Novel automatic microneedle stimulation medicine spraying and hair increasing device and control method

Abstract

The invention relates to a novel automatic microneedle stimulation drug spraying and hair increasing device and a control method, and the method comprises the following steps: S1, carrying out DH calibration on a mechanical arm mechanism for controlling the automatic microneedle stimulation drug spraying and hair increasing device, the automatic microneedle stimulation medicine spraying and hair increasing device comprises a microneedle stimulation unit and a structured light sensor module which are installed on the mechanical arm mechanism. S2, calculating the pose gTp of the microneedle coordinate system of the microneedle stimulation unit relative to the tail end coordinate system of the mechanical arm mechanism; s3, carrying out hand-eye calibration on the coordinate system of the tail end of the mechanical arm and the coordinate system of the structured light sensor; s4, reconstructing a 3D point cloud of a head scalp area of the patient by using a structured light sensor, and converting the 3D point cloud into a grid table by using a Marching Cubes algorithm; S5, extracting a scalp area needing to be treated; S6, planning a needle insertion position; and S7, performing needle insertion operation.

Description

Technical Field

[0001] The invention relates to the technical field of hair growth, and in particular to a novel automatic micro-needle stimulation drug spraying hair growth device and a control method. Background Art

[0002] Hair loss is a common problem that affects hundreds of millions of men, women and even children around the world. Hair loss causes some confusion in patients' lives, work, social life and psychology, affecting their normal healthy life.

[0003] In the prior art, doctors mainly use manual microneedle stimulation and spraying minoxidil tincture to complete the treatment process. Due to the randomness of manual operation, it is impossible to perform targeted microneedle stimulation according to the density of hair in each area in a quantitative manner, and manual spraying cannot guarantee the uniformity of drug administration. Summary of the invention

[0004] In order to solve the above technical problems, the purpose of the present invention is to provide a new type of automated microneedle stimulation drug spraying hair growth device and control method.

[0005] The technical solution of the present invention is as follows:

[0006] A novel control method for an automated microneedle stimulation drug spraying hair growth device is characterized by comprising the following steps:

[0007] S1. Perform DH calibration on a mechanical arm mechanism that controls an automated microneedle stimulation drug spraying and hair-increasing device, wherein the automated microneedle stimulation drug spraying and hair-increasing device comprises a microneedle stimulation unit and a structured light sensor module mounted on the mechanical arm mechanism;

[0008] S2. Calculate the position of the microneedle coordinate system of the microneedle stimulation unit relative to the coordinate system of the end of the robotic arm mechanism g T p ;

[0009] S3, perform hand-eye calibration on the robot arm end coordinate system and the structured light sensor coordinate system;

[0010] S4, using structured light sensor to reconstruct the 3D point cloud of the patient's head scalp area, and using Marching Cubes algorithm to convert the 3D point cloud into a grid table

[0011] S5. Extract the scalp area that needs to be treated, the steps are:

[0012] S51: For a scalp image taken with a structured light sensor, use a pre-trained image segmentation model to perform image segmentation, and obtain all pixels corresponding to the scalp area that needs to be treated in the segmentation result; the segmentation result is recorded as k areas, k ≥ 1; the pixels of each area are recorded as a set in is the coordinate of the i-th pixel in the first area, and n1 is the number of pixels in the first area;

[0013] S52: Record the spatial points corresponding to the pixels of the k scalp areas to be treated in the 3D point cloud in step S51 to form k 3D point clouds, which are described as in is the spatial point position corresponding to the i-th pixel point in the first area in the 3D point cloud;

[0014] S53: using the Marching Cubes algorithm to convert the k 3D point clouds into grid representations, i.e., the scalp areas to be treated, referred to as treatment area grid representations;

[0015] S6. Plan the needle insertion position;

[0016] S7. Perform the needle insertion operation. For each of the n target areas in each treatment area, calculate the average normal direction represented by the grid within the target area as the needle insertion direction. The center of the microneedle array is coaxial with the center coordinate of the target area. Control the robotic arm to perform the needle insertion operation.

