Hair extraction system, hair follicle extraction path planning method and hair extraction method

Abstract

The invention provides a hair extraction system, a hair follicle extraction path planning method and a hair extraction method, and relates to the technical field of hair extraction. The system comprises an imaging device, a mechanical arm and a processor, the imaging device and the mechanical arm are in communication connection with the processor. The imaging device is used for collecting a blood vessel distribution image of an operation area and sending the blood vessel distribution image to the processor. The processor is used for determining an operation forbidden zone of the operation area based on the blood vessel distribution image and controlling the mechanical arm to avoid the operation forbidden zone to take hair in the operation area. The operation forbidden zone is determined through the blood vessel distribution image, hair taking of the operation forbidden zone in the operation area is avoided, the situation that blood vessel injuries frequently occur in the hair taking process is reduced, and therefore the operation efficiency and accuracy are improved.

Description

[0001] Priority application

[0002] This application claims priority to Chinese invention patent application No. 2024109113780, “Path planning method, device, equipment, medium and program product for hair follicle extraction,” filed on July 8, 2024, which is incorporated herein by reference in its entirety. Technical Field

[0003] The present application relates to the technical field of hair extraction, and in particular to a hair extraction system, a path planning method for hair follicle extraction, and a hair extraction method. Background Art

[0004] In recent years, autologous hair transplantation technology is the most mature and effective method for treating hair loss. The principle is to transplant healthy hair follicles from the back of the head to the hair loss area. After a period of growth, a natural and beautiful effect can be achieved. Hair transplant surgery robots have emerged, especially the technology of hair follicle extraction surgery robots has developed rapidly. Although this technology has developed rapidly, there is a frequent occurrence of vascular damage during the hair follicle extraction process of surgical robots, which affects the efficiency and accuracy of the operation. Summary of the invention

[0005] The purpose of the embodiments of the present application is to provide a hair removal system, a path planning method for hair follicle extraction, and a hair removal method, so as to avoid surgical restricted areas to extract hair, reduce the frequent occurrence of vascular damage during the hair removal process, and improve surgical efficiency and accuracy.

[0006] In a first aspect, an embodiment of the present application provides a hair removal system, which includes: an imaging device, a robotic arm and a processor; the imaging device and the robotic arm are respectively connected to the processor for communication; the imaging device is used to collect a vascular distribution image of the surgical area and send the vascular distribution image to the processor; the processor is used to determine a surgical restricted area in the surgical area based on the vascular distribution image, and control the robotic arm to avoid the surgical restricted area and remove hair in the surgical area.

[0007] The embodiment of the present application collects the vascular distribution image of the surgical area through an imaging device, and sends the collected vascular distribution image to the processor, so that the processor determines the surgical restricted area through the vascular distribution image, and controls the robotic arm to avoid the surgical restricted area to perform hair extraction in the surgical area, thereby reducing the frequent occurrence of vascular damage during the hair removal process and improving surgical efficiency and accuracy.

[0008] In some embodiments, the system also includes a visual device, which is used to capture an image of the surgical area when the imaging device is turned on; the image of the surgical area includes hair follicle distribution information; the processor is also used to generate a planned path for hair follicle extraction based on the hair follicle distribution information and the surgical restricted area, and control the robotic arm to extract hair follicles in the surgical area based on the planned path for hair follicle extraction.

[0009] The embodiment of the present application determines the hair follicle distribution information through the surgical area image collected by the visual device, so that the processor generates a planning path for hair follicle extraction based on the hair follicle distribution information and the surgical restricted area, and controls the robotic arm to extract the hair follicles in the surgical area based on the hair follicle extraction planning path. On the basis of reducing the frequent occurrence of vascular damage during the hair removal process, the hair follicles in the surgical area can also be evenly extracted, thereby improving the efficiency and accuracy of the operation.

[0010] In some embodiments, the system further includes a display device, which is communicatively connected to the visual device, and the display device is used to receive and display the surgical area image sent by the visual device.

[0011] The embodiment of the present application facilitates surgical personnel to observe the condition of the patient's surgical area in real time through a display device, thereby improving surgical efficiency and accuracy.

[0012] In some embodiments, the imaging device includes at least one of a near-infrared imaging device, an optical imaging device, an ultrasound imaging device, a fluorescence imaging device, an optical coherence tomography device, a magnetic resonance imaging device, an electronic computed tomography device, a digital subtraction angiography device, a direct digital X-ray device, and a computer X-ray system.

[0013] The embodiment of the present application can determine the type of imaging device according to actual conditions to match it with the surgical situation, thereby improving the efficiency and accuracy of the surgery.

[0014] In some embodiments, the imaging device is disposed on a robotic arm.

[0015] The embodiment of the present application arranges the imaging device on the robotic arm, and the integrated structure not only simplifies the structure of the hair removal system, but also can obtain more accurate vascular distribution images of the surgical area, thereby improving the efficiency and accuracy of the operation.

[0016] In some embodiments, the vascular distribution image includes vascular distribution information; the processor is used to determine the surgical forbidden area of ​​the surgical area based on the vascular distribution image, including: the processor determines the surgical forbidden area based on the vascular distribution information; the surgical forbidden area is used to characterize the area where the blood vessels are located in the surgical area.

[0017] In the embodiment of the present application, the blood vessel distribution information reflects the distribution of blood vessels in the surgical area. Therefore, the surgical restricted area is determined by the blood vessel distribution information in the blood vessel distribution image, which improves the accuracy of the surgical restricted area, thereby improving the surgical efficiency and accuracy.

[0018] In some embodiments, the processor determines a surgical restricted area based on the blood vessel distribution information, including: the processor parses the blood vessel distribution information to obtain the position information of each blood vessel in the blood vessel distribution information; the processor determines the position of each blood vessel based on the position information of each blood vessel, and takes the blood vessel position as the center and the surrounding area within a ninth preset distance from the blood vessel position as the surgical restricted area.

[0019] The embodiment of the present application sets a surgical restricted area so that when removing hair, blood vessels and the surrounding areas of the blood vessels are avoided as much as possible, thereby reducing frequent damage to blood vessels and improving surgical efficiency and accuracy.

[0020] In some embodiments, the processor is also used to generate a planned path for hair follicle extraction based on the hair follicle distribution information and the surgical restricted area, including: the processor determines the path starting point of the planned path based on the hair follicle distribution information; the processor traverses the hair follicle distribution information starting from the path starting point based on the surgical restricted area to generate a planned path for hair follicle extraction.

[0021] When the embodiment of the present application generates a planned path, the path starting point of the planned path is determined by the hair follicle distribution information, so that the traversal starts from the path starting point. In this process, since the starting point of the traversal is combined with the specific situation of the hair follicle distribution, rather than randomly selecting a path starting point to start the traversal, not only personalized path planning is achieved, a good path starting point can also reduce unnecessary repeated operations during the operation, thereby improving the accuracy of path planning, thereby reducing the damage to blood vessels during the operation, and improving the efficiency and accuracy of the operation.

[0022] In some embodiments, the path starting point includes a ninth starting point and a tenth starting point; the processor traverses the hair follicle distribution information from the path starting point based on the surgical restricted area to generate a planned path for hair follicle extraction, including: the processor traverses the hair follicle distribution information from the ninth starting point in the direction of the tenth starting point based on the surgical restricted area to generate a forward search path; the processor traverses the hair follicle distribution information from the tenth starting point in the direction of the ninth starting point according to the surgical restricted area to generate a reverse search path; the processor generates a planned path through the forward search path and the reverse search path.

[0023] The embodiment of the present application traverses the hair follicle distribution information of the surgical area from the ninth starting point and the tenth starting 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.

[0024] In some embodiments, the processor is also used to: if there is an undesirable target point in the planned path, then the undesirable target point is eliminated; the undesirable target point is used to represent the point where the hair follicles are not extracted during the hair follicle extraction surgery; or, if there is an undesirable target point in the planned path, then determine the midpoint between the undesirable target point and the next target point, and at least one eighth adjacent node between the undesirable target point and the next target point that is adjacent to the undesirable target point; use the eighth adjacent node whose distance to the midpoint is less than the tenth preset distance as a replacement point for the undesirable target point, so as to dynamically adjust the planned path according to the replacement point; the undesirable target point is used to represent the point where the hair follicles are not extracted during the hair follicle extraction surgery.

