Hair follicle transplantation method and system, program unit, storage medium and program product

Abstract

The invention provides a hair follicle transplantation method and system, a program unit, a storage medium and a program product, and the method comprises the steps: enabling a tensioner to apply downward pressure to the skin, driving a first tensioning part and a second tensioning part to be away from each other, and expanding the skin to form an expanded skin region; the system comprises a mechanical arm tail end tool, the mechanical arm tail end tool moves, gets close to an expanded skin area and executes a hair follicle transplantation task, the system further comprises a controller, the controller evaluates hair follicle transplantation parameters and formulates a hair follicle transplantation plan, and in a hair follicle transplantation mode, the controller controls the mechanical arm tail end tool to perform incision at a transplantation part in a manner that the incision direction and / or depth can be controlled. And the blocking device keeps the hair follicle at the required depth, and the mechanical arm tail end tool is retracted to complete the transplantation task. According to the application, the tensioner can be automatically controlled to tension the scalp or loosen the scalp, the tensioning degree of the scalp can be adjusted, the needling depth, the needling angle and the needling density are adjusted according to the obtained tensioning degree of the scalp, the batch consistency of extracted hair follicles is improved, and the hair follicle transplantation effect is improved.

Description

Technical Field

[0001] The present application relates to the technical field of hair extraction, and in particular to a hair follicle transplantation method, system, program unit, storage medium and program product. Background Art

[0002] At present, more and more patients are troubled by hair loss, and hair transplantation technology is one of the main methods to solve this problem. Specifically, hair can be extracted from the denser parts of the scalp, and then transplanted into the sparser parts of the scalp, so that the hair continues to grow in the new transplant area and always exists without falling off, thus solving the problem of large-area hair loss. Hair removal and transplantation can be done manually, but the workload is large, the operation is complicated, and the doctor's operation requirements are very strict, resulting in a long operation time, which requires both doctors and patients to spend more time and energy. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a hair follicle transplantation method, system, program unit, storage medium and program product, and the technical problem to be solved is to overcome the problem that the tension of the tensioner in the prior art cannot be unified, and sometimes the tension is loose and sometimes tight. When the hair transplant robot inserts the needle, the insertion depth of the needle in the loose tension part is fixed, and the insertion depth of the needle in the tight tension part is inconsistent, resulting in poor consistency in the batch of extracted hair follicles, resulting in poor transplantation effect.

[0004] The present invention provides a hair follicle transplantation method, wherein a tensioner applies pressure under the skin and drives a first tensioner and a second tensioner to move away from each other, thereby expanding the skin to form an expanded skin area; a tool at the end of a robotic arm moves close to the expanded skin area to perform a hair follicle transplantation task.

[0005] Furthermore, it also includes a controller, which evaluates hair follicle transplantation parameters and formulates a hair follicle transplantation plan.

[0006] Furthermore, the hair follicle transplantation parameters include one or more of the following parameters:

[0007] number of follicles extracted / implanted, location of the extraction area, location of the implantation area, degree of randomness relative to the target implantation location, spacing between adjacent follicles, target implantation location, follicle depth, implantation depth, patient identity, geometrical contours of the extraction area, geometrical contours of the implantation area, marker locations, density of target implantation locations.

[0008] Furthermore, the hair follicle transplantation plan includes a transplantation hair follicle pattern:

[0009] In the hair follicle transplantation mode, the controller controls the end tool of the robotic arm to make an incision at the transplantation site in a controlled direction and / or depth, the blocking device keeps the hair follicle at the desired depth, and the end tool of the robotic arm is retracted to complete the transplantation task.

[0010] Furthermore, before the controller controls the end tool of the robotic arm to perform an incision step at the transplantation site to control the incision direction and / or depth, it also includes the steps of selecting and aligning the position of the transplantation site, and aligning the direction of the transplantation site.

[0011] Furthermore, the controller controls the end tool of the robotic arm to perform an incision step at the transplantation site so as to control the incision direction and / or depth, and completes the transplantation task with or without changing the patient's sitting posture.

[0012] Furthermore, the controller controls a first tension adjustment procedure: detecting the skin tension and adjusting the pressure under the skin according to the skin tension.

[0013] Furthermore, it also includes an angle sensor and a distance sensor,

[0014] The angle sensor acquires the angle between the first tensioning member and the second tensioning member;

[0015] The distance sensor acquires the distance between the first tensioning member and the second tensioning member;

[0016] The controller obtains the skin tension according to the angle between the first tension member and the second tension member and / or the distance between the first tension member and the second tension member, and uses the tension to adjust the tensioner to apply pressure under the skin.

[0017] Furthermore, the controller controls a second tensioning adjustment procedure: after the first tensioning procedure, the pressure applied by the tensioner to the skin is detected again to ensure that the skin is within a rated tension level.

[0018] Furthermore, the use of the tensioning device to adjust the tension to apply pressure under the skin can be replaced by:

[0019] The relative position relationship between the first tensioning member and the second tensioning member is detected, the skin tension degree is estimated according to the relative position relationship between the first tensioning member and the second tensioning member, and the pressure under the skin is adjusted according to the skin tension degree.

[0020] Furthermore, it also includes a visual device, which guides the tool at the end of the robot arm to move close to the expanded skin area.

[0021] Furthermore, it also includes a force feedback device. When the operator applies a force exceeding the rated value to the robotic arm, the force feedback device unlocks the robotic arm, and the tool at the end of the robotic arm is dragged close to the expanded skin area.

[0022] Furthermore, it also includes a hair follicle storage device, and the tool at the end of the robotic arm obtains hair follicles from the hair follicle storage device and transplants the hair follicles to the expanded skin area.

[0023] Furthermore, a hair follicle transplantation system includes: a robotic arm, a tool installed on the robotic arm, and a tensioner, including a first tensioner and a second tensioner, for applying pressure under the skin and driving the first tensioner and the second tensioner to move away from each other to expand the skin; the robotic arm drives the end tool to move so that the tool is close to the expanded skin area to perform the hair follicle transplantation task.

[0024] Furthermore, a controller is included, and the controller includes one or more of the following functions:

[0025] The controller is used to detect the tension of the skin and adjust the pressure under the skin;

[0026] The controller is used to evaluate the hair follicle transplantation depth and formulate a hair follicle transplantation plan;

[0027] The controller is used to control the tool at the end of the robotic arm to make an incision at the transplantation site in a controlled direction and / or depth;

[0028] The controller is used for position selection and alignment of the transplant site, as well as direction alignment of the transplant site.