[0017] 2. According to the control method of a novel automated microneedle stimulation drug spraying hair growth device according to claim 1, it is characterized in that the step S6 specifically comprises:

[0018] S61: For each treatment area grid representation, take its minimum circumscribed cube, use the surface of the cube that is close to the normal direction of the treatment area grid representation as the reference surface, and plan the needle insertion position;

[0019] S62: Assuming that the diameter of the microneedle array is d, taking the lower left corner of the reference plane as the coordinate origin, take a circle with a diameter of d at the coordinate (dd / 2, dd / 2) as the first target area, recorded as Ω1(d / 2, d / 2);

[0020] S63: If Ω1(d / 2, d / 2) does not exceed the upper and right edges of the reference plane, then take another target area Ω2(d / 2, d / 2+Δ), Ω3(d / 2+Δ, d / 2+Δ), Ω4(d / 2+Δ, d / 2)..., where When the target area exceeds the upper and right edges of the reference surface, the target areas with adjacent numbers are arranged adjacently;

[0021] S64: Perform needle insertion position planning as described in S61-S63 for each treatment area grid representation.

[0022] A novel automated microneedle stimulation drug spraying hair growth device, characterized in that:

[0023] The invention comprises a drug spraying system (100), wherein the drug spraying system (100) comprises a mounting plate (101), a microneedle stimulation unit (1) and a drug spraying unit (2) arranged on the mounting plate (101), wherein the microneedle stimulation unit (1) is used for puncturing the skin of the head, and the drug spraying unit (2) is used for spraying the drug on the punctured skin of the head;

[0024] The microneedle stimulation unit (1) comprises a driving mechanism and a microneedle mechanism connected to the driving mechanism, wherein the driving mechanism can drive the microneedle mechanism to reciprocate; the microneedle mechanism comprises a microneedle housing (109), wherein the microneedle housing (109) comprises a first mounting cavity at the top and a second mounting cavity at the bottom, wherein a piston is arranged in the second mounting cavity, wherein a push rod (108) is arranged in the first mounting cavity, wherein the push rod (108) is connected to the piston, wherein the end of the push rod (108) is connected to a driving handle (107), wherein the driving handle (107) is connected to one end of a connecting rod (106) of the driving mechanism, wherein a microneedle fixing plate (1011) is connected to the bottom of the piston, wherein a plurality of microneedles (102) are arranged on the microneedle fixing plate (1011);

[0025] The drug spraying unit (2) comprises a pump body (201), the output end of the pump body (201) is connected to the bottom of a drug reservoir (203) via a first connecting pipe (202), the bottom of the drug reservoir (203) is connected to the upper part of a distributor (205) via a second connecting pipe (204), the bottom of the distributor (205) is connected to a plurality of delivery pipes (206), the ends of the delivery pipes (206) are connected to spray heads (207), and the spray heads (207) are mounted on a mounting plate (101) of a drug delivery spraying system (100).

[0026] Furthermore, a spring installation cavity (1092) is formed between the first installation cavity and the push rod (108), and a spring (1010) sleeved on the push rod is installed in the spring installation cavity (1092).

[0027] Furthermore, the length of the microneedle (102) beyond the microneedle fixing plate (1011) is 0.5-1 mm.

[0028] Furthermore, the microneedle (102) is a silicon microneedle, a silicon oxide microneedle or a stainless steel microneedle.

[0029] Furthermore, the surface of the microneedle (102) is provided with a titanium nitride coating.

[0030] Furthermore, the driving mechanism comprises a motor (101), an eccentric wheel (102), a mounting shell (103), a slider (104), a lever (105), and a connecting rod (106); the eccentric wheel (102) is connected to the driving end of the motor (101); the mounting shell (103) is mounted to the driving end side of the motor (101); the slider (104) is slidably mounted in the mounting shell (103); the eccentric wheel (102) is connected to a driving block (1021); the driving block (1021) extends into a driving groove in the slider (104); the slider (104) is snap-connected to one side of the lever (105); the lever (105) is rotatably mounted on the mounting shell (103) through a lever mounting rod (1051) in the middle; and one end of the lever (105) is connected to one end of the connecting rod (106).

[0031] Furthermore, slider clamps (1041) are provided on both sides of the slider (104), and two slots for installing the slider clamps (1041) are provided in the mounting shell (103), and the distance between the two slots is greater than the distance between the two slider clamps (1041).

[0032] Furthermore, a groove-shaped lever connecting portion (1052) is provided on one side of the lever (105) opposite to the slider (104), and a slider driving head (1042) is provided on one side of the slider (104) opposite to the lever (105), and the slider driving head (1042) is connected to the lever connecting portion (1052).

[0033] Furthermore, a lever mounting rod (1053) is provided at one end of the lever (105), and the lever mounting rod (1053) is connected to one end of the connecting rod (106).

[0034] Furthermore, a spray mounting hole (1011) is provided on the mounting plate (101), and the spray head (207) is mounted on the spray mounting hole (1011).