[0025] The embodiments of the present application take into account that in actual surgery, there may be undesirable target points in the planned path. In order to ensure the normal operation and reduce the impact of the surgical operation on the blood vessels, the planned path needs to be dynamically adjusted to improve the efficiency and accuracy of the operation.

[0026] In a second aspect, an embodiment of the present application provides a path planning method for hair follicle extraction, the method comprising: acquiring an image of a surgical area; the image of the surgical area comprising blood vessel distribution information and hair follicle distribution information; determining a surgical restricted area based on the blood vessel distribution information; the surgical restricted area is used to characterize the area in the surgical area where the blood vessels are located; and generating a planned path for hair follicle extraction based on the hair follicle distribution information and the surgical restricted area.

[0027] The embodiment of the present application determines the surgical restricted area through the blood vessel distribution information, and generates a planned path for hair follicle extraction based on the surgical restricted area and the hair follicle distribution information. This can not only reduce the frequent occurrence of blood vessel damage during the hair follicle extraction process, but also extract the hair follicles more evenly, thereby improving surgical efficiency and accuracy.

[0028] In some embodiments, a planned path for hair follicle extraction is generated based on hair follicle distribution information and a surgical restricted area, including: determining a path starting point of the planned path based on the hair follicle distribution information; and traversing the hair follicle distribution information from the path starting point based on the surgical restricted area to generate a planned path for hair follicle extraction.

[0029] In the embodiment of the present application, before traversing the hair follicle distribution information based on the surgical forbidden area, the path starting point of the path planning is determined by the hair follicle distribution information, so that the traversal starts from the path starting point. In this process, since the starting point of the traversal is combined with the specific situation of the hair follicle distribution, rather than randomly selecting a path starting point to start the traversal, not only personalized path planning is achieved, but a good path starting point can also reduce unnecessary repeated operations during the operation, thereby improving the accuracy of path planning, thereby reducing the damage to blood vessels during the operation, and improving the efficiency and accuracy of the operation.

[0030] In some embodiments, the path starting point includes a first starting point and a second starting point; based on the surgical forbidden area, the hair follicle distribution information is traversed from the path starting point to generate a planned path for hair follicle extraction, including: based on the surgical forbidden area, starting from the first starting point, traversing the hair follicle distribution information in the direction of the second starting point to generate a forward search path; according to the surgical forbidden area, starting from the second starting 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.

[0031] The embodiment of the present application traverses the hair follicle distribution information of the surgical area from the first starting point and the second starting 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.

[0032] In some embodiments, based on the surgical restricted area, starting from the first starting point, the hair follicle distribution information is traversed in the direction of the second starting point to generate a forward search path, including: determining the first adjacent node: determining at least one first adjacent node of the first starting point; judging the first passability: calculating the first distance between the first starting point and each first adjacent node, and judging whether each first adjacent node is located in the surgical restricted area; if there is a second adjacent node whose first distance is greater than the first preset distance among the first adjacent nodes, the second adjacent node is eliminated; if there is a third adjacent node located in the surgical restricted area among the first adjacent nodes, the third adjacent node is eliminated; the remaining nodes among the first adjacent nodes are used as the first passable nodes; determining the first target node: calculating the path cost of each first passable node, and determining the first target node among the first passable nodes based on the path cost; using the first target node as the third starting point, and repeating the steps of determining the first adjacent node, judging the first passability, and determining the first target node until a forward search path is generated. path; or, according to the surgical restricted area, starting from the second starting point, traversing the hair follicle distribution information in the direction of the first starting point, generating a reverse search path, including: determining the fourth adjacent node: determining at least one fourth adjacent node of the second starting point; judging the second accessibility: calculating the second distance between the second starting point and each fourth adjacent node, and judging whether each fourth adjacent node is located in the surgical restricted area; if there is a fifth adjacent node whose second distance is greater than the second preset distance among the fourth adjacent nodes, the fifth adjacent node is eliminated; if there is a sixth adjacent node located in the surgical restricted area among the fourth adjacent nodes, the sixth adjacent node is eliminated; the remaining nodes among the fourth adjacent nodes are used as second accessible nodes; determining the second target node: calculating the path cost of each second accessible node, and determining the second target node among the second accessible nodes based on the path cost; using the second target node as the fourth starting point, and repeating the steps of determining the fourth adjacent node, judging the second accessibility, and determining the second target node until a reverse search path is generated.

[0033] In the traversal process of the embodiment of the present application, the first target node in the first traversable node is determined based on the path cost, so as to determine a first target node from multiple first adjacent nodes, and finally the first target node is used as the next node of the current node. Since the process selects a first target node from multiple first traversable nodes based on the path cost, the path with the minimum cost is found, which further improves the efficiency and accuracy of the operation. In addition, since a second target node is selected from multiple second traversable nodes based on the path cost, the path with the minimum cost is found, which further improves the efficiency and accuracy of the operation.

[0034] 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, then 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, then a new first starting point and a new second starting point are determined based on the forward search path and the reverse search path, and path planning is performed based on the new first starting point and the new second starting point to generate a planned path.

[0035] The embodiment of the present application takes into account that when planning the path of the surgical area, there may be a situation where the paths meet or do not meet. In the 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.

[0036] In some embodiments, determining a surgical restricted area based on blood vessel distribution information includes: parsing the blood vessel distribution information to obtain position information of each blood vessel in the blood vessel distribution information; determining the position of each blood vessel based on the position information of each blood vessel, taking the blood vessel position as the center and defining the surrounding area within a fifth preset distance from the blood vessel position as a surgical restricted area.

[0037] The embodiment of the present application sets a surgical restricted area so that during path planning, blood vessels and the surrounding areas of the blood vessels are avoided as much as possible, thereby reducing frequent damage to blood vessels and improving surgical efficiency and accuracy.

[0038] In some embodiments, obtaining an image of the surgical area includes: obtaining a first image captured by a near-infrared imager and a second image captured by a visual system; the first image and the second image are images captured when the near-infrared imager is turned on; fusing the first image and the second image to generate an image of the surgical area; or obtaining a third image captured by the visual system when the near-infrared imager is turned on as the image of the surgical area.

[0039] The embodiment of the present application generates a surgical area image by fusing the first image and the second image, so that the blood vessel position in the surgical area image is more accurate, and the difference between blood vessels and hair follicles is more obvious, thereby improving surgical efficiency and accuracy. Alternatively, the third image captured by the visual system is directly used as the surgical area image, which improves the efficiency of obtaining the surgical area image and further improves surgical efficiency.

[0040] In some embodiments, after generating a planned path for follicle extraction based on the hair follicle distribution information and the surgical forbidden area, the method further includes: if there is an undesirable target point in the planned path, the undesirable target point is eliminated; the undesirable target point is used to represent the point where the follicles are not to be extracted during the hair follicle extraction surgery; or if there is an undesirable target point in the planned path, the midpoint between the undesirable target point and the next target point, and at least one seventh adjacent node between the undesirable target point and the next target point and adjacent to the undesirable target point are determined; the seventh adjacent node whose distance to the midpoint is less than the sixth preset distance is used as a replacement point for the undesirable target point, so as to dynamically adjust the planned path according to the replacement point; the undesirable target point is used to represent the point where the follicles are not to be extracted during the hair follicle extraction surgery.

[0041] The embodiments of the present application take into account that in actual surgery, there may be undesirable target points in the planned path. In order to ensure the normal operation and reduce the impact of the surgical operation on the blood vessels, the planned path needs to be dynamically adjusted to improve the efficiency and accuracy of the operation.

[0042] In a third aspect, an embodiment of the present application provides a hair removal method, the method comprising: removing hair according to a planned path for hair follicle extraction; the planned path for hair follicle extraction is obtained by any embodiment of the second aspect.

[0043] The embodiment of the present application performs hair removal by planning a path, thereby improving the efficiency and accuracy of hair removal during surgery.

[0044] In a fourth aspect, an embodiment of the present application provides a path planning device for hair follicle extraction, the device comprising: an acquisition module for acquiring an image of a surgical area; the image of the surgical area comprises blood vessel distribution information and hair follicle distribution information; a determination module for determining a surgical restricted area based on the blood vessel distribution information; the surgical restricted area is used to characterize the area in the surgical area where the blood vessels are located; a generation module for generating a planned path for hair follicle extraction based on the hair follicle distribution information and the surgical restricted area.

[0045] In a fifth aspect, an embodiment of the present application provides an electronic device, comprising: 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 steps of any one of the embodiments of the second aspect, the third aspect, or both aspects can be executed.