[0029] Furthermore, it also includes a force sensor, which obtains a signal of expanding the skin area and transmits it to a controller to obtain the skin tension, and uses the tension to adjust the tensioner to apply pressure under the skin.

[0030] Furthermore, it also includes a hair follicle storage device, and the tool at the end of the robotic arm obtains hair follicles from the hair follicle storage device and transplants the hair follicles to the expanded skin area.

[0031] The present invention provides a hair follicle transplantation method, system, program unit and storage medium, which can automatically control a tensioner to tighten or relax the scalp, adjust the scalp tension degree, adjust the needle insertion depth, needle insertion angle and needle insertion density according to the obtained scalp tension degree, improve the batch consistency of extracted hair follicles, and improve the hair follicle transplantation effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0033] Figure 1 A schematic diagram of the structure of a hair follicle transplantation system in one embodiment of the present invention;

[0034] Figure 2 A schematic diagram of the structure of a hair follicle transplantation system in one embodiment of the present invention;

[0035] Figure 3 A schematic diagram of the relative position relationship of binocular vision calculation of a visual device provided by an embodiment of the present invention;

[0036] Figure 4 A flow chart of a method provided by an embodiment of the present invention;

[0037] Figure 5 A flow chart of a method provided by an embodiment of the present invention;

[0038] Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0039] In the figure: 1 - tensioner; 11 - first tensioner; 12 - second tensioner; 13 - expanded skin area; 14 - angle sensor; 15 - distance sensor; 2 - robotic arm; 21 - tool; 22 - controller; 23 - blocking device; 24 - visual device; 25 - force feedback device. DETAILED DESCRIPTION

[0040] The following embodiments of the technical solution of the present application are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0041] It should be noted that all technical and scientific terms used in this document have the same meanings as those generally understood by technicians in the technical field to which this application belongs; the terms used in this document are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0042] The technical solutions in the embodiments of the present application will be described below in conjunction with the accompanying drawings in the embodiments of the present application. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions and operations of the systems, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram may represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the box may also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they may sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or the flowchart, and the combination of boxes in the block diagram and / or the flowchart, can be implemented by a dedicated hardware-based system that performs a specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. In addition, the functional modules in the various embodiments of the present invention can be integrated together to form an independent part, or each module can exist separately, or two or more modules can be integrated to form an independent part.

[0043] The technical solution of the present application is further elaborated in detail below in conjunction with the accompanying drawings and specific embodiments of the specification. Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as those commonly understood by technicians in the technical field of this application. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. "And / or" used herein includes any and all combinations of one or more related listed items.

[0044] See also Figure 4-Figure 5 The present invention provides a hair follicle transplantation method, wherein a tensioner applies pressure to the skin and drives a first tensioner and a second tensioner to move away from each other, thereby expanding the skin to form an expanded skin area; and a tool at the end of a robotic arm moves close to the expanded skin area to perform a hair follicle transplantation task. The first tensioner is electrically connected to a controller via a first stepper motor, and the second tensioner is electrically connected to the controller via a second stepper motor. The first stepper motor and the second stepper motor coordinate stepping distances via the controller, so that the distance between the first tensioner and the second tensioner can be controlled by the controller, thereby expanding the skin to form an expanded skin area.

[0045] After the expanded skin area is formed, the controller controls the movement of the robotic arm, and the tool at the end of the robotic arm moves close to the expanded skin area to perform the hair follicle transplantation task.

[0046] The farther the distance between the first stepper motor and the second stepper motor, the higher the tension of the skin in the expanded skin area. As the tension of the expanded skin area is higher, the depth of the hair follicles in the expanded skin area is reduced relative to the depth without tension. The controller can adjust the tool at the end of the robotic arm to adjust the depth of the hair follicles to extract the hair follicles according to the tension of the expanded skin area.

[0047] As a preferred embodiment, the method further comprises a controller, which evaluates hair follicle transplantation parameters and formulates a hair follicle transplantation plan.

[0048] When planning a hair transplant procedure for a specific patient, many parameters vary from patient to patient. For example, the density and density variation of hair across different areas of the patient's scalp, the caliber of hair that can also vary across the patient's scalp, and the way the patient styles and / or combs their hair. The transplanted follicles provide a natural-looking representation that the implanted follicles will match the follicles that already exist. How the area of ​​follicle harvest will look after the follicles are removed or harvested is also evaluated by the controller and presented to the patient with a picture of what the area of ​​follicle harvest will look like after the follicles are removed or harvested. Looking natural is not only important for the hairline element, but also for the balance of the transplant site and the extraction site. For this reason, each follicle, including, for example, the hairline, hair piece, and extraction area, should not be designed or planned independently of each other. When planning a follicle transplant, the physician must ensure that his plan provides the best results based on the existing hair on the patient's head, such as the density or distribution of the existing hair, the spacing, the angles, how the patient typically parts and / or combs his hair, or any other measures that help make the transplanted follicles look natural. One aspect is to maintain the naturalness of the extraction area and the transplantation area, for example, throughout the patient's scalp. In addition, the hair follicle transplantation plan can also be simulated and modeled by the controller to obtain a simulated three-dimensional model. The doctor can obtain the expected results of the patient's extraction area and transplantation area at various stages during and after the hair transplantation surgery based on the simulated three-dimensional model. In some embodiments, a means is also provided by which the doctor can present the potential visual appearance and aesthetic results to the patient, explain the various functional and / or aesthetic advantages and disadvantages of the potential hair follicle transplantation plan, and discuss the time and / or cost associated with each proposed hair follicle transplantation plan.

[0049] For example, the degree of tension applied to the scalp of the transplant recipient varies according to the elasticity of the scalp of the transplant recipient, thereby determining the transplant spacing as needed. Although the scalp of the transplant recipient is provided in a horizontal direction in the aforementioned embodiment, it can also be provided in a vertical direction or an inclined direction.

[0050] In order to diagnose the causes of hair loss, such as hair loss, hair loss, hair thinning, delayed and stopped hair growth, etc., it is necessary to perform histochemical / enzymatic analysis of hair follicles from different areas. Identify the substances involved and the corresponding receptors, which affect the growth cycle of the hair follicles at which moment. Preferably, the different types of hair follicles extracted and the hair follicle morphology analysis can be screened in real time during the extraction process to evaluate which hair follicles can be implanted in the front, middle and back. Preferably, the controller can also integrate medical research data input based on enzyme analysis and a computer simulation system for analyzing cell growth, differentiation and proliferation. This computer simulation system can analyze the function of growth stimulating substances and other inhibitors in the area of ​​the patient to be transplanted. This evaluation performed during the transplantation provides the possibility of preventive treatment for the patient's hair loss causes.