[0035] Furthermore, the mounting plate (101) is circular, and the spray mounting holes (1011) are distributed on the mounting plate (101) in a circular array.

[0036] Furthermore, the number of the spray mounting holes (1011) is 3, 4, 5, 6, 7, or 8.

[0037] Furthermore, the medicine storage container (203) is provided with a medicine supply port, and the medicine supply port is a door or a one-way valve with a sealing strip provided on the medicine storage container (203).

[0038] Furthermore, a microneedle stimulation unit (1) is also provided on the mounting plate (101).

[0039] Furthermore, the microneedle stimulation unit is installed on the drug delivery spray system (100) through the threaded opening (1091) on the microneedle housing (109).

[0040] By means of the above scheme, the present invention has at least the following advantages:

[0041] This device can automatically perform reciprocating acupuncture on the patient's head skin. After the skin is pierced by the microneedles, medicine can be sprayed through the drug spraying unit to achieve subsequent treatment of hair growth on the head.

[0042] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show a certain embodiment of the present invention 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 creative work.

[0044] Figure 1 It is a schematic diagram of the structure of the mechanical arm mechanism of the present invention;

[0045] Figure 2 It is a schematic diagram of the working of the mechanical arm mechanism of the present invention;

[0046] Figure 3 It is a schematic diagram of hand-eye calibration data of the present invention;

[0047] Figure 4 is a schematic diagram of a treatment area grid of the present invention;

[0048] Figure 5 The structure of the drug delivery spray system of the present invention is shown in FIG. Figure 1 ;

[0049] Figure 6 The structure of the drug delivery spray system of the present invention is shown in FIG. Figure 2 ;

[0050] Figure 7It is a schematic diagram of the installation structure of the drug delivery spray system of the present invention;

[0051] Figure 8 is a schematic structural diagram of a microneedle stimulation unit of the present invention;

[0052] Fig. 9 This is a schematic diagram of the structure of the microneedle stimulation unit of the present invention. Figure 1 ;

[0053] Fig.10 This is a schematic diagram of the structure of the microneedle stimulation unit of the present invention. Figure 2 ;

[0054] In the figure:

[0055] 100-drug spraying system; 101-mounting plate; 1011-spraying mounting hole;

[0056] 1-microneedle stimulation unit; 101-motor; 102-eccentric wheel; 1021-driving block; 103-mounting shell; 104-slider; 1041-slider clamp; 1042-slider driving head; 105-push rod; 1051-push rod mounting rod; 1052-push rod connecting part; 1053-push rod mounting rod; 106-connecting rod; 107-driving handle; 108-push rod; 109-microneedle housing; 1091-threaded port; 1092-spring mounting cavity; 1010-spring; 1011-microneedle fixing plate; 1012-microneedle;

[0057] 2-drug spraying unit; 201-pump body; 202-first connecting pipe; 203-drug storage; 204-second connecting pipe; 205-distributor; 206-delivery pipe; 207-spray head;

[0058] 3-Structured light sensor module. DETAILED DESCRIPTION

[0059] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0060] The present invention includes a mechanical arm mechanism, and a drug administration spray system 100 and a structured light sensor 3 module arranged at the driving end of the mechanical arm mechanism. During the specific setting, the structured light sensor 3 can be directly arranged on the drug administration spray system 100.

[0061] like Figure 1 and Figure 2 , which is a schematic diagram of the structure of the 6-axis robot arm of the present invention, the acupuncture and medication application of the drug administration spray system 100 can be realized by driving the 6-axis robot arm.

[0062] The specific control method of the present invention is:

[0063] The present invention requires DH calibration of the robotic arm mechanism, specifically:

[0064] According to the specific structure of the robot arm mechanism, define the DH parameters, including the connecting rod length a1...a n 、Connecting rod torsion angle α1...α n-1 , connecting rod offset d1...d n-1 、Joint angle θ1...θ n , n is the number of joints;

[0065] At the fixed base of the robot, a base coordinate system is defined, and a local coordinate system is defined for each link, where the z-axis is defined as the rotation axis of the starting joint of the current link, the x-axis is defined along the direction of the current link, perpendicular to the z-axis, and the y-axis is determined by the right-hand rule, perpendicular to the z and x-axes;

[0066] Use the initial setting value of the robot arm or perform manual measurement to determine the connecting rod length a1...a in the initial DH parameters n 、Connecting rod torsion angle α1...α n-1 , connecting rod offset d1...d n-1 .