[0046] In a sixth aspect, an embodiment of the present application provides a non-transitory computer-readable storage medium, comprising: the computer-readable storage medium stores computer instructions, and the computer instructions enable the computer to execute the method steps of any one of the embodiments of the second aspect, the third aspect, or both aspects.

[0047] In a seventh aspect, an embodiment of the present application provides a computer program product, comprising: a computer program, which, when executed by a processor, executes the method steps of the second aspect, the third aspect, or any one of the embodiments of these two aspects.

[0048] Other features and advantages of the present application will be described in the subsequent description, and in part will become apparent from the description, or will be understood by implementing the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] 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.

[0050] Figure 1 A schematic flow chart of a path planning method for hair follicle extraction provided in an embodiment of the present application;

[0051] Figure 2 A schematic diagram of the positional relationship between a near-infrared imager and a visual system provided in an embodiment of the present application;

[0052] Figure 3 A schematic diagram of a surgical area provided in an embodiment of the present application;

[0053] Figure 4 A schematic diagram of a path planning provided in an embodiment of the present application;

[0054] Figure 5 A schematic diagram of the structure of a path planning device for hair follicle extraction provided in an embodiment of the present application;

[0055] Figure 6 A structural schematic diagram of a hair retrieval system provided in an embodiment of the present application;

[0056] Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0057] 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.

[0058] 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.

[0059] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0060] In recent years, autologous hair transplantation technology is the most mature and effective method for treating hair loss. The principle is to transplant healthy hair follicles from the back of the head to the hair loss area. After a period of growth, a natural and beautiful effect can be achieved. In recent years, hair transplant surgery robots, especially hair follicle extraction surgery robots, have developed rapidly.

[0061] Take the hair removal process as an example. The hair removal process usually requires the use of a surgical needle to select healthy hair follicles from the back of the head. Considering that the surface of the back of the head has blood vessels (cephalic vein), these blood vessels need to be avoided during the hair removal process to avoid unnecessary damage. During the manual extraction process, the doctor can rely on the doctor's experience and feeling to avoid these blood vessels as much as possible, but it is still impossible to avoid them completely. For the extraction process with a surgical robot, it is even more necessary to consider how to avoid these blood vessels to avoid unnecessary damage.

[0062] The inventor has found through long-term research that if vascular damage occurs frequently during surgery, the following consequences may occur:

[0063] 1. It causes heavy bleeding, thus affecting the effect of the surgery. Especially for patients with low blood coagulation levels, damage to blood vessels (especially thicker veins) can cause heavy bleeding in the back of the head. The usual treatment method is to wipe the bleeding area frequently so that the doctor can clearly see the location of the hair follicles, but this treatment method will prolong the operation time, thus affecting the effect of the surgery.

[0064] 2. Increased risk of infection: Damage to blood vessels may lead to local or systemic infection. If the acupuncture site is not properly disinfected, it may become a pathway for bacteria to invade.

[0065] 3. Thrombosis: Repeated vascular damage may cause damage to the inner wall of the blood vessels, increasing the risk of thrombosis. Thrombosis may cause obstruction of blood flow and may even cause deep vein thrombosis in severe cases.

[0066] 4. Phlebitis: Phlebitis refers to inflammation of the vein wall, often accompanied by pain, redness, swelling and heat. Long-term or improper intravenous injections may cause phlebitis.

[0067] 5. Scarring and tissue damage: Frequent acupuncture can cause scarring and damage to the tissues surrounding the veins, and sometimes even lead to venous occlusion.

[0068] 6. Varicose veins: Long-term venous damage may cause the vein walls to weaken and dilate, forming varicose veins. This not only affects the appearance, but may also cause pain and discomfort.

[0069] 7. Impaired venous function: Repeated venous injury may lead to long-term damage to venous function and affect blood return.

[0070] 8. Arteriovenous fistula: If the blood vessels are damaged and grow abnormally, arteriovenous fistula may occur, leading to other complications.

[0071] 9. The patient experiences pain or itching during or after the operation.

[0072] 10. After nerve damage occurs, it may cause sequelae of neuralgia, causing the patient to have obvious complications of neuralgia for months or even years.

[0073] In order to effectively solve the above problems, an embodiment of the present application provides a path planning method for hair follicle extraction, which is used to plan the extraction path of hair follicles during the hair follicle extraction operation, reduce the frequent occurrence of vascular damage during the hair follicle extraction process, and thus improve the efficiency and accuracy of the operation.

[0074] Optional, Figure 1 A flow chart of a path planning method for hair follicle extraction provided in an embodiment of the present application. It is understandable that the path planning method for hair follicle extraction provided in an embodiment of the present application can be applied to a terminal device (also referred to as an electronic device) and a server; wherein the terminal device can specifically be a smart phone, a tablet computer, a computer, a personal digital assistant (PDA), etc.; the server can specifically be an application server or a Web server. To facilitate understanding of the technical solution provided in an embodiment of the present application, the application scenario of the path planning method for hair follicle extraction provided in an embodiment of the present application is introduced below, taking the server as an example of the execution subject.

[0075] Since the path planning method for hair follicle extraction provided in the embodiment of the present application is used to plan the path for hair follicle extraction in a hair follicle extraction operation, before executing the method, preoperative preparation for the hair follicle extraction operation is required, including: shaving the patient's surgical area, and disinfecting the surgical area and its surgical consumables (such as hair removal needles). In addition, the patient's surgical area is placed in a suitable position so that the surgical robot can operate on the patient's surgical area.

[0076] When planning a path, Figure 1 As shown, the method includes:

[0077] Step S101, the server obtains an image of the surgical area; the image of the surgical area includes blood vessel distribution information and hair follicle distribution information.

[0078] Since during surgery, it is necessary to avoid blood vessels in the surgical area as much as possible, specific imaging technology is needed to enhance the visual information of blood vessels in the surgical area so that the blood vessel distribution information in the obtained surgical area image is clearly visible.

[0079] Optionally, in an embodiment of the present application, an image of the surgical area is acquired by combining a near-infrared imager and a visual system.

[0080] The near-infrared imager emits near-infrared light to the surgical area. Since hemoglobin in the blood has a high absorption rate for red light, the blood vessels are irradiated with near-infrared light, and the color of the blood vessel area is "darker" than other non-vascular areas. As a result, there will be a difference in color between the blood vessel area and the non-vascular area, thus dividing the blood vessel area from the non-vascular area.

[0081] A visual system is used to capture images of the surgical area when the near-infrared imager is turned on, and image processing technology is used to extract the blood vessel distribution information and hair follicle distribution information therein.

[0082] Among them, near-infrared imager refers to an instrument or device that can emit near-infrared light. The visual system can be a binocular camera / trinocular camera, a camera, or other types of equipment with image acquisition function.

[0083] After the server obtains the surgical area image, it can obtain the blood vessel distribution information and hair follicle distribution information therein through the surgical area image. The blood vessel distribution information includes one or more of the position information, thickness information, and type information of each blood vessel in the surgical area, and the hair follicle distribution information includes one or more of the position information, posture information, and hair follicle distribution of each hair follicle in the surgical area.

[0084] It should be noted that the visual system and the near-infrared imager can be an integrated device on the surgical robot, or they can be detachable independent devices installed at a suitable position on the surgical robot, or they can be independent of the surgical robot and installed on other surgical equipment. As long as the shooting range of the visual system and the near-infrared imager can cover the surgical area, it is sufficient.

[0085] Optional, Figure 2 A schematic diagram of the positional relationship between a near-infrared imager and a visual system provided in an embodiment of the present application is shown in FIG. Figure 2 As shown, the visual system and the near-infrared imager are independently arranged above the surgical area to collect images of the surgical area, wherein the surgical area includes blood vessels and hair follicles to be harvested.

[0086] Step S102, the server determines a surgical forbidden zone based on the blood vessel distribution information; the surgical forbidden zone is used to characterize the area where the blood vessels are located in the surgical area.

[0087] Optionally, the distribution of blood vessels in the surgical area can be obtained through images of the surgical area, but there are also accompanying nerves around the blood vessels.

[0088] Since the companion nerve is responsible for transmitting deep touch and proprioception, if it is damaged, it may cause sensory loss or abnormality in the surgical area, cause chronic pain or abnormal pain sensation, affect the healing process of the surgical area, increase the risk of infection, etc. One or more of these situations. The absorption of near-infrared light by the companion nerve is low, and the distribution of blood vessels can be determined through the surgical area image, but it is difficult to determine the location of the companion nerve around the blood vessels.