[0051] Further, the hair follicle transplantation plan can perform hair follicle density analysis and calculate the number of hair follicles required for subsequent implantation based on the density and the required area. After the hair follicles are extracted in the hair follicle extraction mode, the controller analyzes the deformity, bulb fragility, bluntness, and rupture of the extracted hair follicles so as to subsequently screen qualified hair follicles for transplantation.

[0052] Further, in some embodiments, information about a specific hair follicle or combination of hair follicles may be obtained from a hair follicle database. The hair follicle database may contain specific information about the patient from whom the hair follicles were extracted. For example, the hair follicle database may contain information classified by ethnic origin, gender and / or age. In yet another embodiment, a treatment plan may be generated or modified based on a combination of features around the hair follicle first feature and / or the hair follicle second feature. The hair follicle first feature and the hair follicle second feature may be individual points, lines, shapes, or other markers that provide a basis for modification.

[0053] After the hair follicle transplantation plan has been created at least in part by the computer where the controller is located, the user can accept or change the treatment plan. Once the hair follicle transplantation plan meets the expectations of the doctor, medical staff and / or patient, the doctor, medical staff can register the hair follicle transplantation plan with the patient.

[0054] In another embodiment, a system for planning a hair follicle transplantation plan in a patient may include a user interface, a processor, a visual device, and at least one input device. These components are common to almost all modern computer systems, whether they are computer systems or systems with multiple remote terminal central servers. It should be understood that the embodiment of the controller to which the hair follicle transplantation planning system belongs is preferably implemented in software and can be run on any computer system with basic components, including a processor, a visual device, and an input device, as long as such a computer system is equipped with sufficient available memory and appropriate graphics generation and display capabilities. The controller computing system may include one or more processing units, one or more non-transitory storage media, which may be in the form of but not limited to magnetic storage media, optical storage media, magneto-optical storage media, read-only memory, random access memory, erasable programmable memory, flash memory, etc.; and / or one or more input and / or output components for transmitting output to one or more other components; and / or receiving input from one or more other components More displays, touch screens, keyboards, mice, touchpads, styluses, pens, printers, speakers, cameras, video cameras, etc. The controller processing unit may include one or more modules to execute instructions stored in the storage medium in order to perform one or more computing device functions, such as one or more hair follicle transplantation planning methods. The system or processing unit may additionally include an image repository including templates, images of one or more patients, and / or templates or partial images of patients.The system may be configured to implement all methods, processes, and techniques described herein.

[0055] Although it may be suggested that the computing system to which the controller belongs includes specific components arranged in a specific configuration, it should be understood that this is for the purpose of example. In various implementations, the computing system of the controller may include any number of computing system components. For example, one or more buses, displays, network components, dedicated image processors, coprocessors, memories, hard drives, ports, graphics adapters, visual devices, etc. Arranged in different configurations without departing from the scope of the present disclosure. For example, in one or more embodiments, the visual device may include multiple cameras and / or video cameras, which are arranged to capture images and / or videos of the same scene. As another example, in various embodiments, the computing system of the controller may include one or more interfaces for controlling tools at the end of a robotic arm or a robotic arm, such as surgical clamps, surgical sutures, hair removal needles, hair implant needles, etc. It should also be understood that an embodiment of the computing system application of the controller can be implemented through the Internet, for example, a user of such a system uses a dedicated home computer as a remote server or computer. In such an Internet-based planning system, the software that implements and controls the user interface may reside in whole or in part on the user's computer or remote server / computer. In one such embodiment, the remote server downloads one or more software modules to the user's computer for temporary or permanent use. An exemplary embodiment of a software-implemented and controlled user interface for planning a follicular unit transplantation procedure will now be described. It should be understood that various and numerous variations of the described embodiments may be implemented without departing from the general scope of the present application as set forth in the appended claims.

[0056] The preoperative preparation phase also includes anesthesia. The anesthesia time in the patient's extraction / transplantation area is about 30 minutes, preferably using a hypodermic needle and syringe, one injection at a time. It is performed at two different moments: first, anesthesia of the extraction area, followed by the extraction of hair follicles; second, anesthesia of the implantation area, followed by the implantation of hair follicles.

[0057] The preoperative preparation stage also includes aseptic operation. The hair follicle transplantation plan also includes aseptic operation for cleaning the skin and hair follicles of the area to be extracted or transplanted, and performing automatic and strict aseptic operation one by one or at intervals between extraction / transplantation. The controller can issue a sterilization certificate of the area to be extracted or transplanted at any time, which can be traced back to the date and time of the operation and / or through the patient's data.

[0058] The preoperative preparation phase also includes the construction of a 3D model. The data collection and data recording information is used to construct a 3D model showing the contours and dimensions of the patient's head and the exact location of the hair follicles, allowing the identification of the hair follicles present on the scalp for extraction. The 3D model can also define the ideal trajectory for the robotic system to perform during the procedure to correctly position itself relative to the preferred hair follicles and their extraction.

[0059] For example, the above three-dimensional model can be obtained through SLAM (Simultaneous Localization and Mapping), which is a technology that estimates the robot's own position in real time and builds an environmental map through sensor data. The obtained three-dimensional model includes the three-dimensional spatial coordinates of each feature point on the target object. These three-dimensional spatial coordinates can be continuously iterated during the operation of extracting hair follicles and / or transplanting hair follicles. For a certain iteration, the following operation can be performed:

[0060] For each feature point on the hair follicle extraction and transplantation target object, the three-dimensional space coordinates of the feature point corresponding to the iteration are determined based on the two-dimensional plane coordinates of the feature point corresponding to each observation and the ray parameters and weights of the observation rays of each observation where the feature point is located.

[0061] The three-dimensional spatial coordinates of all feature points on the hair follicle extraction and transplantation target object corresponding to the iteration are determined as the three-dimensional candidate positioning information of the target object corresponding to the iteration.

[0062] The total observation cost of the target object corresponding to the iteration is determined based on the three-dimensional candidate positioning information of the hair follicle extraction and transplantation target object corresponding to the iteration and the coordinate information and weight information of the target object corresponding to each observation.