[0067] Operate the robotic arm to form m postures. For each posture, use external sensors or devices (such as laser rangefinders, visual systems, position sensors) to record the position of the end of the robotic arm. And record the joint angle output by the robot Where k represents different robot arm postures.

[0068] The minimum number of m is:

[0069]

[0070] Where p is the number of unknown DH parameters, To round up.

[0071] The following inverse kinematics formula is established to solve the DH parameters:

[0072]

[0073] in The local transformation matrix for each joint is defined by the DH parameters:

[0074]

[0075] Constructing the objective function

[0076] Use optimization algorithms such as gradient descent method, Newton method, and conjugate gradient method to solve, obtain the DH parameters of the robotic arm, and perform correction settings on the robotic arm.

[0077] Install the treatment cap and its microneedle stimulation unit and structured light sensor module to the end actuator of the robotic arm, and calculate the position of the microneedle coordinate system relative to the end coordinate system of the robotic arm according to the mechanical design drawings. g T p ;

[0078] The hand-eye calibration of the robot arm end coordinate system and the structured light sensor coordinate system is performed as follows:

[0079] The calibration plate adapted to the structured light camera is rigidly fixed relative to the coordinate system of the robot base, and the coordinate transformation between the calibration plate coordinate system and the robot base coordinate system is defined as b T t , define the coordinate transformation between the camera coordinate system and the robot end coordinate system as g T c .

[0080] Control the robot to move so that the calibration plate is within the camera of the structured light sensor (if it is a binocular structured light sensor, it is the left camera), and use this camera to take a picture of the calibration plate. Control the robot to move and change the posture of the calibration plate, take n pictures in total, and record the corresponding posture of the robot end coordinate system relative to the robot base coordinate system. Form n sets of hand-eye calibration data. The number of calibration plate images n≥3 and is not uniquely determined. To achieve a good calibration effect, n can usually be 15-30. When shooting, pay attention to the calibration plate in the picture to occupy about 2 / 3 of the entire picture area.

[0081] Use Zhang Zhengyou calibration method to perform camera calibration calculation and obtain the position and posture of the calibration plate coordinate system relative to the camera coordinate system in each set of hand-eye calibration data. References ([1] Zhang Z. A flexible new technique for camera calibration [J]. IEEE Transactions on pattern analysis and machine intelligence, 2000, 22 (11): 1330-1334.).

[0082] Perform hand-eye calibration. Figure 3 , establish the equation based on the hand-eye calibration data:

[0083]

[0084] Where i and j represent parameters in different groups of hand-eye calibration data.

[0085] By transposing terms, we can construct a matrix equation problem:

[0086] A i XB i

[0087] in:

[0088]

[0089] X g T c

[0090] Solve this equation to get the hand-eye calibration result g T c. The method can first estimate the rotation and then calculate the translation, reference ([2] Tsai RY, Lenz R K. A new technique for fully autonomous and efficient 3drobotics hand / eye calibration [J]. IEEE Transactions on robotics and automation, 1989, 5 (3): 345-358; [3] Park FC, Martin B J. Robot sensor calibration: solving AX = XB on the Euclidean group [J]. IEEE Transactions on Robotics and Automation, 1994, 10 (5): 717-721; [4] Horaud R, Dornaika F. Hand-eye calibration [J]. The international journal of robotics research, 1995, 14 (3): 195-210.); or simultaneously estimate the rotation and translation reference ([5] Andreff N, Horaud R, Espiau B. On-line hand-eye calibration [C] / / Second International Conference on 3-D Digital Imaging andModeling(Cat.No.PR00062).IEEE,1999:430-436;[6]Daniilidis K.Hand-eyecalibration using dual quaternions[J].The International Journal of RoboticsResearch,1999,18(3):286-298.).

[0091] When the system is in use, the structured light sensor in the treatment cap is used to reconstruct the 3D point cloud of the patient's head, and the Marching Cubes algorithm is used to convert the 3D point cloud into a mesh representation;

[0092] To identify the area of ​​scalp that needs treatment, follow these steps:

[0093] For the scalp image taken by the camera of the structured light sensor (if it is a binocular structured light sensor, it is the left camera), use the pre-trained image segmentation model to perform image segmentation and obtain all the pixels corresponding to the scalp area that needs to be treated in the segmentation result. The segmentation result is recorded as k areas, where k may be 1 or more. The pixels of each area are recorded as a set in is the coordinate of the i-th pixel in the first area, n1 is the number of pixels in the first area, and so on.