[0089] In addition, during the operation, room for error should be given to further reduce the impact on blood vessels and improve surgical efficiency and accuracy.

[0090] Therefore, in order to reduce vascular damage and accompanying nerve damage during surgery, it is necessary to determine the surgical forbidden area based on vascular distribution information. The surgical forbidden area is used to characterize the area where the blood vessels are located in the surgical area, which includes the blood vessels and the area near the blood vessels.

[0091] Based on this, setting up a surgical restricted area lays the foundation for improving the efficiency and accuracy of surgery.

[0092] Figure 3 A schematic diagram of a surgical area provided in an embodiment of the present application, such as Figure 3 As shown, the surgical area includes blood vessels, surgical paths, hair follicles to be harvested, and surgical restricted areas; wherein the surgical path is the area connected by the hair follicles to be harvested and the dotted arrows, and the surgical restricted area is the blood vessels and the areas around the blood vessels.

[0093] Step S103: the server generates a planned path for hair follicle extraction according to the hair follicle distribution information and the surgical restricted area.

[0094] Optionally, after obtaining the hair follicle distribution information and the surgical restricted area, the server can plan the path of hair follicle extraction during the hair follicle extraction operation based on the hair follicle distribution information and the surgical restricted area, so as to extract the hair follicles in the surgical area through the planned path.

[0095] It should be noted that generating a planned path for follicle extraction based on surgical restricted areas and hair follicle distribution information can not only reduce vascular damage and accompanying nerve damage during surgery, but also extract hair follicles more evenly, thereby improving surgical results.

[0096] In some embodiments, a planned path for hair follicle extraction is generated based on hair follicle distribution information and a surgical restricted area, including: determining a path starting point of the planned path based on the hair follicle distribution information; and traversing the hair follicle distribution information from the path starting point based on the surgical restricted area to generate a planned path for hair follicle extraction.

[0097] Optionally, the starting point of the planned path is determined by hair follicle distribution information in the surgical area image.

[0098] It should be noted that the determined path starting point may be one or more.

[0099] When there is only one path starting point, based on the surgical restricted area, the hair follicle distribution information is traversed from the path starting point to generate a planned path for hair follicle extraction. When traversing, any one of the algorithms, such as A* algorithm, random spanning tree, greedy algorithm, Dijkstra algorithm, depth-first search algorithm, breadth-first search algorithm, custom search algorithm, etc., or a combination of multiple algorithms can be used. The algorithm can be set according to actual needs. It should be known that the traversal algorithm includes but is not limited to the above-mentioned algorithms.

[0100] When there are multiple path starting points, each of the multiple path starting points can be used as the path starting point of a separate planning path, and based on the surgical restricted area, the hair follicle distribution information is traversed from the path starting point to generate multiple planning paths. Finally, the best path is selected from the multiple planning paths as the final planning path.

[0101] At this time, since the generated multiple planning paths are independent of each other, the essence of the traversal is the same as the essence of the traversal when there is only one path starting point. Therefore, when traversing, any one of the algorithms, such as A* algorithm, random spanning tree, greedy algorithm, Dijkstra algorithm, depth-first search algorithm, breadth-first search algorithm, custom search algorithm, etc., or a combination of multiple algorithms can be used. The specific algorithm can be set according to actual needs.

[0102] When there are multiple path starting points, any two of the multiple path starting points can be regarded as mutually related path starting points.

[0103] For example, if the multiple path starting points are two path starting points, namely the first starting point and the second starting point, when traversing, the server traverses the hair follicle distribution information from the first starting point to the direction of the second starting point based on the surgical forbidden area, and generates a forward search path; the server traverses the hair follicle distribution information from the second starting point to the direction of the first starting point based on the surgical forbidden area, and generates a reverse search path, and finally generates a planned path based on the forward search path and the reverse search path. The specific process of generating a planned path in this way can be found in the following embodiment, which will not be repeated here.

[0104] If the multiple path starting points are three path starting points, two of them can be regarded as mutually related path starting points, and the other one can be regarded as a separate path starting point, and the traversal process can be performed separately.

[0105] If the multiple path starting points are four paths, they can be combined in pairs to generate mutually related path starting points, and the traversal process is performed separately. The traversal process of other numbers of path starting points is similar.

[0106] It should be noted that since the two path starting points are related to each other, at this time, the traversal starts from the two path starting points in the same direction. Therefore, the traversal process involves a bidirectional traversal algorithm. At this time, any one or more of the bidirectional A* algorithm, bidirectional random spanning tree, bidirectional greedy algorithm, bidirectional Dijkstra algorithm, custom bidirectional search algorithm, etc., or a combination of multiple one-way traversal algorithms can be used to achieve bidirectional traversal. The specific algorithm can be set according to actual needs.

[0107] Exemplarily, using a combination of multiple unidirectional traversal algorithms to implement bidirectional traversal may be to use the A* algorithm when generating a forward search path and to use the Dijkstra algorithm when generating a reverse search path.

[0108] In the embodiment of the present application, before traversing the hair follicle distribution information based on the surgical forbidden area, the path starting point of the path planning is determined by the hair follicle distribution information, so that the traversal starts from the path starting point. In this process, since the starting point of the traversal is combined with the specific situation of the hair follicle distribution, rather than randomly selecting a path starting point to start the traversal, not only personalized path planning is achieved, but a good path starting point can also reduce unnecessary repeated operations during the operation, thereby improving the accuracy of path planning, thereby reducing the damage to blood vessels during the operation, and improving the efficiency and accuracy of the operation.

[0109] In some embodiments, the path starting point includes a first starting point and a second starting point; based on the surgical forbidden area, the hair follicle distribution information is traversed from the path starting point to generate a planned path for hair follicle extraction, including: the server traverses the hair follicle distribution information from the first starting point in the direction of the second starting point based on the surgical forbidden area to generate a forward search path; the server traverses the hair follicle distribution information from the second starting point in the direction of the first starting point according to the surgical forbidden area to generate a reverse search path; the server generates a planned path through the forward search path and the reverse search path.

[0110] Optionally, in order to further quickly generate the planned path and perform the surgery as quickly as possible, the first starting point and the second starting point of the planned path may be determined by the hair follicle distribution information in the surgical area image. In this case, the path starting point includes the first starting point and the second starting point.

[0111] Figure 4 A schematic diagram of a path planning provided in an embodiment of the present application, such as Figure 4 As shown, the point where the hair follicle is located in the upper left corner of the surgical area image is defined as the first starting point, and the point where the hair follicle is located in the lower right corner of the surgical area image is defined as the second starting point. The gray box area in the surgical area image is regarded as a surgical restricted area, and the black dots are regarded as other hair follicles except the first starting point and the second starting point. The black line between the first starting point and the second starting point represents the planned path, which is composed of various hair follicle points.

[0112] It should be known that the positions of the first starting point and the second starting point can be set at other positions of the surgical area image according to actual conditions, for example, the point where the hair follicles at the upper right corner of the surgical area image are located is defined as the first starting point, and the point where the hair follicles at the lower left corner of the surgical area image are located is defined as the second starting point. Alternatively, the point where the hair follicles at the upper left corner of the surgical area image are located is defined as the second starting point, and the point where the hair follicles at the lower right corner of the surgical area image are located is defined as the first starting point.

[0113] Exemplarily, based on the surgical restricted area, the server traverses the hair follicle distribution information from the first starting point to the second starting point to generate a forward search path; based on the surgical restricted area, the server traverses the hair follicle distribution information from the second starting point to the first starting point to generate a reverse search path.

[0114] The specific process of generating the forward search path and the reverse search path is shown in the following embodiment and will not be described in detail here.

[0115] It should be noted that when the server generates the forward search path and the reverse search path based on the surgical restricted area, they can be performed simultaneously; they can also start generating the forward search path first, and then start generating the reverse search path after a period of time; they can also start generating the reverse search path first, and then start generating the forward search path after a period of time. The specific execution can be set according to the actual algorithm.

[0116] After generating the forward search path and the reverse search path, the server generates a planned path through the forward search path and the reverse search path.

[0117] It should also be noted that if the collected surgical area image is a three-dimensional image, in order to facilitate traversal of the hair follicle distribution information in the surgical area and improve traversal efficiency, the three-dimensional image can be mapped into a two-dimensional image.