[0063] It should be noted that while the application is particularly suitable for hair follicle extraction and transplantation, it is not limited to hair follicle extraction and transplantation. The application may also be beneficial for other procedures that require models of patient body surfaces and parts, including facial and head features, for example, in various cosmetic and dermatological procedures. For example, plastic surgery, wrinkle removal or reduction, cosmetic substance injection, skin graft surgery, correction or removal of birthmark defects, facial reconstruction, rhinoplasty, eye or lip contouring, ear, nose, eyelid or chin reshaping, facial rejuvenation, laser skin resurfacing, skin tightening, etc. can benefit from the controller application system and method described herein. An example of the applicability of the controller application is diagnostic skin imaging for cosmetic or other medical purposes, such as skin grafting or tattoo removal. For ease of description, the following description will be discussed by example with reference to the hair follicle extraction and transplantation process. However, it should be noted that such description is for illustration and example purposes only and is not intended to be exhaustive or limiting.

[0064] As a preferred embodiment, the hair follicle transplantation parameters include one or more of the following parameters:

[0065] number of follicles extracted / implanted, location of the extraction area, location of the implantation area, degree of randomness relative to the target implantation location, spacing between adjacent follicles, target implantation location, follicle depth, implantation depth, patient identity, geometrical contours of the extraction area, geometrical contours of the implantation area, marker locations, density of target implantation locations.

[0066] The number of hair follicles to be extracted / implanted is simulated in a three-dimensional model based on the expectations of the transplantee, the predicted hairstyle and the final result, and the number of hair follicles required for transplantation and their source area are indicated. The number of hair follicles to be extracted / implanted is usually determined in the preoperative evaluation stage, and the controller includes an automatic calculation unit for calculating the hair loss area and the number of hair follicles required to cover the area. The unit contains an optimization algorithm that redefines the differentiated transplantation scheme for the same area and the number of hair follicles corresponding to the differentiated transplantation scheme, which will be used as input to the extraction system. Both the simulation of the differential transplantation scheme and the predicted final result can be viewed in a three-dimensional model mode on a common display. In the preoperative stage, the number of hair follicles required for different types of transplantation is pre-evaluated by the user according to the visualized differential implantation scheme to obtain a satisfactory result. This preoperative evaluation can be done remotely through the referral system. The three-dimensional model simulation is performed as part of a face-to-face and / or online consultation. The simulation result is very close to the predicted reality because it is presented in the form of a three-dimensional model. Integration / synchronization is performed on the medical system or medical network, and the presented information is recorded.

[0067] First, the spacing between adjacent hair follicles, the relationship between the width of the needle and the transplant spacing are the transplant parameters that are primarily considered in the hair follicle transplantation plan. More specifically, the spacing of natural human hair is less than 1 mm, usually about 0.5 mm. Therefore, the ideal hair follicle transplantation plan has an equivalent hair transplant spacing of less than 1 mm or 0.5 mm. In order to provide a hair transplant spacing of about 0.5 mm, the needle width should be much smaller than 0.5 mm, otherwise the base needle hole produced by acupuncture will become a continuous gap, making hair transplantation impossible. However, according to currently available technology and materials, the needle width should be about 1 mm or more. If the width of the needle is reduced to about 0.5 mm, the needle is prone to cause some troubles such as breakage or deformation. Because the spacing is greater than the width of the needle in the direction perpendicular to the feeding direction of the hair follicles. In addition, even if the transplant spacing is set to 2 times the needle width, when the extension state of the transplant needle of the robot end tool is released after the transplant action is completed, the transplant needle of the robot end tool will also shrink, and the transplant spacing is reduced to about half, which means that a good spacing can be obtained. This makes it possible to transplant hair follicles in a short time and prevent the occurrence of defective areas.

[0068] As a preferred embodiment, the hair follicle transplantation plan includes a transplanted hair follicle pattern:

[0069] In the hair follicle transplantation mode, the controller controls the end tool of the robotic arm to make an incision at the transplantation site in a controlled direction and / or depth, the blocking device keeps the hair follicle at the desired depth, and the end tool of the robotic arm is retracted to complete the transplantation task.

[0070] Preferably, the hair follicle transplantation plan also includes a follicle extraction mode. In the follicle extraction mode, a hair needle is used to make an incision, and then the hair follicles are extracted through one or more channels by suction / suction, and the direction of the hair follicles is directly stored in the follicle storage device. During the extraction process, the position of the extraction area of ​​each extracted hair follicle, the geometric contour of the extraction area, the depth of the hair follicle, the posture of the hair needle at the time of extracting the hair follicle, and other parameters are marked. In the subsequent follicle transplantation mode, the position of the appropriate implantation area, the target implantation position, the degree of randomness related to the target implantation position, the implantation depth, the geometric contour of the implantation area, the marking position, the density of the target implantation position, and other parameters are matched according to these parameters.

[0071] Since the controller controls the end tool of the robotic arm to control the incision direction at the transplantation site, the incision direction is normally at an incision angle of 45 to 60 degrees. The controller controls the end tool of the robotic arm to control the depth of the incision at the transplantation site, and the adjustment factor for controlling the depth can be based on the tension of the expanded skin area. The blocking device keeps the hair follicle at the desired depth to prevent the hair follicle from being pulled out of the hair follicle hole when the hair follicle needle is withdrawn.

[0072] As a preferred embodiment, the controller controls the end tool of the robot arm to perform an incision at the transplantation site to control the incision direction and / or depth, and also includes the steps of selecting and aligning the position of the transplantation site and aligning the direction of the transplantation site.

[0073] Before the controller controls the tool at the end of the robotic arm to perform an incision step at the transplant site to control the incision direction and / or depth, when the robotic arm reaches the vicinity of the expanded skin area, a pause point is set in the normal direction perpendicular to the scalp from the hair removal position. After the robotic arm reaches the pause point, the selection of the hair removal transplant site and the alignment of the hair removal needle are confirmed.

[0074] The location selection, alignment, and directional alignment of the transplant site are guided by the vision system and assisted by the kinematics of the motion control robot. The vision device provides various surface features of the expanded skin area by capturing images, and associates the first feature into a group, and modifies the first feature based at least in part on one or more parameters from the second feature. In some embodiments, the modification can be made automatically or by user input. As a non-limiting example, the surface feature can be a feature of a mole, freckle, wrinkle, scar, eye, nose, eyelid, lip, ear, chin, birthmark, or facial defect.

