Hair follicle auxiliary planting system and hair follicle auxiliary planting method

Abstract

The invention discloses an auxiliary hair follicle planting system and an auxiliary hair follicle planting method. The auxiliary hair follicle planting system comprises a mounting seat; the planting part is detachably connected with the mounting seat, and the extension direction of a blade part of the planting part is defined as a first direction; the executing mechanism is connected with the mounting base, and the executing mechanism is used for driving the mounting base to do linear motion in the first direction and / or driving the mounting base to do rotary motion with the first direction as the axis; the sensing module is used for acquiring an image near the blade part of the planting part; and the path planning control module is in signal connection with the execution mechanism and the sensing module. According to the hair follicle auxiliary planting system, the path planning control module controls the execution mechanism to adjust the position of the planting part based on the image information acquired by the sensing module, so that manual work is replaced, the automation of hair follicle auxiliary planting is realized, and the efficiency and effect of a hair follicle planting operation can be improved.

Description

Technical Field

[0001] The invention relates to a hair follicle assisted implantation system and a hair follicle assisted implantation method. Background Art

[0002] The current hair follicle transplantation surgery requires the doctor to manually make holes in the area to be transplanted using a sapphire knife or a transplantation needle, and then the doctor or nurse will place the hair follicles extracted in advance into the holes. The survival rate of the transplanted hair follicles and the transplantation effect depend on the doctor's drilling position, angle, density and depth. Since the doctor's drilling skills vary, and when continuously drilling hundreds or thousands of holes, it is inevitable that the drilling effect and speed will be affected due to eye and body fatigue, which will affect the final transplantation effect. Therefore, the current hair follicle transplantation surgery has low efficiency and effect. Summary of the invention

[0003] The technical problem to be solved by the present invention is to overcome the defects of low implantation efficiency and effect of hair follicle implantation surgery in the prior art, and to provide a hair follicle assisted implantation system and a hair follicle assisted implantation method.

[0004] The present invention solves the above technical problems through the following technical solutions:

[0005] A hair follicle-assisted implantation system is used to assist hair follicle implantation, and the hair follicle-assisted implantation system comprises:

[0006] Mounting seat;

[0007] A planting part, the planting part is detachably connected to the mounting seat, and an extending direction of a blade of the planting part is defined as a first direction;

[0008] An actuator, the actuator is connected to the mounting seat, and the actuator is used to drive the mounting seat to perform linear motion along a first direction and / or drive the mounting seat to perform rotational motion with the first direction as the axis;

[0009] A perception module, the perception module is used to collect images near the blade of the implant part;

[0010] A path planning control module is connected to the actuator and the perception module by signal.

[0011] The hair follicle-assisted implantation system can replace implantation parts of different specifications according to actual conditions by providing a mounting seat for installing and removing the implantation part. At the same time, the actuator is connected to the mounting seat, and the front and rear positions and rotation angles of the mounting seat and the implantation part can be adjusted, so that the movement trajectory of the implantation part can meet the needs of assisted implantation. At the same time, a perception module and a path planning control module are provided. The path planning control module controls the actuator to adjust the position of the implantation part based on the image information obtained by the perception module to replace manual labor, thereby realizing the automation of hair follicle-assisted implantation and improving the efficiency and effect of hair follicle implantation surgery.

[0012] Preferably, the actuator includes a linear motion part and a rotational motion part, the linear motion part is connected to the mounting seat and drives the mounting seat to perform linear motion along a first direction, and the rotational motion part is connected to the mounting seat and drives the mounting seat to perform rotational motion with the first direction as the axis.

[0013] The actuator is provided with a linear motion part and a rotary motion part respectively to drive the mounting seat to perform linear motion and rotary motion, so as to realize complex motion of the mounting seat and the implantation part arranged on the mounting seat through the combination of motion in two directions.

[0014] Preferably, the actuator further comprises a force detection unit, and the force detection unit is used to detect the force applied to the mounting seat along the first direction.

[0015] The actuator is further provided with a force detection unit to detect the force of the mounting seat along the first direction (i.e., the front-to-back direction) to achieve the purpose of active detection, so that the hair follicle-assisted implantation system can achieve relatively higher-precision depth control and safety control of the implantation part based on the force conditions in the front-to-back direction.

[0016] Preferably, the mounting seat, the rotational motion part, the force detection part and the linear motion part are connected in sequence, the linear motion part is used to drive the mounting seat, the rotational motion part and the force detection part to perform linear motion along a first direction; the force detection part is used to detect the force of the mounting seat and the rotational motion part along the first direction; the rotational motion part is used to drive the mounting seat to perform rotational motion with the first direction as the axis.

[0017] By connecting the mounting seat, the rotating motion part, the force detection part and the linear motion part in sequence, a relatively simple and compact connection scheme is provided, wherein the force detection part is arranged between the mounting seat and the linear motion part, so that the force detection part can directly detect the force conditions of the linear motion part in motion and non-motion conditions.

[0018] At the same time, the force detection part is used to realize the connection between the rotational motion part and the linear motion part, and also plays the role of a connecting piece, making the structure of the hair follicle assisted implantation system more compact.

[0019] Preferably, the rotary motion part includes a hollow motor, an encoder and a bearing, or the rotary motion part includes a rotary motor, a coupling, an encoder and a bearing.

[0020] This structural setting provides a variety of relatively preferred structural implementation schemes for the rotating motion part. Among them, the use of a hollow motor as the power source of the rotating motion part can achieve the purpose of a compact structure. By setting an encoder, the rotation angle of the rotating motion part is actively detected to achieve closed-loop control and improve control accuracy. The provision of bearings can reduce transmission resistance and improve control accuracy. The provision of a coupling enables the power of the rotating motor to be reliably transmitted to the mounting seat to drive the planting part to rotate.