[0094] Record the spatial points corresponding to the pixels of the k scalp areas to be treated in the 3D point cloud in step 1) to form k 3D point clouds, which can be described as in is the spatial point position corresponding to the i-th pixel point in the first area in the 3D point cloud, and so on.

[0095] The k 3D point clouds are converted into grid representations respectively using the Marching Cubes algorithm, which are scalp areas that need to be treated, referred to as treatment area grid representations.

[0096] The steps for needle insertion position planning are as follows:

[0097] For each treatment area grid representation, take its smallest circumscribed cube and use the face in the cube that is close to the normal direction of the treatment area grid representation as the reference plane to plan the needle insertion position.

[0098] Assuming that the diameter of the microneedle array is d, taking the lower left corner of the reference plane as the coordinate origin, a circle with a diameter of d is taken at the coordinate (d / 2, d / 2) as the first target area, recorded as Ω1(d / 2, d / 2).

[0099] If Ω1(d / 2, d / 2) does not exceed the upper and right edges of the reference plane, then take another target area Ω2(d / 2, d / 2+Δ), Ω3(d / 2+Δ, d / 2+Δ), Ω4(d / 2+Δ, d / 2)..., where

[0100] Until the target area exceeds the upper and right edges of the reference surface, such as Figure 4 As shown, target areas with adjacent numbers are arranged adjacently.

[0101] For each treatment area grid representation, needle position planning as described in 1)-3) is performed.

[0102] There are many ways to implement needle insertion position planning, and the above example only illustrates one of the implementation methods.

[0103] Perform the needle insertion operation. For each treatment area, among the n target areas, calculate the average normal direction of the grid representation within the target area as the needle insertion direction. The center of the microneedle array is coaxial with the center coordinate of the target area, and control the robotic arm to perform the needle insertion operation.

[0104] See also Figure 5-Figure 10 A novel automated microneedle stimulation drug spraying hair growth device drug administration spraying system 100 is described in a preferred embodiment of the present invention. The drug administration spraying system 100 is connected via a robotic arm mechanism. The drug administration spraying system 100 comprises a mounting plate 101, a microneedle stimulation unit 1 and a drug spraying unit 2 arranged on the mounting plate 101, wherein the microneedle stimulation unit 1 is used for puncturing the head skin, and the drug spraying unit 2 is used for spraying drugs on the punctured head skin.

[0105] The microneedle stimulation unit 1 includes a driving mechanism and a microneedle mechanism connected to the driving mechanism. The driving mechanism can drive the microneedle mechanism to reciprocate. The microneedle mechanism can repeatedly puncture the skin of the head, thereby supplying medicine for spraying after puncturing the skin.

[0106] The microneedle mechanism includes a microneedle housing 109, which includes a first installation cavity at the top and a second installation cavity at the bottom. A piston is arranged in the second installation cavity, and a push rod 108 is arranged in the first installation cavity. The push rod 108 is connected to the piston, and the reciprocating motion of the push rod 108 allows the piston to reciprocate in the second installation cavity. The end of the push rod 108 is connected to a driving handle 107, and the driving handle 107 is connected to one end of the connecting rod 106 of the driving mechanism. The bottom of the piston is connected to a microneedle fixing plate 1011, and a plurality of microneedles 102 are arranged on the microneedle fixing plate 1011. The length of the microneedle 102 beyond the microneedle fixing plate 1011 is 0.5-1mm, or 0.2-1.5mm, and the length beyond can be specifically determined for different groups of people. The microneedle 102 is a silicon microneedle, a silicon oxide microneedle or a stainless steel microneedle, and the material structure has certain antibacterial properties and certain structural strength. The surface of the microneedle 102 is provided with a titanium nitride coating, which is to improve the wear resistance, friction resistance and corrosion resistance of the microneedle while maintaining the overall performance of the substrate.

[0107] A spring installation cavity 1092 is also formed between the first installation cavity and the push rod 108. A spring 1010 mounted on the push rod is installed in the spring installation cavity 1092. The spring 1010 can play a buffering role and can also play a role in restoring reciprocating motion.

[0108] The driving mechanism includes a motor 101, an eccentric wheel 102, a mounting shell 103, a slider 104, a lever 105, and a connecting rod 106. The eccentric wheel 102 is connected to the driving end of the motor 101, the mounting shell 103 is installed to the driving end side of the motor 101, the slider 104 is slidably installed in the mounting shell 103, the eccentric wheel 102 is connected to a driving block 1021, the driving block 1021 extends into a driving groove in the slider 104, the slider 104 is engaged with one side of the lever 105, the lever 105 is rotatably installed on the mounting shell 103 through the lever mounting rod 1051 in the middle, and one end of the lever 105 is connected to one end of the connecting rod 106.