[0075] The hair follicle transplantation plan also includes a doctor or medical staff using a freehand drawing as a two-dimensional model input for hair follicle planning. In some embodiments, the doctor or medical staff receives the proposed hair follicle two-dimensional user input in the freehand drawing, and the controller generates a three-dimensional model to display the above input, and displays it on the display device. And a plurality of pause points are automatically generated according to the three-dimensional model. The hair follicle transplantation plan may also include automatically determining the direction value of at least one of the plurality of pause points. The hair follicle transplantation plan may include, for example, a hairline, a hair boundary curve, or a boundary of a hair piece. The hair follicle unit implantation site or extraction site can be automatically generated and displayed based on the plurality of pause points and the directions of the plurality of pause points. In some embodiments, the additional two-dimensional user input includes one or more curves drawn within the area outlined by the boundary of the hair piece.

[0076] Preferably, after selecting and aligning the position of the transplant site, and aligning the direction of the transplant site, the method further includes correcting the position and direction of the transplant site based on robot kinematics.

[0077] In the hair follicle extraction / transplantation mode, the controller uses the visual system as the main positioning reference object, and uses the stepper motor drive parameters of each joint of the robotic arm and the joint angle posture data of each joint to derive the position and posture of the end tool of the robotic arm, that is, the hair removal needle or hair transplantation needle in the world coordinate system through robot kinematics. The controller compares the hair removal position / transplantation position data obtained by the binocular vision of the visual device with the hair removal position / transplantation position obtained by the kinematics of the motion control robot, and corrects the actual hair removal position and actual hair removal posture, as well as the actual hair transplantation position and actual hair transplantation posture. The hair follicles are extracted by suction to reduce physical contact with the hair follicles and prevent their degeneration.

[0078] As a preferred embodiment, the controller controls the end tool of the robotic arm to perform an incision step at the transplantation site to control the incision direction and / or depth, and completes the transplantation task with or without changing the patient's sitting posture.

[0079] When the transplanter is in the hair removal mode, the controller records the incision direction or incision depth of the hair removal site. When the transplanter switches to the transplantation mode, the transplanter needs to change the sitting posture and perform the hair transplantation operation under the same tensioning degree. As a preferred embodiment, the transplanter can also not change the sitting posture, but only adjust the position of the tensioner by the controller to change the way of expanding the skin area, and move the tensioner to the transplantation area for operation.

[0080] During the intraoperative stage, the patient's sitting position is changed or not to complete the transplant task, including the following situations. During the extraction of the hair follicle pattern during the operation, the patient is usually in the prone position with the face placed in the non-adjustable operating table port, which is very uncomfortable for many people. The patient is required to maintain this position for about 2 to 3 hours. During the intraoperative transplantation of the hair follicle pattern, the position adopted is usually the supine position, which is also uncomfortable after the first 20 minutes, and the patient must maintain this position for about 2 to 3 hours. This restriction requires the use of benzodiazepines as muscle relaxants, and maintaining the same position for too long will cause great discomfort to the patient.

[0081] As a preferred embodiment, the controller controls the first tension adjustment procedure: detecting the skin tension and adjusting the pressure under the skin according to the skin tension.

[0082] Preferably, the method of detecting the skin tension and adjusting the pressure under the skin according to the skin tension adopts the following method. For example, when the skin tension is detected to be higher than the rated value, the controller appropriately controls the first stepper motor and the second stepper motor to move closer to each other, thereby reducing the tension of the expanded skin area and reducing the skin tension to below the rated value.

[0083] Preferably, the method of detecting the skin tension and adjusting the pressure under the skin according to the skin tension adopts the following method. For example, when the skin tension is detected to be higher than the rated value, the controller appropriately adjusts the downward pressure of the first tension member and the second tension member so that the first tension member and the second tension member are loose relative to the skin, thereby reducing the tension of the expanded skin area.

[0084] As a preferred embodiment, it also includes an angle sensor and a distance sensor.

[0085] The angle sensor acquires the angle between the first tensioning member and the second tensioning member;

[0086] The distance sensor acquires the distance between the first tensioning member and the second tensioning member;

[0087] The controller obtains the skin tension according to the angle between the first tension member and the second tension member and / or the distance between the first tension member and the second tension member, and uses the tension to adjust the tensioner to apply pressure under the skin.

[0088] See also Figure 1-Figure 2Preferably, the angle sensor and / or distance sensor include the following functions: when the tensioner applies pressure under the skin and drives the first tensioner and the second tensioner to move away from each other; or when the tensioner relaxes the pressure under the skin or drives the first tensioner and the second tensioner to move closer to each other; the controller controls the angle sensor and the distance sensor to collect the angle between the first tensioner and the second tensioner, and the distance between the first tensioner and the second tensioner at the same time stamp. The skin tension is obtained according to the angle between the first tensioner and the second tensioner and / or the distance between the first tensioner and the second tensioner. When the controller evaluates that the skin tension is close to or equal to the rated value, the controller controls the first tensioner and the second tensioner to stop executing the action of moving closer to or away from each other. As a preferred embodiment, the controller controls the second tension adjustment procedure: after the first tension procedure, the pressure applied by the tensioner to the skin is detected again to ensure that the skin is within the rated tension.

[0089] When the first tensioner and the second tensioner stop, the controller controls the angle sensor and the distance sensor to collect the angle and the distance between the first tensioner and the second tensioner again, and evaluates the skin tension again based on the recollected angle and distance. The skin tension evaluated based on the angle and distance collected after the first tensioner and the second tensioner stop is controlled and stored by the controller as the current skin tension. So that the same skin tension can be maintained in different hair removal areas after the first tensioner and the second tensioner of the mobile tensioner change the tension of the expanded skin area next time.

[0090] This maintains the batch consistency of the hair follicles, or the consistency of the tension of the hair follicles and the skin in the transplant area. The consistency of the tension of the hair follicles and the skin in the transplant area can avoid the skin tension in the transplant area being too high and the transplant hole being too large, which will cause a gap between the hair follicles and the transplant hole. It can also avoid the skin tension in the transplant area being too low and the transplant hole being too small, which will cause the hair follicles to be larger than the transplant hole, causing some hair follicles to be squeezed out of the transplant hole.

[0091] As a preferred embodiment, the use of the tensioning device to adjust the tension to apply pressure under the skin can be replaced by:

[0092] The relative position relationship between the first tensioning member and the second tensioning member is detected, the skin tension degree is estimated according to the relative position relationship between the first tensioning member and the second tensioning member, and the pressure under the skin is adjusted according to the skin tension degree.