[0021] Preferably, the linear motion part includes a rotary motor, a coupling, an encoder, a lead screw and a lead screw nut;

[0022] This structural setting provides a variety of preferred structural implementation solutions for the rotary motion part. Among them, the forward and backward movement of the linear motion part is achieved by connecting the rotary motor with the lead screw via a coupling, driving the lead screw to rotate and then driving the lead screw nut to move forward and backward, so as to provide a low-speed, high-torque forward and backward motion driving solution to meet the high-precision forward and backward position adjustment requirements of the planting part.

[0023] Preferably, the hair follicle-assisted implantation system further comprises a posture adjustment module, which is connected to the actuator and is signal-connected to the path planning control module, and the posture adjustment module can adjust the posture of the actuator under the control of the path planning control module.

[0024] By setting a posture adjustment module to adjust the posture of the actuator, the freedom of movement of the implant part is further improved. With this structural setting, the hair follicle-assisted implant system can use the posture adjustment module to adjust the posture of the actuator, the mounting seat connected to the actuator, and the implant part while the bottom is fixed, so that the posture and direction of the implant part can meet the hair follicle-assisted implant needs of different parts of the patient.

[0025] Preferably, the actuator includes a mechanical arm connected to the mounting seat, and the mechanical arm has at least the freedom of movement of linear motion along a first direction and rotational motion with the first direction as the axis.

[0026] A robotic arm is used as an actuator to drive the implant part to move forward and backward, rotate, and so on. The system has a high degree of integration, which can reduce costs and improve the operational reliability of the entire system.

[0027] Preferably, the robotic arm is also capable of detecting the force applied to the mounting base along the first direction.

[0028] The force sensing module or torque sensing module at the end of the robotic arm is used to detect the force in the first direction (i.e., the front-to-back direction), so that there is no need to set up an additional force sensor to realize the force detection function, which can simplify the structural complexity of the hair follicle-assisted implantation system and reduce costs.

[0029] Preferably, the planting portion has a frustum with a tapered surface on one side facing the mounting seat, and the mounting seat has a tapered hole for accommodating the frustum of the planting portion.

[0030] The implant part and the mounting seat are connected by a taper frustum and a tapered hole, which can not only realize quick disassembly and assembly, but also ensure the installation accuracy and avoid installation errors caused by repeated disassembly and assembly.

[0031] Preferably, the outer surface of the tapered hole has threads, and the mounting seat further comprises a locking nut, which is threadedly arranged at the threads.

[0032] On the basis of achieving positioning installation between the planting part and the mounting seat through a tapered cone and a tapered hole, a locking nut is provided to lock the planting part to the mounting seat. On the one hand, it can completely prevent the planting part from detaching from the tapered hole of the mounting seat, and on the other hand, it can keep the cone of the planting part and the tapered hole of the mounting seat in close fit to avoid shaking during use.

[0033] Preferably, the outer edge of the tapered hole has a positioning stop, and the conical surface of the planting part is provided with a positioning boss corresponding to the position of the positioning stop. When the planting part is arranged on the mounting seat, the positioning boss is embedded in the positioning stop.

[0034] By setting a positioning stop on the outer edge of the tapered hole of the mounting seat, which cooperates with the corresponding positioning boss on the planting part, the anti-rotation purpose is achieved, ensuring that the blade direction of the planting part can remain unchanged during multiple disassembly and assembly processes, which is beneficial to the automated control of the path planning control module.

[0035] Preferably, a tool disassembly opening is further provided on the surface of the planting portion, and the tool disassembly opening is arranged close to the frustum.

[0036] By reserving a tool disassembly opening on the surface of the planting part, it is convenient to quickly disassemble and replace the planting part when the planting part and the mounting seat are tightly matched.

[0037] Preferably, the implanting portion is a hollow single-edged blade, or a solid double-edged blade.

[0038] The implantation department adopts a variety of blades to achieve different auxiliary implantation functions by replacing the blades, thereby meeting the diverse needs of hair follicle auxiliary implantation.

[0039] Preferably, the implantation part is an implantation needle, the cutting edge of the implantation needle has a hollow inner hole extending along a first direction, the hair follicle-assisted implantation system also includes a center rod and an additional actuator, the center rod is inserted into the hollow inner hole, the additional actuator is connected to one end of the center rod relatively away from the hollow inner hole, and drives the center rod to move linearly along the first direction.

[0040] When the implantation part is a hollow implantation needle, an additional actuator is further provided to drive the center rod to reciprocate in the hollow inner hole of the implantation needle, so as to meet the diverse needs of hair follicle-assisted implantation.

[0041] Preferably, the hair follicle-assisted implantation system further comprises a trolley, and the trolley is used for carrying the actuator.

[0042] By providing a trolley to carry the actuator, the hair follicle-assisted implantation system as a whole has the ability to be horizontally moved and fixed, which facilitates flexible arrangement.

[0043] Preferably, the perception module includes a camera and an optical reflector, and the lens of the camera collects images near the blade of the planting part through optical reflection of the optical reflector.

[0044] The perception module is equipped with a camera and an optical reflector. The camera lens collects images near the blade of the planting part through optical reflection of the optical reflector, thereby achieving the purpose of acquiring the image. At the same time, the camera lens is prevented from occupying the space near the blade of the planting part, providing a larger space for auxiliary planting of the planting part and for the operator to observe the planting part from above.

[0045] Preferably, the sensing module comprises a camera, and the lens of the camera is directly arranged toward the blade of the planting part.

[0046] The perception module sets a camera so that the lens of the camera is directly directed toward the blade of the planting part to obtain images near the blade, and the structure is simple and reliable.

[0047] Preferably, the sensing module further comprises a fill light, and the fill light is arranged toward the blade of the planting part.

[0048] By setting up fill lights for auxiliary lighting, the quality of the acquired images can be improved, which helps the path planning control module to generate planting plans based on the images.