[0118] The mapping relationship between the projection point (x′, y′) of a three-dimensional point (x, y, z) on a two-dimensional plane is:

[0119]

[0120] Among them, x represents the horizontal coordinate of the three-dimensional point, y represents the vertical coordinate of the three-dimensional point, z represents the vertical coordinate of the three-dimensional point, x′ represents the horizontal coordinate of the two-dimensional point, y′ represents the vertical coordinate of the two-dimensional point, and d represents the distance between the projection plane and the viewpoint.

[0121] The embodiment of the present application traverses the hair follicle distribution information of the surgical area from the first starting point and the second starting 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.

[0122] In some embodiments, based on the surgical restricted area, the server starts from the first starting point and traverses the hair follicle distribution information in the direction of the second starting point to generate a forward search path, including: determining the first adjacent node: determining at least one first adjacent node of the first starting point; judging the first passability: calculating the first distance between the first starting point and each first adjacent node, and judging whether each first adjacent node is located in the surgical restricted area; if there is a second adjacent node with a first distance greater than the first preset distance among the first adjacent nodes, the second adjacent node is eliminated; if there is a third adjacent node located in the surgical restricted area among the first adjacent nodes, the third adjacent node is eliminated; the remaining nodes among the first adjacent nodes are used as the first passable nodes; determining the first target node: calculating the path cost of each first passable node, and determining the first target node among the first passable nodes based on the path cost; using the first target node as the third starting point, and repeating the steps of determining the first adjacent node, judging the first passability, and determining the first target node until a forward search path is generated.

[0123] Optionally, the server traverses the hair follicle distribution information from the first starting point toward the second starting point based on the surgical restricted area, and the process of generating a forward search path includes: determining a first adjacent node, judging a first passability, and determining a first target node.

[0124] Determine the first adjacent node: determine at least one first adjacent node of the current node. For example, the at least one first adjacent node may include 4 first adjacent nodes, which are nodes in the four directions of the upper, lower, left, and right of the current node, and may also include 8 first adjacent nodes, which are nodes in the upper, lower, left, right, and four diagonal directions of the current node, and may also include 6 first adjacent nodes with certain directions restricted. In practical applications, the number of first adjacent nodes of the current node is determined according to specific problems. It should be noted that at the beginning of the traversal, the first starting point is taken as the current node.

[0125] Check the first accessibility: Check the accessibility of each first adjacent node. Since the first adjacent node of the current node may be located in the surgical restricted area or may be too far away from the current node, these two types of nodes should not be used as candidate target adjacent nodes.

[0126] Therefore, for each first adjacent node of the current node, the first distance between the current node and each first adjacent node should be calculated, and it should be determined whether each first adjacent node is located in the surgical restricted area; if there is a second adjacent node among the first adjacent nodes whose first distance is greater than the first preset distance, the second adjacent node will be eliminated; if there is a third adjacent node among the first adjacent nodes that is located in the surgical restricted area, the third adjacent node will be eliminated; and the remaining nodes among the first adjacent nodes will be used as the first passable nodes.

[0127] The first preset distance is a preset value, which can be set according to actual conditions.

[0128] Determining the first target node includes updating the g value, selecting the first target node, and joining the forward queue:

[0129] Update g value: Use the g value update formula to calculate the g value from the current node to each first traversable node, where the g value represents the actual path cost from the current node to the first traversable node:

[0130]

[0131] Among them, forward means starting from the first starting point and traversing in the direction of the second starting point, that is, forward traversal. forward (parent 1 ) is the g value of the current node. g forward (n 1) is from the current node to the first traversable node n 1 The actual path cost. x″ represents the horizontal coordinate of the first traversable node, and y″ represents the vertical coordinate of the first traversable node. Indicates the horizontal coordinate of the current node. Indicates the ordinate of the current node. If the path is just beginning, the first starting point and the current node are the same point.

[0132] Select the first target node: After calculating the g value of each first traversable node, select the first target node based on the f value. The f value is the sum of the g value and the h value, and the h value represents the heuristic estimate, that is, the estimated path cost from the first traversable node to the first end point. The f value represents: the comprehensive estimated cost from the current node through the first traversable node to the second starting point.

[0133] The formula for the h value is as follows:

[0134]

[0135] Among them, h forward (n 1 ) represents the estimated path cost from the first traversable node to the second starting point, that is, the estimated distance from the first traversable node to the second starting point. x″ represents the horizontal coordinate of the first traversable node, y″ represents the vertical coordinate of the first traversable node, x 2 Indicates the horizontal coordinate of the second starting point, y 2 Indicates the ordinate of the second starting point.

[0136] The formula for the f-value is as follows:

[0137] f forward (n 1 ) = g forward (n 1 )+h forward (n 1 )

[0138] Among them, f forward (n 1 ) represents the comprehensive estimated cost from the current node through the first traversable node to the second starting point.

[0139] Add to forward queue: After selecting the first target node by the f value, add the first target node to the forward queue and attach its updated g value and f value for subsequent processing.

[0140] It should be noted that the forward queue is a pre-initialized empty queue, which is used to store the first target node determined when traversing from the first starting point to the second starting point.

[0141] In the traversal process, the embodiment of the present application determines the first target node in the first traversable node based on the path cost, so as to determine a first target node from multiple first adjacent nodes, and finally uses the first target node as the next node of the current node. Since the process selects a first target node from multiple first traversable nodes based on the path cost, the path with the minimum cost is found, which further improves the efficiency and accuracy of the operation.

[0142] In some embodiments, the server traverses the hair follicle distribution information from the second starting point to the direction of the first starting point according to the surgical restricted area, and generates a reverse search path, including: determining the fourth adjacent node: determining at least one fourth adjacent node of the second starting point; judging the second accessibility: calculating the second distance between the second starting point and each fourth adjacent node, and judging whether each fourth adjacent node is located in the surgical restricted area; if there is a fifth adjacent node whose second distance is greater than the second preset distance among the fourth adjacent nodes, the fifth adjacent node is eliminated; if there is a sixth adjacent node located in the surgical restricted area among the fourth adjacent nodes, the sixth adjacent node is eliminated; the remaining nodes in the fourth adjacent nodes are used as second traversable nodes; determining the second target node: calculating the path cost of each second traversable node, and determining the second target node in the second traversable node based on the path cost; using the second target node as the fourth starting point, and repeating the steps of determining the fourth adjacent node, judging the second accessibility, and determining the second target node until a reverse search path is generated.

[0143] Optionally, based on the surgical restricted area, the server traverses the hair follicle distribution information from the second starting point in the direction of the first starting point, and the process of generating a reverse search path includes: determining a fourth adjacent node, judging the second passability, and determining a second target node.

[0144] The second preset distance is a preset value, which can be set according to actual conditions. Considering that the blood vessel distribution and hair follicle distribution in the area where the first starting point is located and the area where the second starting point is located in a surgical area are also different, the second preset distance and the first preset distance can be the same or different.

[0145] When determining the second target node, it includes updating the g value, selecting the second target node, and adding the backward queue:

[0146] Update g value: Use the g value update formula to calculate the g value from the current node to each second traversable node, where the g value represents the actual path cost from the current node to the second traversable node:

[0147]

[0148] Among them, backward means starting from the second starting point and traversing in the direction of the first starting point, that is, backward traversal. backward (parent 2 ) is the g value of the current node. g backward (n 2 ) is from the current node to the second traversable node n 2 The actual path cost. x″′ represents the horizontal coordinate of the second traversable node, y″′ represents the vertical coordinate of the second traversable node, backward Indicates the horizontal coordinate of the current node, y backward Indicates the ordinate of the current node. If the path is just beginning, the second starting point and the current node are the same point.

[0149] Select the second target node: After calculating the g value of each second traversable node, select the second target node based on the f value.

[0150] The formula for the h value is as follows:

[0151]

[0152] Among them, h backward (n 2 ) represents the estimated path cost from the second traversable node to the first starting point, that is, the estimated distance from the second traversable node to the first starting point. x″′ represents the horizontal coordinate of the second traversable node, y″′ represents the vertical coordinate of the second traversable node, x 1 Indicates the horizontal coordinate of the first starting point, y 1 Indicates the vertical coordinate of the first starting point.

[0153] The formula for the f-value is as follows:

[0154] f backward (n 2 ) = g backward (n 2 )+h backward (n 2 )

[0155] Among them, f backward (n 2 ) represents the comprehensive estimated cost from the current node through the second traversable node to the first starting point.