[0093] As a solution to replace the angle sensor and the distance sensor for detecting the tension degree and applying pressure under the skin, preferably, it also includes detecting the relative position relationship between the first tensioning member and the second tensioning member through a visual device, and calculating the relative position relationship and posture relationship between the first tensioning member and the second tensioning member in the world coordinate system through a binocular vision algorithm based on the postures of several groups of first tensioning members photographed by the visual device and the postures of several groups of second tensioning members photographed by the visual device at corresponding moments, and then estimating the tension degree of the expanded skin area through the relative position relationship and posture relationship between the first tensioning member and the second tensioning member in the world coordinate system, and adjusting the pressure under the skin through the tension degree of the expanded skin area.

[0094] As a preferred embodiment, it further comprises a visual device, wherein the visual device guides the movement of the tool at the end of the robot arm to approach the expanded skin area.

[0095] Preferably, the visual device is fixedly installed near the end tool of the robotic arm, and the visual device can continuously capture images, and transmit the captured images at each moment together with the posture data of each joint of the robotic arm at the same timestamp to the controller. The controller identifies the patient's surgical area in the captured image, or determines the surgical area based on other specific features, such as the tensioner position, or the surgical chair position. The controller can infer the relative position relationship between the robotic arm and the surgical area by capturing the patient's surgical area, the tensioner position, or the surgical chair position in the image captured by the visual device. The controller can obtain the relative position relationship between the robotic arm and the surgical area and use the relative position relationship to guide the end tool of the robotic arm to move from the basic posture to the patient's surgical area. The patient's surgical area is the position of the expanded skin area.

[0096] See also Figure 3 Preferably, the visual device is a binocular camera. A binocular camera is generally composed of a left-eye camera and a right-eye camera placed horizontally, and both cameras can be regarded as pinhole cameras. Because it is placed horizontally, it means that the aperture centers of the two cameras are located on the x-axis, and the distance between the two is called the baseline of the binocular camera. z is the z-dimensional value of point P in the camera coordinate system (i.e., the depth of point P), f is the focal length of the camera, uL and uR are the coordinate values ​​of the pixel coordinate system (here the imaging plane is placed in front of the camera, which is equivalent to the case of placing it behind), and d is the difference between the horizontal coordinates of the left and right images, called disparity. From z=fb / d, it can be seen that based on the disparity, the distance between the pixel and the camera can be estimated. The disparity is inversely proportional to the distance: the larger the disparity, the closer the distance. Since the minimum disparity is one pixel, there is a theoretical maximum value for the depth of the binocular, which is determined by fb. The longer the baseline, the farther the maximum distance that the binocular can measure.

[0097] The visual device uses image acquisition or imaging, or from pre-existing data stored in a computer system memory, or any other technique known in the art. For example, in some embodiments, image data can be retrieved from a patient's electronic record or general patient data.

[0098] Based on image recognition of the image captured by the visual device, local features, information and / or one or more features determined by processing the acquired image are obtained. The visual device can guide the end tool of the robotic arm to locate the posture of the hair follicles to be extracted or the posture of the hair follicles to be transplanted according to these local features, information or one or more features determined by processing the acquired image. In another embodiment, the visual device can not only display the captured image of the expanded scalp area, but also can be realized by infrared equipment, optical equipment, CT equipment or other equipment for obtaining anatomical images of the captured image part and displaying them on the user interface display. Such anatomical images include, for example, the geometry of the hair-dense area and the geometry of the bald area, the follicle unit-dense area, the position of the patient's eyes, ears and nose. A boundary curve and one or more suggested implantation areas are determined in the area to be transplanted, and these boundary curves or boundary points of the implantation area can be generated by the computer system and / or determined by the user. The user can choose to modify the boundary curve by dragging the boundary curve using the conventional click and drag action of the computer mouse. According to another aspect of the present disclosure, the user can manually propose a hair follicle transplantation plan using a stylus, including an extraction plan for extracting hair follicles therefrom and a hair follicle transplantation plan for transplanting hair follicles to the area to be transplanted. The controller controls the display to display a two-dimensional display diagram of the boundary curve, and the computer system and its various processing units convert it into a three-dimensional model, or the user directly displays the above boundary curve on the three-dimensional model.

[0099] In some embodiments, in the hair follicle extraction / transplantation mode, the controller generates a planned path for hair follicle extraction based on the hair follicle distribution information and the surgical restricted area, including: determining the first starting point and the first end point of the planned path based on the hair follicle distribution information; based on the surgical restricted area, starting from the first starting point, traversing the hair follicle distribution information in the direction of the first end point to generate a forward search path; based on the surgical restricted area, starting from the first end point, traversing the hair follicle distribution information in the direction of the first starting point to generate a reverse search path; generating a planned path through the forward search path and the reverse search path. The embodiment of the present application traverses the hair follicle distribution information of the surgical area from the first starting point and the first end point, which is equivalent to dividing the surgical area image into two areas for traversal, thereby improving the traversal speed, thereby improving the speed of generating the planned path, and further improving the surgical efficiency. In some embodiments, a planned path is generated by a forward search path and a reverse search path, including: if the forward search path and the reverse search path meet, a planned path is generated by the forward search path and the reverse search path; if the forward search path and the reverse search path do not meet, a new starting point and a new end point are determined based on the forward search path and the reverse search path, and path planning is performed according to the new starting point and the new end point to generate a planned path. The embodiments of the present application take into account that when planning a path for a surgical area, there may be a situation where the paths meet or do not meet. In case of non-meeting, it is necessary to redetermine the starting point and the end point, and perform path planning based on the redetermined starting point and the end point, thereby improving the robustness and flexibility of the overall path planning.

[0100] On the basis of the above embodiment, the controller also includes a path adjustment module, which is used to: if there are undesirable follicle extraction points or follicle transplantation points in the planned path, the undesirable follicle extraction points or follicle transplantation points are eliminated; the undesirable follicle extraction points or follicle transplantation points are used to represent the points where follicles are not extracted during the follicle extraction surgery; or if there are undesirable follicle extraction points or follicle transplantation points in the planned path, the midpoint between the undesirable follicle extraction point or follicle transplantation point and the next follicle extraction point or follicle transplantation point is determined, as well as at least one adjacent node between the undesirable follicle extraction point or follicle transplantation point and the next follicle extraction point or follicle transplantation point and the undesirable follicle extraction point or follicle transplantation point; the adjacent node whose distance from the midpoint is less than a preset distance is used as a replacement point for the undesirable follicle extraction point or follicle transplantation point, so as to dynamically adjust the planned path according to the replacement point; the undesirable follicle extraction point or follicle transplantation point is used to represent the points where follicles are not extracted during the follicle extraction surgery.