[0049] A hair follicle-assisted implantation method, which uses the hair follicle-assisted implantation system as described above, and the hair follicle-assisted implantation method comprises the following steps:

[0050] The path planning control module controls the posture adjustment module to adjust the posture of the mounting seat based on the pre-established three-dimensional model of the hair transplant object, so that the implantation part is aligned with the hair transplantation recipient area of ​​the hair transplant object;

[0051] The perception module acquires an image near the blade of the implantation part, and transmits the acquired image to the path planning control module;

[0052] Based on the image, the path planning control module plans the points to be implanted in the hair transplant recipient area to form a implantation plan, controls the posture adjustment module to adjust the posture of the mounting seat so that the implantation part is aligned with the points to be implanted, and controls the actuator to drive the implantation part to perform auxiliary drilling.

[0053] The path planning control module of the hair follicle-assisted implantation method controls the posture adjustment module to adjust the posture of the mounting seat based on a pre-established three-dimensional model of the hair implantation object, so that the implantation part performs auxiliary drilling under the drive of the actuator, thereby providing an automated drilling solution to replace manual auxiliary drilling, which can improve the efficiency and effect of hair follicle implantation surgery.

[0054] Preferably, the step of controlling the actuator to drive the planting part to perform auxiliary drilling specifically includes:

[0055] The linear motion part of the control actuator drives the implantation part to move forward along the first direction to penetrate into the point to be implanted.

[0056] The hair follicle-assisted implantation method achieves the purpose of assisting drilling by controlling the linear motion part of the actuator to drive the implantation part to move forward and penetrate into the implantation point.

[0057] Preferably, the step of controlling the actuator to drive the planting part to perform auxiliary drilling specifically includes:

[0058] The rotary motion part of the control actuator drives the implant part to perform a rotary motion with the first direction as the axis, so as to adjust the angle between the blade of the implant part and the point to be implanted.

[0059] The hair follicle-assisted implantation method drives the implantation part to rotate by controlling the rotary motion part of the actuator to adjust the angle between the blade of the implantation part and the implantation point, so that the insertion angle meets the requirements of the growth direction of the hair after the assisted implantation.

[0060] Preferably, the step of controlling the actuator to drive the planting part to perform auxiliary drilling specifically includes:

[0061] The force detection part of the control actuator detects the force of the planting part along the first direction, so as to control the linear motion part to stop moving or move backward after the force is greater than a threshold value.

[0062] The hair follicle assisted implantation method detects the force on the implantation part along the first direction through a force detection part, so as to judge the auxiliary drilling depth or whether the drilling is abnormal based on the force conditions, and can stop the drilling process when the force is too large, or detect the external force collision that the implantation part may be subjected to when it is not in the drilling state, so as to meet the collision safety detection requirements.

[0063] The positive and progressive effects of the present invention are:

[0064] The hair follicle-assisted implantation system and hair follicle-assisted implantation method can replace implantation parts of different specifications according to actual conditions by providing a mounting seat for installing and removing the implantation part. At the same time, the actuator is connected to the mounting seat, and the front and rear positions and rotation angles of the mounting seat and the implantation part can be adjusted, so that the movement trajectory of the implantation part can meet the needs of assisted implantation. At the same time, a perception module and a path planning control module are provided, and the path planning control module controls the actuator to adjust the position of the implantation part based on the image information obtained by the perception module to replace manual labor, thereby realizing the automation of hair follicle-assisted implantation and improving the efficiency and effect of hair follicle implantation surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Figure 1 It is a schematic diagram of the partial structure of the hair follicle assisted implantation system of Example 1 of the present invention.

[0066] Figure 2 This is a schematic diagram of the overall structure of the hair follicle assisted implantation system of Example 1 of the present invention.

[0067] Figure 3 This is a three-dimensional view of the actuator part of Example 1 of the present invention (I).

[0068] Figure 4 This is a three-dimensional view of the actuator part of Example 1 of the present invention (II).

[0069] Figure 5 It is a bottom view of the actuator part of Example 1 of the present invention.

[0070] Figure 6 It is a cross-sectional view of the linear motion portion of Example 1 of the present invention.

[0071] Figure 7 It is a cross-sectional view of the rotary motion part of Example 1 of the present invention.

[0072] Figure 8 It is a schematic diagram of the partial structure of the mounting base of Example 1 of the present invention.

[0073] Fig. 9 This is a three-dimensional view of the implantation part of Example 1 of the present invention.

[0074] Fig.10It is a cross-sectional view of the mounting seat and the implantation part of Example 1 of the present invention.

[0075] Fig.11 This is a three-dimensional view of another implantation part of Example 1 of the present invention.

[0076] Fig.12 This is a flow chart of the hair follicle-assisted transplantation method according to Example 1 of the present invention.

[0077] Fig.13 It is a three-dimensional view of the actuator part of Example 2 of the present invention.

[0078] Fig.14 It is a three-dimensional view of the actuator part of Example 3 of the present invention.

[0079] Fig.15 It is a cross-sectional view of the rotational motion part of Example 3 of the present invention.

[0080] Fig.16 This is a three-dimensional view of the actuator part of Example 4 of the present invention (I).

[0081] Fig.17 This is a three-dimensional view (two) of the actuator part of embodiment 4 of the present invention.

[0082] Fig.18 It is a three-dimensional view of the actuator part of Example 5 of the present invention.

[0083] Fig.19 This is a three-dimensional view of the actuator part of Example 6 of the present invention (I).

[0084] Fig. 20 This is a three-dimensional view (two) of the actuator part of embodiment 6 of the present invention.

[0085] Fig.21 It is a cross-sectional view of the rotational motion portion of Example 6 of the present invention.