[0156] Add to the backward queue: After selecting the second target node by the f value, add the second target node to the backward queue and attach its updated g value and f value for subsequent processing.

[0157] It should be noted that the backward queue is a pre-initialized empty queue, which is used to store the second target node determined when traversing from the second starting point to the first starting point.

[0158] For the rest of the process, please refer to the above embodiment and will not be described again here.

[0159] In the traversal process of the embodiment of the present application, a second target node is selected from multiple second traversable nodes based on the path cost, thereby finding a path with the minimum cost, thereby further improving the efficiency and accuracy of the operation.

[0160] In some embodiments, the server generates a planned path through a forward search path and a reverse search path, including: if the forward search path and the reverse search path meet, then generating a planned path through the forward search path and the reverse search path; if the forward search path and the reverse search path do not meet, then determining a new first starting point and a new second starting point based on the forward search path and the reverse search path, and performing path planning based on the new first starting point and the new second starting point to generate a planned path.

[0161] Optionally, the hair follicle distribution in the surgical area is traversed from the first starting point and the second starting point. In addition, the distribution of blood vessels in the surgical area is intricate, and the distribution of blood vessels and hair follicles in different surgical areas is different. Therefore, during the traversal process, the forward search path and the reverse search path may or may not meet.

[0162] If the forward search path and the reverse search path meet, it indicates that there is a traversable path between the first starting point and the second starting point in the surgical area, such as Figure 4 As shown in the figure, there are meeting points in the planned path.

[0163] At this time, the forward search path and the reverse search path are connected at the meeting point to generate a planned path through the forward search path and the reverse search path. That is, the forward queue and the backward queue are merged, and the values ​​in the merged queues are used to generate a planned path.

[0164] If the forward search path and the reverse search path do not meet, it indicates that there is a blood vessel obstruction between the first starting point and the second starting point in the surgical area and they cannot be connected. At this time, the path planning algorithm will record the area where the path is blocked, and use the two points that were not successfully connected last time as the new starting points of the two blocked areas (defined as s0 and s1 points here), and then define the point farthest from the two newly generated starting points (s0 and s1) in the corresponding area as the end point (defined as e0 and e1 points here). After finding feasible paths to the starting point and the end point respectively, they are connected. At this time, it is considered that the path planning of the s0e0 area and the s1e1 area has been found.

[0165] That is, when the forward search path and the reverse search path do not meet, it is necessary to determine a new first starting point and a new second starting point based on the forward search path and the reverse search path, and perform path planning based on the new first starting point and the new second starting point to generate a planned path.

[0166] The steps for planning a path based on the new first starting point and the new second starting point are as follows:

[0167] Determine the first new starting point: take the last point in the forward search path as the fifth starting point, and take the last point in the reverse search path as the sixth starting point;

[0168] Determine a second new starting point: determine a seventh starting point of the fifth starting point, and determine an eighth starting point of the sixth starting point;

[0169] Traversing: based on the surgical forbidden area, starting from the fifth starting point, traversing the hair follicle distribution information in the direction of the seventh starting point to generate a first sub-planning path; and based on the surgical forbidden area, starting from the seventh starting point, traversing the hair follicle distribution information in the direction of the fifth starting point to generate a second sub-planning path;

[0170] Furthermore, based on the surgical forbidden area, starting from the sixth starting point, the hair follicle distribution information is traversed in the direction of the eighth starting point to generate a third sub-planning path; and based on the surgical forbidden area, starting from the eighth starting point, the hair follicle distribution information is traversed in the direction of the sixth starting point to generate a fourth sub-planning path;

[0171] If the first sub-planning path and the second sub-planning path do not meet, repeating the steps of determining a new starting point, determining a new end point, and traversing until the newly generated first sub-planning path and the newly generated second sub-planning path meet;

[0172] If the third sub-planning path and the fourth sub-planning path do not meet, repeating the steps of determining the first new starting point, determining the second new starting point and traversing until the newly generated third sub-planning path and the newly generated fourth sub-planning path meet;

[0173] Generate an initial planning path based on the encountered sub-planning paths.

[0174] Therefore, in a surgical area, there may be multiple independent planning paths, and a planning path can be regarded as a hair removal process.

[0175] The embodiment of the present application takes into account that when planning the path of the surgical area, there may be a situation where the paths meet or do not meet. In the 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.

[0176] In some embodiments, considering that the image boundaries of different patients or images corresponding to different surgical areas of the patients are exactly where the blood vessels are distributed, the blood vessel positions should be avoided at this time. Therefore, when the server determines the starting point of the planned path based on the hair follicle distribution information, the path starting point should be determined in the non-vascular area.

[0177] Therefore, when the server determines the path starting point of the planned path according to the hair follicle distribution information, it first determines the initial path starting point of the planned path according to the hair follicle distribution information. If the initial path starting point is not in the surgical restricted area, the initial path starting point is used as the path starting point; if the initial path starting point is in the surgical restricted area, the hair follicle distribution information is searched with the initial path starting point as the center and the eighth preset distance as the radius, and the point that is within the search area, closest to the initial path starting point, and not in the surgical restricted area is used as the path starting point.

[0178] The eighth preset distance is a preset value, which can be set according to actual conditions.

[0179] Similarly, since the server can determine the first starting point and the second starting point of the planned path through the hair follicle distribution information in the surgical area image, the first starting point and the second point should also be determined in the non-vascular area.

[0180] At this time, when the server determines the first starting point and the second starting point of the planned path according to the hair follicle distribution information, the server first determines the initial first starting point and the initial second starting point according to the hair follicle distribution information. In order to find the longest continuous path in the surgical area to the greatest extent, the points corresponding to the two hair follicles farthest apart in the hair follicle distribution information are used as the initial first starting point and the initial second starting point; if the initial first starting point and the initial second starting point are not in the surgical restricted area, the initial first starting point is used as the first starting point, and the initial second starting point is used as the second starting point.

[0181] If the initial first starting point is located in the surgical restricted area, the hair follicle distribution information is searched with the initial first starting point as the center of the circle and the third preset distance as the radius, and the point that is within the search area, closest to the initial starting point, and not in the surgical restricted area is used as the first starting point; if the initial second starting point is located in the surgical restricted area, the hair follicle distribution information is searched with the initial second starting point as the center of the circle and the fourth preset distance as the radius, and the point that is within the search area, closest to the initial end point, and not in the surgical restricted area is used as the second starting point.

[0182] The third preset distance and the fourth preset distance are preset values, and the third preset distance and the fourth preset distance may be the same or different. Exemplarily, one fifth of the straight-line distance between the initial first starting point and the initial second starting point is taken as the third preset distance and the fourth preset distance.

[0183] When determining the path starting point, the first starting point or the second starting point, the embodiment of the present application also needs to determine whether the path starting point, the first starting point or the second starting point is in the surgical restricted area. If it is in the surgical restricted area, it is necessary to redetermine it near the path starting point, the first starting point or the second starting point, so that the path starting point, the first starting point and the second starting point are not in the surgical restricted area, thereby reducing the damage to the blood vessels during the operation and improving the efficiency and accuracy of the operation.

[0184] In some embodiments, the server determines a surgical restricted area based on the blood vessel distribution information, including: the server parses the blood vessel distribution information to obtain the position information of each blood vessel in the blood vessel distribution information; the server determines the position of each blood vessel based on the position information of each blood vessel, and takes the blood vessel position as the center and the surrounding area within a fifth preset distance from the blood vessel position as the surgical restricted area.

[0185] Optionally, when the server determines the surgical restricted area based on the blood vessel distribution information, since the server will parse the surgical area image, the blood vessel distribution information in the surgical area can be obtained, and the position information of each blood vessel in the surgical area can be obtained based on the blood vessel distribution information.

[0186] See also Figure 3 As shown in the content, the embodiment of the present application determines the surgical restricted area based on the position information of each blood vessel. For example, taking the position of the blood vessel as the center, the surrounding area within the fifth preset distance from the blood vessel position is regarded as the surgical restricted area.

[0187] The fifth preset distance is a pre-set distance, which can be flexibly set based on the specific situation of the surgical area of ​​the patient. For example, the blood vessel position and the surrounding area within 3-5 mm are set as the surgical restricted area.

[0188] The embodiment of the present application sets a surgical restricted area so that during path planning, blood vessels and the surrounding areas of the blood vessels are avoided as much as possible, thereby reducing frequent damage to blood vessels and improving surgical efficiency and accuracy.

