and the preset hair follicle extraction information: The region division subunit is used to divide the second hair follicle extraction region into multiple sub-regions; During the process of planning the hair follicle extraction path based on the target hair follicle extraction list: The path planning unit is specifically used to plan the hair follicle extraction path within the multiple sub-regions and the hair follicle extraction path between the multiple sub-regions.

9. The system according to claim 8, characterized in that, The processor also includes a hair follicle extraction control unit; The hair follicle extraction control unit is used to determine the puncture stop point and target puncture position based on the healthy hair follicle data and the hair follicle extraction plan.

10. The system according to claim 9, characterized in that, The hair follicle extraction system further includes: an actuator; the hair follicle extraction control unit includes: a pose determination subunit; The actuator is used to perform hair follicle extraction according to the hair follicle extraction plan; In the process of determining the puncture stop point and target puncture position based on the healthy hair follicle data and the hair follicle extraction plan: the processor is used to control the actuator to move to the puncture stop point; The pose determination unit is used to determine whether the current puncture pose matches the target puncture pose, and if the current puncture pose does not match the target pose, the corresponding hair follicle is discarded.

11. The system according to claim 10, characterized in that, in, The hair follicle extraction plan also includes: planning the target puncture depth; the hair follicle extraction control unit also includes: a depth calculation subunit; The depth calculation subunit is used to acquire hair follicle depth features and preset depth data, and to calculate the target puncture depth based on the hair follicle depth features and preset depth data.

12. The system according to claim 11, characterized in that, During the hair follicle extraction process according to the hair follicle extraction plan: The actuator is specifically used to extract hair follicles based on the target puncture depth, the hair follicle extraction path, and the puncture angle.

13. The system according to claim 11, characterized in that, The actuator further includes a gripping device and / or a suction device; During the hair follicle extraction process according to the hair follicle extraction plan: The gripping device is used to grip the target hair follicles according to the hair follicle extraction plan; and / or The suction device is used to suction the target hair follicles according to the hair follicle extraction plan.

14. The system according to claim 1, characterized in that, The 3D model includes a head 3D model; the processor also includes a modeling unit; The modeling unit is used to acquire the head data obtained by the data acquisition module and to perform image reconstruction based on the head data to obtain the three-dimensional head model. The three-dimensional head model includes a subcutaneous feature model; the subcutaneous feature model includes hair follicle features, the connection between hair follicles and nerve endings, and the connection between hair follicles and blood vessels.

15. A method for hair follicle extraction, characterized in that, The hair follicle extraction method is applied to the hair follicle extraction system according to any one of claims 1-14, and the hair follicle extraction method includes: The processor determines the first hair follicle extraction area on the three-dimensional model; The processor uses the first hair follicle extraction area as a positioning point to determine one or more second hair follicle extraction areas, wherein the area of ​​the second hair follicle extraction area is larger than the area of ​​the first hair follicle extraction area. The data acquisition module extracts the target hair follicle extraction data corresponding to the second hair follicle extraction area on the hair follicle extraction object; The processor determines a hair follicle extraction plan based on the target hair follicle extraction data and preset hair follicle extraction information. The hair follicle extraction plan is used to guide the hair follicle extraction process.

16. An electronic device, characterized in that, The electronic device includes a memory and a processor. The memory stores program instructions, and when the processor executes the program instructions, it performs the steps of the method of claim 15.

17. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program instructions that, when executed by a processor, perform the steps of the method of claim 15.

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