[0109] Slider clamps 1041 are disposed on both sides of the slider 104 , and two clamping slots for installing the slider clamps 1041 are disposed in the mounting shell 103 , and the distance between the two clamping slots is greater than the distance between the two slider clamps 1041 .

[0110] A groove-shaped lever connecting portion 1052 is provided on one side of the lever 105 opposite to the slider 104 , and a slider driving head 1042 is provided on one side of the slider 104 opposite to the lever 105 . The slider driving head 1042 is connected to the lever connecting portion 1052 .

[0111] A lever mounting rod 1053 is provided at one end of the lever 105 , and the lever mounting rod 1053 is connected to one end of the connecting rod 106 .

[0112] In the driving mechanism, the eccentric wheel 102 is driven to rotate by the motor 101, thereby driving the eccentric rotation of the driving block 1021. Since the slider 104 is installed in the mounting shell 103 in a transverse sliding manner, the movement of the driving block 1021 can drive the slider 104 to move laterally back and forth in the mounting shell 103. The reciprocating motion of the slider 104 realizes the reciprocating motion of the slider driving head 1042, thereby driving the lever 105 to swing along the lever mounting rod 1051, thereby driving the lever mounting rod 1053 to move up and down reciprocatingly, thereby realizing the reciprocating motion of the piston.

[0113] The device specifically includes a pump body 201, which is a common infusion pump body. The output end of the pump body 201 is connected to the bottom of a medicine reservoir 203 through a first connecting tube 202. The medicine reservoir 203 has a storage space, which is used to store medicine for hair growth. The bottom of the medicine reservoir 203 is connected to the upper part of a distributor 205 through a second connecting tube 204. A plurality of delivery pipes 206 are connected to the bottom of the distributor 205. A nozzle 207 is connected to the end of the delivery pipe 206. The nozzle 207 is installed on the mounting plate 101 of the drug delivery spray system 100. The nozzle 207 is a nozzle that can spray medicine, and a plurality of spray holes are generally arranged on the nozzle 207.

[0114] A spray mounting hole 1011 is provided on the mounting plate 101, and the nozzle 207 is installed on the spray mounting hole 1011. The spray mounting hole 1011 can be circular, or can be set to any other shape such as an ellipse, a triangle, a square, etc. It is only necessary to set the outer shell of the nozzle 207 to a corresponding shape, and it can be fixed by glue during installation.

[0115] The mounting plate 101 is circular, and the spray mounting holes 1011 are distributed in a circular array on the mounting plate 101. The number of the spray mounting holes 1011 is 3, 4, 5, 6, 7, or 8. The spray mounting holes 1011 can also be presented in multiple circular arrays, for example, two circular distributions, i.e., an inner circle of spray mounting holes 1011 and an outer circle of spray mounting holes 1011.

[0116] The medicine reservoir 203 is provided with a medicine supply port, which is a door or a one-way valve with a sealing strip provided on the medicine reservoir 203, and is used for injecting medicine for hair growth into the interior.

[0117] A microneedle stimulation unit 1 is also provided on the mounting plate 101. The microneedle stimulation unit 1 is used for performing microneedle acupuncture on the head area after the medicine is sprayed, so as to facilitate the medicine to penetrate deeply into the scalp.

[0118] The specific microneedle stimulation unit is installed on the drug delivery spray system 100 through the threaded opening 1091 on the microneedle housing 109 .

[0119] The working principle of this device is as follows:

[0120] Through precise calibration (DH calibration and hand-eye calibration), efficient treatment area segmentation and point cloud reconstruction, intelligent path planning and high-precision robotic arm control, the system can achieve precise microneedle insertion operations in the patient's treatment area to ensure treatment effectiveness and safety.

[0121] The device is configured to load liquid medicine into a medicine reservoir, and then pressurize the medicine reservoir 203 through a pump body 201 to deliver the liquid medicine. The liquid medicine enters the distributor through a second connecting tube, and after passing through the distributor, the liquid medicine evenly enters the delivery tube, and then is sprayed onto the scalp where hair growth is required through a nozzle, and works in conjunction with the microneedle stimulation unit.