[0101] It should be understood that the device corresponds to the above-mentioned hair follicle extraction and hair follicle transplantation path planning method embodiment, and can execute the various steps involved in the above-mentioned method embodiment. The specific functions of the device can be found in the above description. To avoid repetition, the detailed description is appropriately omitted here. The controller and control system include at least one software function module that can be stored in the memory in the form of software or firmware or solidified in the operating system (OS) of the device.

[0102] This embodiment discloses a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the methods provided by the above-mentioned method embodiments.

[0103] This embodiment provides a non-transitory computer-readable storage medium, which stores computer instructions, and the computer instructions enable the computer to execute the methods provided by the above-mentioned method embodiments.

[0104] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0105] In addition, the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0106] Furthermore, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0107] As a preferred embodiment, a force feedback device is further included. When the operator applies a force exceeding a rated value to the robotic arm, the force feedback device unlocks the robotic arm, and the tool at the end of the robotic arm is dragged close to the expanded skin area.

[0108] Preferably, a force feedback device is installed on the robotic arm, and the force feedback device can provide force feedback effects in six degrees of freedom, including three translation directions and three rotation directions. This enables the controller to perceive the interactive feedback force between the robotic arm and the environment in real time. When the controller senses that the external force given by the doctor in the environment is greater than the rated value, the robotic arm is enabled to be dragged; when the controller senses that the external force given by the external environment is less than the rated value, the robotic arm continues to be locked so that it cannot be dragged. The force feedback device allows doctors or other medical staff to drag the end of the robotic arm to any position as needed, thereby more accurately controlling the movement of the robotic arm. This real-time force feedback mechanism greatly reduces operating errors and improves the accuracy and efficiency of operations.

[0109] As a preferred embodiment, it also includes a hair follicle storage device, and the tool at the end of the robotic arm obtains hair follicles from the hair follicle storage device and transplants the hair follicles to the expanded skin area.

[0110] Preferably, the follicle storage device is a device for storing follicles used in the follicle transplantation mode, and the robot end tool obtains follicles from the follicle storage device and transplants the follicles to the expanded skin area. The follicle storage device includes a follicle storage box and a drive conveyor, and the drive conveyor is driven to rotate by a drive motor, and the amount of movement toward the robot end tool is counted. Then the controller controls the follicles in the follicle storage box to be transported from the drive conveyor to the transplantation needle of the robot end tool, and then advance to the follicle discharge. In the follicle transplantation operation, after the follicle storage device is initialized, the tensioner is initialized. Then the rotation amount of the drive conveyor row follicle roller is initialized, and it is judged whether it reaches a predetermined amount. If not, the drive conveyor row follicle roller is driven to rotate forward, the movement amount of the follicle row end is counted, and then the main program of the follicle transplantation is returned.

[0111] As a preferred embodiment, a hair follicle transplantation system includes: a robotic arm, a tool installed on the robotic arm, and a tensioner, including a first tensioner and a second tensioner, for applying pressure under the skin and driving the first tensioner and the second tensioner away from each other to expand the skin; the robotic arm drives the end tool to move so that the tool is close to the expanded skin area to perform the hair follicle transplantation task.

[0112] As a preferred embodiment, it also includes a controller, and the controller includes one or more of the following functions:

[0113] The controller is used to detect the tension of the skin and adjust the pressure under the skin;

[0114] The controller is used to evaluate the hair follicle transplantation depth and formulate a hair follicle transplantation plan;

[0115] The controller is used to control the tool at the end of the robotic arm to make an incision at the transplantation site in a controlled direction and / or depth;

[0116] The controller is used for position selection and alignment of the transplant site, as well as direction alignment of the transplant site.

[0117] As a preferred embodiment, it also includes a force sensor, which obtains a signal of expanding the skin area and transmits it to the controller to obtain the skin tension degree, and uses the tension degree to adjust the tensioner to apply pressure under the skin.

[0118] As a preferred embodiment, it also includes a hair follicle storage device, and the tool at the end of the robotic arm obtains hair follicles from the hair follicle storage device and transplants the hair follicles to the expanded skin area.

[0119] 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.

[0120] See also Figure 6 An electronic device provided by an embodiment of the present application includes: a processor and a memory, the memory stores machine-readable instructions executable by the processor, and the machine-readable instructions execute the above method when executed by the processor.

[0121] Based on the same inventive concept, an embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer program instructions, and when the computer program instructions are read and executed by a processor, the steps in any of the above implementation methods are executed.

[0122] The computer-readable storage medium may be a random access memory (RAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable read-only memory (EEPROM), or any other medium that can store program code. The storage medium is used to store the program, and the processor executes the program after receiving the execution instruction. The method executed by the electronic terminal of the process definition disclosed in any embodiment of the present invention can be applied to the processor or implemented by the processor. The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general processor may be a microprocessor or any conventional processor. The memory may be an internal storage unit of the controller, such as a hard disk or memory of the controller. The memory may also be an external storage device of the controller, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the controller. Furthermore, the memory may include both an internal storage unit and an external storage device of the controller. The memory is used to store the computer program and other programs and data required by the controller. The memory may also be used to temporarily store data that has been output or is to be output.

[0123] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0124] In addition, the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0125] Furthermore, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0126] Alternatively, the present invention may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented by software, the present invention may be implemented in whole or in part 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, the process or function described in the embodiment of the present invention is generated in whole or in part.

[0127] 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 computer-readable storage medium. 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, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means.

[0128] In this article, relational terms such as first and second, etc. are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0129] The present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the calibration method described above are implemented.

[0130] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0131] In this document, the terms "comprises," "comprising," or any other variations thereof, are intended to cover a non-exclusive inclusion of elements other than those listed and may also include additional elements not expressly listed.

[0132] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0133] The above description is only an embodiment of the present application and is not intended to limit the protection scope of the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A hair follicle transplantation method, characterized in that: The following steps are involved: The tensioner applies pressure to the skin and drives the first tensioner and the second tensioner away from each other, thereby expanding the skin to form an expanded skin area; The tool at the end of the robotic arm is moved close to the expanded skin area to perform the hair follicle transplantation task.