[0086] Description of reference numerals:

[0087] Hair follicle assisted implantation system 100

[0088] Mounting seat 10, tapered hole 11, locking nut 12, positioning stop 13

[0089] Planting part 20, round table 21, positioning boss 22, tool removal port 23, hollow inner hole 24

[0090] Actuator 30

[0091] Linear motion unit 31, rotary motor 311, coupling 312, encoder 313, lead screw 314, lead screw nut 315

[0092] Rotating motion part 32, hollow motor 321, encoder 322, bearing 323, rotating motor 324, coupling 325

[0093] Force detection unit 33

[0094] Sensing module 40, camera 41, optical reflector 42, fill light 43

[0095] Posture adjustment module 50

[0096] Center rod 60

[0097] Additional actuator 70, transmission rod 71

[0098] Trolley 80 DETAILED DESCRIPTION

[0099] The present invention is further described below by way of examples, but the present invention is not limited to the scope of the examples.

[0100] Example 1

[0101] like Figure 1 and Figure 2 As shown, the present invention provides a hair follicle assisted implantation system 100, which includes a mounting seat 10, an implantation unit 20, an actuator 30, a sensing module 40, a posture adjustment module 50, a trolley 80, and a path planning control module (not shown in the figure). The posture adjustment module 50 is specifically a multi-degree-of-freedom mechanical arm, one end of which is connected to the trolley 80 and the other end is connected to the actuator 30, and is used to adjust the posture of the actuator 30. The path planning control module is arranged inside the trolley 80.

[0102] like Figure 3As shown, the implantation part 20 is a gem knife for auxiliary implantation, which pierces the patient's skin through the blade part to make holes to achieve the purpose of auxiliary implantation. The implantation part 20 is detachably connected to the mounting seat 10, so that the implantation part 20 can be replaced. For example, by replacing it with other implantation knives or implantation needles, other auxiliary implantation purposes other than drilling can be achieved. The actuator 30 is connected to the mounting seat 10, and the actuator 30 is used to drive the mounting seat 10 to move linearly along the extension direction of the blade part of the implantation part 20 (i.e., the first direction A). At the same time, the actuator 30 is also used to drive the mounting seat 10 to rotate with the first direction A as the axis. The sensing module 40 is arranged on the actuator 30, and is used to collect images near the blade of the implantation part 20. The path planning control module disposed inside the trolley 80 is connected to the actuator 30 and the sensing module 40 by signal. The path planning control module can obtain the image data collected by the sensing module 40, and based on the implantation plan, control the actuator 30 in combination with the collected image data, and drive the mounting seat 10 and the implantation part 20 to perform linear and rotational motions through the actuator 30. The implantation plan may include the path data manually planned by the doctor and / or the path data generated by AI, and the path data may include the punching area, punching density, punching direction, punching depth, etc.

[0103] Specifically, by performing image recognition on the image data collected by the perception module 40, the positional relationship between the blade end of the implant part 20 and the patient's skin (including position parameters such as the spacing and the blade orientation angle) can be obtained. Based on the positional relationship, the actuator 30 can be controlled to drive the implant part 20 to make a branch line movement toward the patient's skin, or the implant part 20 can be controlled to rotate to adjust the orientation angle of the blade of the implant part 20 to meet the needs of automated assisted drilling.

[0104] Specifically, the hair follicle-assisted implantation system 100 can replace implantation parts 20 of different specifications according to actual conditions by providing a mounting seat 10 for installing and removing the implantation part 20. At the same time, the actuator 30 is connected to the mounting seat 10, and the front and rear positions and rotation angles of the mounting seat 10 and the implantation part 20 can be adjusted, so that the movement trajectory of the implantation part 20 can meet the needs of assisted implantation. At the same time, a sensing module 40 and a path planning control module are provided, and the path planning control module controls the actuator 30 to adjust the position of the implantation part 20 based on the image information obtained by the sensing module 40, so as to replace manual labor, realize the automation of hair follicle-assisted implantation, and improve the efficiency and effect of hair follicle implantation surgery.

[0105] like Figure 1 and Figure 2As shown, in this embodiment, the posture adjustment module 50 is connected to the actuator 30, and can adjust the posture of the actuator 30 under the control of the path planning control module to further improve the freedom of movement of the implantation part 20, so that the hair follicle-assisted implantation system 100 can use the posture adjustment module 50 to adjust the posture of the actuator 30 and the mounting seat 10 and the implantation part 20 connected to the actuator 30 when the bottom is fixed, so that the posture and orientation of the implantation part 20 can meet the hair follicle-assisted implantation needs of different parts of the patient. Specifically in this embodiment, the posture adjustment module 50 is composed of a multi-degree-of-freedom mechanical arm, so as to adjust the posture of the actuator 30 (and the indirectly connected mounting seat 10, the implantation part 20 and the sensing module 40) by using the multi-degree-of-freedom movement of the multi-degree-of-freedom mechanical arm. Among them, the use of a six-degree-of-freedom mechanical arm can meet the needs of adjusting the posture in multiple directions. If further flexibility is required, a seven-degree-of-freedom mechanical arm can be used.

[0106] In this embodiment, since the path planning control module is arranged inside the trolley 80, and one end of the posture adjustment module 50 is fixed on the trolley 80, the path planning control module and the posture adjustment module 50, the actuator 30 and the sensing module 40 are all connected by signal lines. In other embodiments, if the path planning control module is arranged at a position relatively far away from other devices of the hair follicle assisted implantation system 100, the path planning control module and the posture adjustment module 50, the actuator 30 and the sensing module 40 can also be connected by wireless communication or the like. In addition, by arranging the posture adjustment module 50 on the trolley 80, the hair follicle assisted implantation system 100 as a whole has the ability to move and fix horizontally, which is convenient for flexible arrangement.