[0122] In the microneedle stimulation unit, the eccentric wheel is driven to rotate by a motor, and the piston is driven to move back and forth after mechanical transmission, thereby realizing the reciprocating motion of the microneedle, which can puncture the skin of the patient's head, and after puncture, medicine can be sprayed through the medicine spray unit.

[0123] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the technical principles of the present invention, and these improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A novel control method for an automated microneedle stimulation drug spraying hair growth device, characterized in that: The steps include: S1. Perform DH calibration on a mechanical arm mechanism that controls an automated microneedle stimulation drug spraying and hair-increasing device, wherein the automated microneedle stimulation drug spraying and hair-increasing device comprises a microneedle stimulation unit and a structured light sensor module mounted on the mechanical arm mechanism; S2. Calculate the position of the microneedle coordinate system of the microneedle stimulation unit relative to the coordinate system of the end of the robotic arm mechanism g T p ; S3, perform hand-eye calibration on the coordinate system of the end of the robot arm and the coordinate system of the structured light sensor; S4, using structured light sensor to reconstruct the 3D point cloud of the patient's head scalp area, and using Marching Cubes algorithm to convert the 3D point cloud into a grid table S5. Extract the scalp area that needs to be treated, the steps are: S51: For a scalp image taken with a structured light sensor, use a pre-trained image segmentation model to perform image segmentation, and obtain all pixels corresponding to the scalp area that needs to be treated in the segmentation result; the segmentation result is recorded as k areas, k ≥ 1; the pixels of each area are recorded as a set in is the coordinate of the i-th pixel in the first area, and n1 is the number of pixels in the first area; S52: Record the spatial points corresponding to the pixels of the k scalp areas to be treated in the 3D point cloud in step S51 to form k 3D point clouds, which are described as in is the spatial point position corresponding to the i-th pixel point in the first area in the 3D point cloud; S53: using the Marching Cubes algorithm to convert the k 3D point clouds into grid representations, i.e., the scalp areas to be treated, referred to as treatment area grid representations; S6. Plan the needle insertion position; S7. Perform the needle insertion operation. For each of the n target areas in each treatment area, calculate the average normal direction represented by the grid within the target area as the needle insertion direction. The center of the microneedle array is coaxial with the center coordinate of the target area. Control the robotic arm to perform the needle insertion operation.

2. The control method of a novel automated microneedle stimulation drug spraying hair growth device according to claim 1, characterized in that: The step S6 specifically includes: S61: For each treatment area grid representation, take its minimum circumscribed cube, use the surface of the cube with a normal direction close to that of the treatment area grid representation as the reference surface, and plan the needle insertion position; S62: Assuming that the diameter of the microneedle array is d, taking the lower left corner of the reference plane as the coordinate origin, take a circle with a diameter of d at the coordinate (d / 2, d / 2) as the first target area, recorded as Ω1(d / 2, d / 2); S63: If Ω1(d / 2, d / 2) does not exceed the upper and right edges of the reference plane, then take another target area Ω2(d / 2, d / 2+Δ), Ω3(d / 2+Δ, d / 2+Δ), Ω4(d / 2+Δ, d / 2)..., where When the target area exceeds the upper and right edges of the reference surface, the target areas with adjacent numbers are arranged adjacently; S64: Perform needle insertion position planning as described in S61-S63 for each treatment area grid representation.

3. A new type of automated microneedle stimulation drug spraying hair growth device, characterized in that: It comprises a mechanical arm mechanism, and a medicine spraying system (100) and a structured light sensor module connected to a driving end of the mechanical arm mechanism; The drug spraying system (100) comprises a mounting plate (101), a microneedle stimulation unit (1) and a drug spraying unit (2) arranged on the mounting plate (101), wherein the microneedle stimulation unit (1) is used for puncturing the skin of the head, and the drug spraying unit (2) is used for spraying drugs on the punctured skin of the head; The microneedle stimulation unit (1) comprises a driving mechanism and a microneedle mechanism connected to the driving mechanism, wherein the driving mechanism can drive the microneedle mechanism to reciprocate; the microneedle mechanism comprises a microneedle housing (109), wherein the microneedle housing (109) comprises a first mounting cavity at the top and a second mounting cavity at the bottom, wherein a piston is arranged in the second mounting cavity, wherein a push rod (108) is arranged in the first mounting cavity, wherein the push rod (108) is connected to the piston, wherein the end of the push rod (108) is connected to a driving handle (107), wherein the driving handle (107) is connected to one end of a connecting rod (106) of the driving mechanism, wherein a microneedle fixing plate (1011) is connected to the bottom of the piston, wherein a plurality of microneedles (102) are arranged on the microneedle fixing plate (1011); The drug spraying unit (2) comprises a pump body (201), the output end of the pump body (201) is connected to the bottom of a drug reservoir (203) via a first connecting pipe (202), the bottom of the drug reservoir (203) is connected to the upper part of a distributor (205) via a second connecting pipe (204), the bottom of the distributor (205) is connected to a plurality of delivery pipes (206), the ends of the delivery pipes (206) are connected to spray heads (207), and the spray heads (207) are mounted on a mounting plate (101) of a drug delivery spraying system (100).