[0189] In some embodiments, the server obtains an image of the surgical area, including: the server obtains a first image captured by a near-infrared imager and a second image captured by a visual system; the first image and the second image are images captured when the near-infrared imager is turned on; the server fuses the first image and the second image to generate an image of the surgical area.

[0190] Optionally, during the operation, it is necessary to avoid the blood vessels in the operation area as much as possible, so the acquired image of the operation area is an image acquired when the near-infrared imager is turned on.

[0191] Because near-infrared imagers also have the function of imaging, the optical sensor in the near-infrared imager captures the reflected near-infrared light and converts it into electrical signals, which can be converted into digital image data after analog-to-digital conversion.

[0192] Therefore, the server can obtain the image captured by the near infrared imager as the first image and the image captured by the visual system as the second image, wherein the first image is a high contrast image of blood vessels and the second image is a distribution image of blood vessels and hair follicles.

[0193] The first image and the second image are fused to generate a surgical area image. Exemplarily, the first image and the second image are fused using an image fusion method based on deep learning. The image fusion method based on deep learning includes: convolutional neural network (CNN), autoencoder, GANs or transformer model, etc.

[0194] Alternatively, the first image and the second image may be superimposed and fused to make the blood vessel distribution in the surgical area image clearer.

[0195] By fusing the first image and the second image to generate a surgical area image, the blood vessel position in the surgical area image is more accurate, and the difference between the blood vessels and the hair follicles is more obvious, thereby improving surgical efficiency and accuracy.

[0196] Optionally, when the near-infrared imager is turned on, the third image captured by the visual system can be used as the surgical area image.

[0197] In some embodiments, after the server generates a planned path for hair follicle extraction based on the hair follicle distribution information and the surgical restricted area, the method further includes: if there is an undesirable target point in the planned path, the undesirable target point is eliminated; the undesirable target point is used to represent the point where the hair follicles are not extracted during the hair follicle extraction surgery; or if there is an undesirable target point in the planned path, the midpoint between the undesirable target point and the next target point, and at least one seventh adjacent node between the undesirable target point and the next target point and adjacent to the undesirable target point are determined; the seventh adjacent node whose distance to the midpoint is less than the sixth preset distance is used as a replacement point for the undesirable target point, so as to dynamically adjust the planned path according to the replacement point; the undesirable target point is used to represent the point where the hair follicles are not extracted during the hair follicle extraction surgery.

[0198] Optionally, during the actual execution of the hair follicle extraction surgery based on the planned path, the patient may move due to body discomfort or anxiety, resulting in changes in the position of the patient's head and elastic deformation of the scalp; or movement of tissue during the hair follicle extraction process; or environmental conditions in the operating room, such as light, temperature, and humidity, may also change during the operation, resulting in deviations between the pre-planned path and the actual hair follicle position.

[0199] Therefore, after the server generates the planned path for hair follicle extraction based on the hair follicle distribution information and the surgical restricted area, there may be undesirable target points in the actual operation. In this case, in order to ensure the normal operation and reduce the impact of the surgical operation on the blood vessels, the planned path needs to be dynamically adjusted to improve the efficiency and accuracy of the operation. Among them, the undesirable target point is used to represent the point where the hair follicle is not extracted during the hair follicle extraction operation.

[0200] If there are undesirable target points in the planned path, the undesirable target points will be eliminated. By eliminating the undesirable target points in the planned path, the entire operation can still be carried out according to the planned path as a whole, thereby improving the stability of the operation.

[0201] Alternatively, if there is an undesirable target point in the planned path, the midpoint between the undesirable target point and the next target point, as well as at least one seventh adjacent node between the undesirable target point and the next target point, is determined; the seventh adjacent node whose distance to the midpoint is less than the sixth preset distance is used as a replacement point for the undesirable target point, so as to dynamically adjust the planned path according to the replacement point.

[0202] By using the midpoint between the unattainable target point and the next adjacent target point as the reference point, the distance calculation can be simplified, thereby reducing the computational complexity. In addition, the midpoint can be regarded as the balance point between the two points. Using the midpoint as the reference point can, to a certain extent, avoid the surgical robot from moving in large positions to obtain points during hair follicle extraction.

[0203] Among them, the sixth preset distance is a preset value, which can be specifically set according to actual conditions.

[0204] Optionally, when selecting replacement points, adjacent points whose distance to the undesirable target point is less than a seventh preset distance may also be selected as replaceable points.

[0205] Figure 5 A schematic diagram of a path planning device for hair follicle extraction provided in an embodiment of the present application is shown in FIG. Figure 5 As shown, the device includes: an acquisition module 501, a determination module 502 and a generation module 503; wherein,

[0206] The acquisition module 501 is used to acquire the surgical area image; the surgical area image includes blood vessel distribution information and hair follicle distribution information; the determination module 502 is used to determine the surgical forbidden area based on the blood vessel distribution information; the surgical forbidden area is used to characterize the area where the blood vessels are located in the surgical area; the generation module 503 is used to generate a planning path for hair follicle extraction based on the hair follicle distribution information and the surgical forbidden area.

[0207] Based on the above embodiment, the generation module 503 is specifically used to: determine the path starting point of the planned path according to the hair follicle distribution information; based on the surgical restricted area, traverse the hair follicle distribution information from the path starting point to generate a planned path for hair follicle extraction.

[0208] On the basis of the above embodiment, the path starting point includes a first starting point and a second starting point; the generation module 503 is specifically used to: based on the surgical forbidden area, traverse the hair follicle distribution information from the first starting point in the direction of the second starting point to generate a forward search path; based on the surgical forbidden area, traverse the hair follicle distribution information from the second starting point in the direction of the first starting point to generate a reverse search path; generate a planned path through the forward search path and the reverse search path.

[0209] On the basis of the above embodiments, the generation module 503 is specifically used to: determine the first adjacent node: determine at least one first adjacent node of the first starting point; judge the first passability: calculate the first distance between the first starting point and each first adjacent node, and judge whether each first adjacent node is located in the surgical restricted area; if there is a second adjacent node whose first distance is greater than the first preset distance among the first adjacent nodes, the second adjacent node is eliminated; if there is a third adjacent node located in the surgical restricted area among the first adjacent nodes, the third adjacent node is eliminated; the remaining nodes among the first adjacent nodes are used as the first passable nodes; determine the first target node: calculate the path cost of each first passable node, and determine the first target node among the first passable nodes based on the path cost; use the first target node as the third starting point, and repeat the steps of determining the first adjacent node, judging the first passability, and determining the first target node until a forward search path is generated.

[0210] On the basis of the above embodiment, the generation module 503 is specifically used to: determine the fourth adjacent node: determine at least one fourth adjacent node of the second starting point; judge the second accessibility: calculate the second distance between the second starting point and each fourth adjacent node, and judge whether each fourth adjacent node is located in the surgical restricted area; if there is a fifth adjacent node whose second distance is greater than the second preset distance among the fourth adjacent nodes, the fifth adjacent node is eliminated; if there is a sixth adjacent node located in the surgical restricted area among the fourth adjacent nodes, the sixth adjacent node is eliminated; the remaining nodes in the fourth adjacent nodes are used as second accessible nodes; determine the second target node: calculate the path cost of each second accessible node, and determine the second target node in the second accessible node based on the path cost; use the second target node as the fourth starting point, and repeat the steps of determining the fourth adjacent node, judging the second accessibility, and determining the second target node until a reverse search path is generated.

[0211] Based on the above embodiment, the generation module 503 is specifically used for: if the forward search path and the reverse search path meet, then generating a planned path through the forward search path and the reverse search path; if the forward search path and the reverse search path do not meet, then determining a new first starting point and a new second starting point based on the forward search path and the reverse search path, and performing path planning based on the new first starting point and the new second starting point to generate a planned path.

[0212] Based on the above embodiment, the determination module 502 is specifically used to: parse the blood vessel distribution information to obtain the position information of each blood vessel in the blood vessel distribution information; determine the position of each blood vessel based on the position information of each blood vessel, and use the blood vessel position as the center and the surrounding area within a fifth preset distance from the blood vessel position as a surgical restricted area.

[0213] Based on the above embodiments, the acquisition module 501 is specifically used to: acquire a first image captured by a near-infrared imager and a second image captured by a visual system; the first image and the second image are images captured when the near-infrared imager is turned on; the first image and the second image are merged to generate an image of the surgical area; or acquire a third image captured by the visual system when the near-infrared imager is turned on as an image of the surgical area.