[0107] In this embodiment, in order to achieve the purpose of driving the mounting seat 10 and the planting part 20 to move forward and backward and rotate along the first direction A, the actuator 30 includes a linear motion part 31 and a rotary motion part 32. Among them, the linear motion part 31 is connected to the mounting seat 10 and drives the mounting seat 10 to move linearly along the first direction A, while the rotary motion part 32 is connected to the mounting seat 10 and drives the mounting seat 10 to rotate with the first direction A as the axis. By respectively providing the linear motion part 31 and the rotary motion part 32 to drive the mounting seat 10 to perform linear motion and rotary motion, the two directions of motion are combined to enable the mounting seat 10 and the planting part 20 to achieve complex motion.

[0108] like Figure 4 and Figure 5As shown, the actuator 30 also includes a force detection unit 33, which is used to detect the force of the mounting seat 10 along the first direction A, so as to achieve the purpose of active detection, so that the hair follicle-assisted implantation system 100 can achieve a relatively higher precision control of the implantation unit 20 based on the force conditions in the front-back direction. For example, in the process of the implantation unit 20 piercing the patient's skin, in the process of contacting with the epidermis to piercing the epidermis, the force magnitude of the implantation unit 20 should be gradually increased. After piercing the epidermis, the force magnitude of the implantation unit 20 will fall back, and then gradually increase as the penetration depth of the implantation unit 20 increases. Therefore, by setting the force detection unit 33 to detect the force conditions of the implantation unit 20 along the first direction A, the penetration state of the implantation unit 20 relative to the patient's skin can be judged based on the force conditions, the control accuracy can be improved, and the effect of auxiliary drilling can be improved. Specifically, in this embodiment, the mounting seat 10, the rotational motion unit 32, the force detection unit 33 and the linear motion unit 31 are connected in sequence. Among them, the linear motion part 31 is used to drive the mounting seat 10, the rotary motion part 32 and the force detection part 33 to perform linear motion along the first direction A. The force detection part 33 is used to detect the force of the mounting seat 10 and the rotary motion part 32 along the first direction A. The rotary motion part 32 is used to drive the mounting seat 10 to perform rotational motion with the first direction A as the axis. Compared with other transmission connection methods, this connection scheme in which the mounting seat 10, the rotary motion part 32, the force detection part 33 and the linear motion part 31 are connected in sequence is relatively simple and compact. In addition, the force detection part 33 is arranged between the mounting seat 10 and the linear motion part 31, so that the force detection part 33 can directly detect the force condition of the linear motion part 31 in motion and non-motion conditions. At the same time, the force detection part 33 is used to realize the connection between the rotary motion part 32 and the linear motion part 31, and also plays the role of a connecting member, making the structure of the hair follicle assisted implantation system 100 more compact. Among them, the force detection part 33 can be realized by a force sensor or a torque sensor.

[0109] Of course, in other embodiments, the mounting seat 10, the rotational motion part 32, the force detection part 33 and the linear motion part 31 can also be connected in a transmission manner in other orders. For example, the linear motion part 31 is connected to the mounting seat 10 through the force detection part 33 to drive the mounting seat 10 to move forward and backward, and detect the force through the force detection part 33, while the rotational motion part 32 is connected to the linear motion part 31 to drive the linear motion part 31, the force detection part 33 and the mounting seat 10 to rotate as a whole.

[0110] like Figure 6As shown, in this embodiment, the linear motion part 31 includes a rotary motor 311, a coupling 312, an encoder 313, a lead screw 314 and a lead screw nut 315. The rotary motor 311 is connected to the lead screw 314 through the coupling 312, and by driving the lead screw 314 to rotate, the lead screw nut 315 disposed on the lead screw 314 moves forward and backward along the first direction A, and the lead screw nut 315 is further connected to the force detection part 33. In addition, an encoder 313 is provided between the coupling 312 and the lead screw 314, which is used to detect the rotation angle and the number of rotations, so as to realize closed-loop control and improve the control accuracy of the forward and backward movement. Among them, the forward and backward movement of the linear motion part 31 is realized by the rotary motor 311 driving the lead screw 314 to rotate and then driving the lead screw nut 315 to move forward and backward, so as to provide a low-speed, high-torque forward and backward movement driving solution to meet the high-precision forward and backward position adjustment requirements of the planting part 20.

[0111] like Figure 7 As shown, in this embodiment, the rotary motion part 32 includes a hollow motor 321, an encoder 322 and a bearing 323. The hollow motor 321 is connected to the mounting seat 10 to drive the mounting seat 10 to rotate. A plurality of bearings 323 are sleeved on the surface of the mounting seat 10 to achieve smooth rotation, improve rotational rigidity, and ensure coaxiality. In addition, an encoder 322 is provided on the surface of the mounting seat 10 between the two bearings 323 to detect the rotation angle and number of rotations of the mounting seat 10, to achieve closed-loop control, and to improve the control accuracy of the rotation.

[0112] like Figure 8 Shown and Fig. 9 As shown, in this embodiment, the planting portion 20 has a cone 21 with a tapered surface on the side facing the mounting seat 10, and the mounting seat 10 has a tapered hole 11 at the end thereof for accommodating the cone 21. The cone 21 of the planting portion 20 is inserted into the tapered hole 11 of the mounting seat 10 to achieve docking (see Fig.10 ), which can not only realize the rapid disassembly and assembly of the implanting part 20 relative to the mounting seat 10, facilitate the replacement of the implanting part 20, but also ensure the installation accuracy and avoid the installation error caused by repeated disassembly and assembly. Among them, the taper of the truncated cone 21 can be a Morse taper, or a Luer taper or other tapers commonly used in the prior art to realize the insertion and positioning between the implanting part 20 and the mounting seat 10.

[0113] like Figure 8As shown, a thread is further provided on the outer surface of the tapered hole 11 of the mounting seat 10, and the mounting seat 10 further includes a locking nut 12, which is screwed on the thread to fix the truncated cone 21 of the planting part 20 to the tapered hole 11 of the mounting seat 10. Specifically, in this embodiment, the planting part 20 is locked on the mounting seat 10 by providing the locking nut 12, which can completely prevent the planting part 20 from being separated from the tapered hole 11 of the mounting seat 10 on the one hand, and can keep the truncated cone 21 of the planting part 20 and the tapered hole 11 of the mounting seat 10 in close contact with each other on the other hand, so as to avoid shaking during use.