4. A novel automated microneedle stimulation drug spraying hair growth device according to claim 2, characterized in that: A spring installation cavity (1092) is also formed between the first installation cavity and the push rod (108), and a spring (1010) sleeved on the push rod is installed in the spring installation cavity (1092).

5. A novel automated microneedle stimulation drug spraying hair growth device according to claim 4, characterized in that: The length of the microneedle (102) beyond the microneedle fixing plate (1011) is 0.5-1 mm.

6. A novel automated microneedle stimulation drug spraying hair growth device according to claim 4, characterized in that: The microneedle (102) is a silicon microneedle, a silicon oxide microneedle or a stainless steel microneedle.

7. A novel automated microneedle stimulation drug spraying hair growth device according to claim 4, characterized in that: The surface of the microneedle (102) is provided with a titanium nitride coating.

8. A novel automated microneedle stimulation drug spraying hair growth device according to claim 3, characterized in that: The driving mechanism comprises a motor (101), an eccentric wheel (102), a mounting shell (103), a slider (104), a lever (105), and a connecting rod (106); the eccentric wheel (102) is connected to a driving end of the motor (101); the mounting shell (103) is mounted on the driving end side of the motor (101); the slider (104) is slidably mounted in the mounting shell (103); the eccentric wheel (102) is connected to a driving block (1021); the driving block (1021) extends into a driving groove in the slider (104); the slider (104) is snap-connected to one side of the lever (105); the lever (105) is rotatably mounted on the mounting shell (103) through a lever mounting rod (1051) in the middle; and one end of the lever (105) is connected to one end of the connecting rod (106).

9. A novel automated microneedle stimulation drug spraying hair growth device according to claim 8, characterized in that: Slider clamps (1041) are arranged on both sides of the slider (104), and two clamping grooves for installing the slider clamps (1041) are arranged in the mounting shell (103), and the distance between the two clamping grooves is greater than the distance between the two slider clamps (1041).

10. A novel automated microneedle stimulation drug spraying hair growth device according to claim 9, characterized in that: A groove-shaped lever connecting portion (1052) is provided on one side of the lever (105) opposite to the slider (104), and a slider driving head (1042) is provided on one side of the slider (104) opposite to the lever (105), and the slider driving head (1042) is connected to the lever connecting portion (1052).

11. A novel automated microneedle stimulation drug spraying hair growth device according to claim 10, characterized in that: A shift rod mounting rod (1053) is provided at one end of the shift rod (105), and the shift rod mounting rod (1053) is connected to one end of the connecting rod (106).

12. A novel automated microneedle stimulation drug spraying hair growth device according to claim 11, characterized in that: The mounting plate (101) is provided with a spray mounting hole (1011), and the spray head (207) is mounted on the spray mounting hole (1011).

13. A novel automated microneedle stimulation drug spraying hair growth device according to claim 12, characterized in that: The mounting plate (101) is circular, and the spray mounting holes (1011) are distributed on the mounting plate (101) in a circular array.

14. A novel automated microneedle stimulation drug spraying hair growth device according to claim 13, characterized in that: The number of the spray mounting holes (1011) is 3, 4, 5, 6, 7, or 8.

15. A novel automated microneedle stimulation drug spraying hair growth device according to claim 13, characterized in that: The medicine storage container (203) is provided with a medicine supply port, and the medicine supply port is a door or a one-way valve with a sealing strip provided on the medicine storage container (203).

16. A novel automated microneedle stimulation drug spraying hair growth device according to claim 14, characterized in that: A microneedle stimulation unit (1) is also provided on the mounting plate (101).

17. A novel automated microneedle stimulation drug spraying hair growth device according to any one of claims 3 to 16, characterized in that: The microneedle stimulation unit is installed on the drug delivery spray system (100) through the threaded opening (1091) on the microneedle housing (109).

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