2. The hair follicle transplantation method according to claim 1, characterized in that: The device also includes a controller, which evaluates hair follicle transplantation parameters and formulates a hair follicle transplantation plan.

3. The hair follicle transplantation method according to claim 2, characterized in that: The hair follicle transplantation parameters include one or more of the following parameters: The number of follicles extracted and implanted, the location of the extraction area, the location of the implantation area, the degree of randomness relative to the target implantation location, the spacing between adjacent follicles, the target implantation location, the depth of the follicles, the implantation depth, the patient's identity, the geometrical contour of the extraction area, the geometrical contour of the implantation area, the location of the markers, and the density of the target implantation location.

4. The hair follicle transplantation method according to claim 2, characterized in that: The hair follicle transplantation program includes transplanting hair follicles in the following modes: In the hair follicle transplantation mode, the controller controls the end tool of the robotic arm to make an incision at the transplantation site in a controlled direction and / or depth, the blocking device keeps the hair follicle at the desired depth, and the end tool of the robotic arm is retracted to complete the transplantation task.

5. The hair follicle transplantation method according to claim 2, characterized in that: The controller controls the end tool of the robot arm to perform an incision at the transplantation site to control the incision direction and / or depth, and also includes the steps of selecting and aligning the position of the transplantation site and aligning the direction of the transplantation site before the incision step.

6. The hair follicle transplantation method according to claim 2, characterized in that: The controller controls the end tool of the robotic arm to perform an incision step at the transplantation site to control the incision direction and / or depth, and completes the transplantation task with or without changing the patient's sitting posture.

7. The hair follicle transplantation method according to claim 2, characterized in that: The controller controls the first tension adjustment procedure: Detect skin tension and adjust subskin pressure according to skin tension.

8. The hair follicle transplantation method according to claim 7, characterized in that: It also includes a force sensor, which obtains a signal of the expanded skin area and transmits it to a controller to obtain the skin tension degree, and uses the tension degree to adjust the tensioner to apply pressure under the skin.

9. The hair follicle transplantation method according to claim 7, characterized in that: It also includes angle sensors and distance sensors, The angle sensor acquires the angle between the first tensioning member and the second tensioning member; The distance sensor acquires the distance between the first tensioning member and the second tensioning member; The controller obtains the skin tension according to the angle between the first tension member and the second tension member and / or the distance between the first tension member and the second tension member, and uses the tension to adjust the tensioner to apply pressure under the skin.

10. The hair follicle transplantation method according to claim 8 or 9, characterized in that: The following steps are also included: The controller controls the second tension adjustment procedure: After the first tensioning procedure, retest the tensioner's pressure on the skin to ensure that the skin is within the rated tension level.

11. The hair follicle transplantation method according to any one of claims 7 to 9, characterized in that: The use of the tensioning device to adjust the tension to apply pressure under the skin can be replaced by: The relative position relationship between the first tensioning member and the second tensioning member is detected, the skin tension degree is estimated according to the relative position relationship between the first tensioning member and the second tensioning member, and the pressure under the skin is adjusted according to the skin tension degree.

12. The hair follicle transplantation method according to claim 1, characterized in that: Also included is a vision device that guides the movement of the robotic end-of-arm tool to approach the expanded skin area.

13. The hair follicle transplantation method according to claim 1, characterized in that: The robot also includes a force feedback device. When the operator applies a force exceeding a rated value to the robot arm, the force feedback device unlocks the robot arm, and the tool at the end of the robot arm is dragged close to the expanded skin area.

14. The hair follicle transplantation method according to claim 12 or 13, characterized in that: It also includes a hair follicle storage device, and the tool at the end of the robotic arm obtains hair follicles from the hair follicle storage device and transplants the hair follicles to the expanded skin area.

15. The hair follicle transplantation method according to claim 14, characterized in that: The tool at the end of the robotic arm is guided by the visual device to transplant the hair follicles to the expanded skin area.

16. A hair follicle transplantation system, comprising: Robotic Arm, A tool mounted on the robot arm, The tensioner includes a first tensioner and a second tensioner, and is used to apply pressure to the skin and drive the first tensioner and the second tensioner to move away from each other, thereby expanding the skin; The robotic arm drives the end tool to move so that the tool is close to the expanded skin area to perform the hair follicle transplantation task.

17. The hair follicle transplantation system according to claim 16, characterized in that: Also includes a controller, the controller includes one or more of the following functions: The controller is used to detect the tension of the skin and adjust the pressure under the skin; The controller is used to evaluate the hair follicle transplantation depth and formulate a hair follicle transplantation plan; The controller is used to control the tool at the end of the robotic arm to make an incision at the transplantation site in a controlled direction and / or depth; The controller is used for position selection and alignment of the transplant site, as well as direction alignment of the transplant site.

18. The hair follicle transplantation system according to claim 16, characterized in that: It also includes a force sensor, which obtains a signal of the expanded skin area and transmits it to a controller to obtain the skin tension degree, and uses the tension degree to adjust the tensioner to apply pressure under the skin.

19. The hair follicle transplantation system according to claim 16, characterized in that: It also includes an angle sensor and / or a distance sensor, wherein the angle sensor acquires an angle between the first tensioning member and the second tensioning member; The distance sensor acquires the distance between the first tensioning member and the second tensioning member; The controller obtains the skin tension according to the angle between the first tension member and the second tension member and / or the distance between the first tension member and the second tension member, and uses the tension to adjust the tensioner to apply pressure under the skin.

20. The hair follicle transplantation system according to claim 16, characterized in that: Also included is a vision device that guides the movement of the robotic end-of-arm tool to approach the expanded skin area.

21. The hair follicle transplantation system according to claim 16, characterized in that: The robot also includes a force feedback device. When the operator applies a force exceeding a rated value to the robot arm, the force feedback device unlocks the robot arm, and the tool at the end of the robot arm is dragged close to the expanded skin area.

22. The hair follicle transplantation system according to claim 16, characterized in that: It also includes a hair follicle storage device, and the tool at the end of the robotic arm obtains hair follicles from the hair follicle storage device and transplants the hair follicles to the expanded skin area.

23. An electronic device, characterized in that: include: A processor and a memory, wherein the memory stores machine-readable instructions executable by the processor, and when the machine-readable instructions are executed by the processor, the method according to any one of claims 1 to 15 is performed.

24. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 15 is executed.

25. A computer program product, characterized in that include: A computer program, wherein when the computer program is executed by a processor, the method according to any one of claims 1 to 15 is executed.

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