[0114] like Figure 8 and Fig. 9 As shown, there are two positioning stops 13 on the outer edge of the tapered hole 11, and two positioning bosses 22 are provided on the surface of the truncated cone 21 of the planting part 20 at positions corresponding to the two positioning stops 13. When the planting part 20 is set on the mounting seat 10, the positioning boss 22 is embedded in the positioning stop 13, so that the positioning boss 22 cooperates with the positioning stop 13 to achieve the purpose of anti-rotation, ensuring that the blade direction of the planting part 20 can remain unchanged during multiple disassembly and assembly processes, which is beneficial to the automatic control of the path planning control module. In addition, a tool disassembly port 23 is also provided on the surface of the planting part 20, and the tool disassembly port 23 is arranged close to the truncated cone 21. By reserving the tool disassembly port 23 on the surface of the planting part 20, it is convenient to realize the rapid disassembly and replacement of the planting part 20 when the planting part 20 and the mounting seat 10 are tightly matched.

[0115] By disassembling the implantation part 20 relative to the mounting seat 10, it is convenient to replace the implantation needle or implantation knife with different blade shapes. For example, Fig. 9 The solid double-edged blade (jewel knife) shown in FIG. 1 may be used by replacing the implant portion 20 with a blade such as Fig.11 The hollow single-edged blade (implantation needle) shown can meet the diverse needs of hair follicle-assisted implantation.

[0116] like Figure 4As shown, the perception module 40 in this embodiment is arranged on the frame of the actuator 30, and specifically includes a camera 41 and an optical reflector 42. The number of cameras 41 is at least two, and the lenses of these cameras 41 respectively collect images near the blade of the planting part 20 through the optical reflection of the optical reflector 42. Among them, the lens of the camera 41 of the perception module 40 collects images near the blade of the planting part 20 through the optical reflection of the optical reflector 42, so as to achieve the purpose of acquiring images, and at the same time avoid the lens of the camera 41 occupying the space near the blade of the planting part 20, so as to provide a larger space for the planting part 20 to assist in planting and for the operator to observe the planting part 20 from above. In addition, the perception module 40 in this embodiment also includes a fill light 43, which is arranged toward the blade of the planting part 20 to provide auxiliary lighting, improve the quality of the acquired image, and facilitate the path planning control module to generate a planting plan based on the image.

[0117] like Fig.12 As shown, the present invention also provides a hair follicle assisted implantation method, which is implemented by using the above-mentioned hair follicle assisted implantation system 100. The hair follicle assisted implantation method specifically includes the following steps:

[0118] S1, the path planning control module controls the posture adjustment module 50 to adjust the posture of the mounting seat 10 based on the pre-established three-dimensional model of the hair transplantation object, so that the implantation part 20 is aligned with the hair transplantation recipient area of ​​the hair transplantation object;

[0119] S2, the perception module 40 acquires an image near the blade of the planting part 20, and transmits the acquired image to the path planning control module;

[0120] S3. The path planning control module plans the points to be implanted in the transplant recipient area based on the image to form a implantation plan, controls the posture adjustment module 50 to adjust the posture of the mounting seat 10 so that the implantation part 20 is aligned with the points to be implanted, and controls the actuator 30 to drive the implantation part 20 to perform auxiliary drilling.

[0121] Among them, the implantation plan may include path data manually planned by the doctor and / or path data generated by AI, and the path data may include drilling area, drilling density, drilling direction, drilling depth, etc.

[0122] Specifically, the path planning control module of the hair follicle-assisted implantation method controls the posture adjustment module 50 to adjust the posture of the mounting seat 10 based on the pre-established three-dimensional model of the hair implantation object, so that the implantation part 20 performs auxiliary drilling under the drive of the actuator 30, thereby providing an automated drilling solution to replace manual auxiliary drilling, which can improve the efficiency and effect of hair follicle implantation surgery.

[0123] Among them, in step S3, the scheme of controlling the actuator 30 to drive the planting part 20 to perform auxiliary drilling specifically includes the following subdivision schemes:

[0124] (1) The linear motion portion 31 of the control actuator 30 drives the implantation portion 20 to move forward along the first direction A to penetrate the implantation point.

[0125] (2) The rotary motion part 32 of the control actuator 30 drives the implanting part 20 to perform a rotary motion with the first direction A as the axis, so as to adjust the angle between the blade of the implanting part 20 and the implantation point.

[0126] (3) The force detection unit 33 of the control actuator 30 detects the force of the planting unit 20 along the first direction A, so as to control the linear motion unit 31 to stop moving or move backward after the force is greater than a threshold value.

[0127] The linear motion part 31 of the actuator 30 is controlled to drive the planting part 20 to move forward and penetrate the planting point to achieve the purpose of auxiliary drilling. The rotary motion part 32 of the actuator 30 is controlled to drive the planting part 20 to rotate to adjust the angle between the blade of the planting part 20 and the planting point to make the penetration angle meet the requirements of the growth direction of the hair after auxiliary planting.

[0128] In addition, the force detection unit 33 detects the force on the planting unit 20 along the first direction A to determine whether the auxiliary drilling depth or drilling is abnormal based on the force conditions, and can stop the drilling process when the force is too large, or detect the external force collision that the planting unit may be subjected to when it is not drilling, thereby meeting the collision safety detection requirements.

[0129] Of course, in other embodiments, other control schemes may be used to control the hair follicle assisted implantation system 100, such as controlling the actuator 30 and the movement of the robotic arm through a preset path in the path planning control module to achieve the purpose of automated assisted implantation.

[0130] Example 2

[0131] This embodiment provides a hair follicle-assisted implantation system 100, the structure of which is substantially the same as that of the hair follicle-assisted implantation system 100 in Embodiment 1, except that: Fig.13 As shown, the sensing module 40 also includes at least two cameras 41, and the lenses of these cameras 41 are directly arranged toward the blade of the planting part 20, so that the lenses of the cameras 41 are directly arranged toward the blade of the planting part 20 to obtain images near the blade. Compared with the solution of implementation 1, the structure is simpler because there is no need to set the optical reflector 42. In this embodiment, a fill light 43 is also set for auxiliary lighting to improve the quality of the acquired image.

[0132] In this embodiment, the perception module 40 uses at least two cameras 41 to capture images near the blade of the planting part 20 from different angles to transmit the images to the path planning control module.

[0133] Example 3

[0134] This embodiment provides a hair follicle-assisted implantation system 100, whose structure is substantially the same as that of the hair follicle-assisted implantation system 100 in Embodiment 1, except that the specific structure of the rotating motion part 32 is different from that in Embodiment 1. Fig.14 and Fig.15 As shown, the rotary motion part 32 includes a rotary motor 324, a coupling 325, an encoder 322 and a bearing 323. By setting the coupling 325, the power of the rotary motor 324 can be reliably transmitted to the mounting seat 10 to drive the planting part 20 to rotate. At the same time, a plurality of bearings 323 are sleeved on the surface of the mounting seat 10, which can achieve smooth rotation, improve rotational rigidity, and ensure coaxiality. In addition, an encoder 322 is set on the surface of the mounting seat 10 between two bearings 323 to detect the rotation angle and number of rotations of the mounting seat 10, realize closed-loop control, and improve the control accuracy of rotation.

[0135] Example 4

[0136] This embodiment provides a hair follicle-assisted implantation system 100, the structure of which is substantially the same as that of the hair follicle-assisted implantation system 100 in Embodiment 1, except that the structure of the actuator 30 in this embodiment is different from that in Embodiment 1. Fig.16 and Fig.17 As shown, the actuator 30 in this embodiment also includes a robotic arm (not shown in the figure), one end of the robotic arm of the actuator 30 is connected to the trolley 80, and the other end is connected to the mounting base 10 through a rotating motion part 32. The robotic arm is used to drive the mounting base 10 to move linearly along the first direction A, and the force magnitude along the first direction A can be detected by the built-in force sensor of the robotic arm.

[0137] The actuator 30 of the hair follicle-assisted implantation system 100 is provided with a mechanical arm to realize the function of driving the mounting seat 10 and the implantation part 20 to perform linear motion along the first direction A and detect the magnitude of the force, so that there is no need to additionally provide a separate linear motion part 31 and a force detection part 33, thereby improving the integration of the entire system and reducing the system cost.

[0138] Example 5

[0139] This embodiment provides a hair follicle-assisted implantation system 100, whose structure is substantially the same as that of the hair follicle-assisted implantation system 100 in Embodiment 4, except that: Fig.18As shown, in this embodiment, the robotic arm of the actuator 30 also has the function of driving the mounting base 10 to rotate with the first direction A as the axis. Therefore, the actuator 30 does not need to be provided with a separate rotational motion part 32. It is only necessary to fix the sensing module 40 and the mounting base 10 at the end of the robotic arm. The forward and backward movement and rotation of the mounting base 10 are realized through the multi-degree-of-freedom movement inside the robotic arm. At the same time, the robotic arm is set to realize the function of driving the mounting base 10 and the implant part 20 to perform linear motion along the first direction A and detect the force magnitude.

[0140] A robotic arm is used as the actuator 30 to realize functions such as driving the planting part 20 to move forward and backward, rotate, and detect force. The system has a high degree of integration, can reduce costs, and improve the operational reliability of the entire system.

[0141] Example 6

[0142] This embodiment provides a hair follicle-assisted implantation system 100, whose structure is substantially the same as that of the hair follicle-assisted implantation system 100 in Embodiment 1, except that: Fig.19 , Fig. 20 and Fig.21 As shown, the implantation part 20 in this embodiment adopts a hollow single-edged blade (implantation needle), and the blade edge has a hollow inner hole 24 extending along the first direction A. Therefore, the hair follicle-assisted implantation system 100 is also additionally provided with an additional actuator 70 to drive the center rod 60 located inside the hollow inner hole 24 of the implantation part 20 to move linearly along the first direction A to meet the diverse needs of hair follicle-assisted implantation.

[0143] Specifically, the rotary motion part 32 in this embodiment uses a hollow motor 321 to drive the mounting seat 10 to rotate, and does not occupy the space of the mounting seat 10 away from the planting part 20. Therefore, the additional actuator 70 is connected to the central rod 60 penetrating the inside of the mounting seat 10 through the transmission rod 71 to transmit the forward and backward reciprocating motion of the additional actuator 70 to the central rod 60. Among them, the specific structure of the additional actuator 70 in this embodiment is roughly the same as the structure of the linear motion part 31 of the actuator 30, and the specific structure is not repeated.

[0144] The structural setting scheme provided in this embodiment can be used alone for auxiliary drilling of implantation, or for drilling and implantation at the same time. When used only for auxiliary drilling, the main function of the center rod 60 is to prevent the inner hole of the implantation needle from being blocked, that is, to clear the inner hole of the implantation needle through the reciprocating linear motion of the center rod 60. When used for drilling and implantation at the same time, the center rod 60 needs to be retracted backwards, and the hair follicles are placed in the inner hole of the implantation needle in advance. When the implantation needle completes the drilling process and withdraws, the center rod extends forward to push the hair follicles in the inner hole out of the implantation needle, so that the hair follicles remain in the skin.

[0145] Although the specific embodiments of the present invention are described above, it should be understood by those skilled in the art that this is only for illustration and the protection scope of the present invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but these changes and modifications all fall within the protection scope of the present invention.

Claims

1. A hair follicle assisted implantation system, characterized in that: It is used to assist hair follicle transplantation. The hair follicle transplantation assisting system comprises: Mounting seat; A planting part, the planting part is detachably connected to the mounting seat, and an extending direction of a blade of the planting part is defined as a first direction; An actuator, the actuator is connected to the mounting seat, and the actuator is used to drive the mounting seat to perform linear motion along a first direction and / or drive the mounting seat to perform rotational motion with the first direction as the axis; A perception module, the perception module is used to collect images near the blade of the implant part; A path planning control module is connected to the actuator and the perception module by signal.

2. The hair follicle-assisted implantation system according to claim 1, characterized in that: The actuator includes a linear motion part and a rotational motion part. The linear motion part is connected to the mounting seat and drives the mounting seat to perform linear motion along a first direction. The rotational motion part is connected to the mounting seat and drives the mounting seat to perform rotational motion with the first direction as the axis.

3. The hair follicle-assisted implantation system according to claim 2, characterized in that: The actuator further includes a force detection unit, and the force detection unit is used to detect the force applied to the mounting seat along a first direction.

4. The hair follicle-assisted implantation system according to claim 3, characterized in that: The mounting seat, the rotating motion part, the force detection part and the linear motion part are connected in sequence, the linear motion part is used to drive the mounting seat, the rotating motion part and the force detection part to perform linear motion along a first direction; the force detection part is used to detect the force of the mounting seat and the rotating motion part along the first direction; the rotating motion part is used to drive the mounting seat to perform rotational motion with the first direction as the axis.

5. The hair follicle-assisted implantation system according to claim 2, characterized in that: The rotary motion part includes a hollow motor, an encoder and a bearing, or the rotary motion part includes a rotary motor, a coupling, an encoder and a bearing; And / or, the linear motion part includes a rotary motor, a coupling, an encoder, a lead screw and a lead screw nut; And / or, the hair follicle-assisted implantation system also includes a posture adjustment module, which is connected to the actuator and connected to the path planning control module signal, and the posture adjustment module can adjust the posture of the actuator under the control of the path planning control module.

6. The hair follicle-assisted implantation system according to claim 1, characterized in that: The actuator includes a mechanical arm connected to the mounting seat, and the mechanical arm has at least the freedom of movement of linear motion along a first direction and rotational motion with the first direction as the axis.

7. The hair follicle-assisted implantation system according to claim 6, characterized in that: The robotic arm can also detect the force applied to the mounting base along a first direction.

8. The hair follicle-assisted implantation system according to any one of claims 1 to 7, characterized in that: The planting portion has a truncated cone with a tapered surface on one side facing the mounting seat, and the mounting seat has a tapered hole for accommodating the truncated cone of the planting portion.

9. The hair follicle-assisted implantation system according to claim 8, characterized in that: The outer surface of the tapered hole has threads, and the mounting seat further includes a locking nut, which is threadedly arranged at the threads; And / or, the outer edge of the tapered hole has a positioning stop, the truncated cone surface of the planting part is provided with a positioning boss at a position corresponding to the positioning stop, and when the planting part is arranged on the mounting seat, the positioning boss is embedded in the positioning stop; And / or, a tool disassembly opening is further provided on the surface of the planting portion, and the tool disassembly opening is arranged close to the frustum.

10. The hair follicle-assisted implantation system according to any one of claims 1 to 7, characterized in that: The implanting part is a hollow single-edged blade, or a solid double-edged blade.

11. The hair follicle-assisted implantation system according to any one of claims 1 to 7, characterized in that: The implantation part is an implantation needle, the cutting edge of the implantation needle has a hollow inner hole extending along a first direction, the hair follicle-assisted implantation system also includes a center rod and an additional actuator, the center rod is inserted into the hollow inner hole, the additional actuator is connected to one end of the center rod relatively away from the hollow inner hole, and drives the center rod to move linearly along the first direction.

12. The hair follicle-assisted implantation system according to any one of claims 1 to 7, characterized in that: The hair follicle-assisted implantation system further comprises a trolley, and the trolley is used for carrying the actuator.

13. The hair follicle-assisted implantation system according to any one of claims 1 to 7, characterized in that: The perception module includes a camera and an optical reflector, and the lens of the camera collects an image near the blade of the planting part through optical reflection of the optical reflector; or, the perception module includes a camera, and the lens of the camera is directly arranged toward the blade of the planting part; And / or, the sensing module further includes a fill light, and the fill light is arranged toward the blade direction of the planting part.

14. A hair follicle assisted implantation method, characterized in that: The hair follicle-assisted implantation system according to any one of claims 1 to 13 is adopted, and the hair follicle-assisted implantation method comprises the following steps: The path planning control module controls the posture adjustment module to adjust the posture of the mounting seat based on the pre-established three-dimensional model of the hair transplant object, so that the implantation part is aligned with the hair transplantation recipient area of ​​the hair transplant object; The perception module acquires an image near the blade of the implantation part, and transmits the acquired image to the path planning control module; Based on the image, the path planning control module plans the points to be implanted in the hair transplant recipient area to form a implantation plan, controls the posture adjustment module to adjust the posture of the mounting seat so that the implantation part is aligned with the points to be implanted, and controls the actuator to drive the implantation part to perform auxiliary drilling.

15. The hair follicle-assisted implantation method according to claim 14, characterized in that: The step of controlling the actuator to drive the implantation part to perform auxiliary drilling specifically includes: The linear motion part of the control actuator drives the implantation part to move forward along the first direction to penetrate the implantation point; and / or, The rotary motion part of the control actuator drives the implant part to perform a rotary motion with the first direction as the axis, so as to adjust the angle between the blade of the implant part and the implant point; and / or, The force detection part of the control actuator detects the force of the planting part along the first direction, so as to control the linear motion part to stop moving or move backward after the force is greater than a threshold value.

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