[0214] On the basis of the above embodiment, the device also includes a path adjustment module, which is used to: if there is an undesirable target point in the planned path, the undesirable target point is eliminated; the undesirable target point is used to represent the point where the hair follicles are not extracted during the hair follicle extraction surgery; or if there is an undesirable target point in the planned path, the midpoint between the undesirable target point and the next target point, and at least one seventh adjacent node between the undesirable target point and the next target point and adjacent to the undesirable target point are determined; the seventh adjacent node whose distance to the midpoint is less than the sixth preset distance is used as a replacement point for the undesirable target point, so as to dynamically adjust the planned path according to the replacement point; the undesirable target point is used to represent the point where the hair follicles are not extracted during the hair follicle extraction surgery.

[0215] It should be understood that the device corresponds to the above-mentioned path planning method embodiment for hair follicle extraction, 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, and the detailed description is appropriately omitted here to avoid repetition. The device includes at least one software function module that can be stored in a memory in the form of software or firmware or solidified in the operating system (OS) of the device.

[0216] Figure 6 A structural diagram of a hair retrieval system provided in an embodiment of the present application is shown in FIG. Figure 6 As shown, the system 60 includes an imaging device 61, a processor 62 and a robotic arm 63; wherein the imaging device 61 and the robotic arm 63 are respectively connected to the processor 62 for communication; the imaging device 61 is used to collect a vascular distribution image of the surgical area, and send the vascular distribution image to the processor 62; the processor 62 is used to determine a surgical restricted area in the surgical area based on the vascular distribution image, and control the robotic arm 63 to avoid the surgical restricted area and perform acquisition in the surgical area.

[0217] In the implementation process, the imaging device 61 includes at least one of a near-infrared imaging device, an optical imaging device, an ultrasonic imaging device, a fluorescence imaging device, an optical coherence tomography device, a magnetic resonance imaging device, an electronic computer tomography device, a digital subtraction angiography device, a direct digital X-ray device, and a computer X-ray camera system. The imaging device can be specifically selected according to actual conditions, and this application does not make specific limitations on this.

[0218] The imaging device 61 is arranged above the surgical area to image the blood vessel distribution in the surgical area and obtain a blood vessel distribution image. The above can be directly above or obliquely above, which can be set according to actual conditions, as long as the imaging device can image the surgical area at its setting position.

[0219] The vascular distribution image refers to a visualized image of the vascular network obtained through medical imaging technology, including at least one of the following information: vascular morphology, blood flow information, vascular density, abnormal characteristics, tissue background, branching structure, etc.

[0220] The processor 62 is responsible for executing program instructions, data processing, controlling other hardware devices, etc. The processor 62 can be an integrated circuit chip with signal processing capabilities. The processor 62 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. It can implement or execute various methods, steps and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc.

[0221] The mechanical arm 63 is a part of the surgical robot system. Through high-precision control of the mechanical arm, it can automatically operate according to the doctor's instructions or preset programs.

[0222] The communication connection can be a wired connection or a wireless connection, and the specific communication connection mode can be set according to actual conditions.

[0223] In one embodiment, the imaging device 61 and the processor 62 may be both disposed on the robotic arm 63. The integrated structure not only simplifies the structure of the hair removal system, but also can obtain more accurate images of the blood vessel distribution in the surgical area, thereby improving the surgical efficiency and accuracy.

[0224] Optionally, the imaging device 61 and the robotic arm 63 are integrated, and the processor 62 is a part of the computer hardware system. By arranging the imaging device on the robotic arm, the imaging device adaptively images the surgical area as the robotic arm moves, thereby obtaining a more accurate image of the blood vessel distribution in the surgical area, thereby improving the surgical efficiency and accuracy.

[0225] Optionally, the processor 62 and the mechanical arm 63 are integrated, and the imaging device 61 is separately provided. By separately providing the imaging device, the surgical area can be flexibly imaged, which is convenient for doctors to perform surgery.

[0226] Optionally, the imaging device 61, the processor 62 and the mechanical arm 63 are independently arranged. By independently arranging each device, the flexibility and scalability of the hair retrieval system are improved, and maintenance and upgrading are facilitated.

[0227] During the hair removal process, it is necessary to avoid the blood vessels in the surgical area as much as possible to reduce damage to the blood vessels. There are also accompanying nerves around the blood vessels. Due to the physiological characteristics of the accompanying nerves, if the accompanying nerves are damaged, it will still affect the surgical effect.

[0228] However, when imaging the surgical area using an imaging device, although a vascular distribution image can be obtained and the processor can obtain vascular distribution information of the surgical area through the vascular distribution image, it is difficult to determine the location of the accompanying nerves around the blood vessels. In addition, during the operation, a tolerance space should be given to further reduce the impact on the blood vessels and improve the efficiency and accuracy of the operation.

[0229] Therefore, in order to reduce vascular damage and accompanying nerve damage during surgery, it is necessary to determine a surgical forbidden area based on the vascular distribution image. The surgical forbidden area is used to characterize the area where the blood vessels are located in the surgical area, which includes the blood vessels and the area near the blood vessels.

[0230] Exemplarily, the imaging device is a near-infrared imaging device, i.e., a near-infrared imager, and the imaging device, the processor and the mechanical arm are integrated.

[0231] Near-infrared light is emitted to the surgical area through a near-infrared imager, and the vascular distribution image of the surgical area is collected and sent to the processor. The processor determines the surgical restricted area of ​​the surgical area based on the vascular distribution image, and controls the robotic arm to avoid the surgical restricted area and perform hair removal in the surgical area.

[0232] The embodiment of the present application collects the vascular distribution image of the surgical area through an imaging device, and sends the collected vascular distribution image to the processor, so that the processor determines the surgical restricted area through the vascular distribution image, and controls the robotic arm to avoid the surgical restricted area to perform hair extraction in the surgical area, thereby reducing the frequent occurrence of vascular damage during the hair removal process and improving surgical efficiency and accuracy.

[0233] In some embodiments, the system also includes a visual device, which is used to capture an image of the surgical area when the imaging device is turned on; the image of the surgical area includes hair follicle distribution information; the processor is also used to generate a planned path for hair follicle extraction based on the hair follicle distribution information and the surgical restricted area, and control the robotic arm to extract hair follicles in the surgical area based on the planned path for hair follicle extraction.

[0234] The visual device is used to collect images of the operating area when the imaging device is turned on, and send the collected images of the operating area to the processor for processing.

[0235] The visual device can be a binocular camera / trinocular camera, a camera, or other types of equipment with image acquisition capabilities. The visual device can also be considered as a visual system.

[0236] The visual device and the imaging device can be an integrated device on the surgical robot, or they can be detachable independent devices installed at a suitable position on the surgical robot, or they can be independent of the surgical robot and installed on other surgical equipment. The specific settings can be made according to the actual situation, as long as the shooting range of the visual device and the imaging device can cover the surgical area.

[0237] For example, based on Figure 2 In the content shown, the visual device and the near-infrared imager are independently arranged above the surgical area to collect images of the surgical area, wherein the surgical area includes blood vessels and hair follicles to be harvested.

[0238] The hair follicle distribution information includes one or more of the position information, posture information, and hair follicle distribution status of each hair follicle in the surgical area.

[0239] During the execution process, the processor generates a planned path for hair follicle extraction according to the hair follicle distribution information and the surgical restricted area, and controls the robotic arm to extract the hair follicles in the surgical area based on the planned path for hair follicle extraction. For the specific execution process, please refer to the above-mentioned embodiment of the path planning method for hair follicle extraction, which will not be repeated here.

[0240] The embodiment of the present application determines the hair follicle distribution information through the surgical area image collected by the visual device, so that the processor generates a planning path for hair follicle extraction based on the hair follicle distribution information and the surgical restricted area, and controls the robotic arm to extract the hair follicles in the surgical area based on the hair follicle extraction planning path. On the basis of reducing the frequent occurrence of vascular damage during the hair removal process, the hair follicles in the surgical area can also be evenly extracted, thereby improving the efficiency and accuracy of the operation.

[0241] In some embodiments, the system further includes a display device, which is communicatively connected to the visual device, and the display device is used to receive and display the surgical area image sent by the visual device.

[0242] The display device is used to display information, images or videos. The display device can be any one or more of a liquid crystal display, a light emitting diode display, an organic light emitting diode display, a plasma display, a projector, a virtual reality head mounted display, a curved display, a 3D display, etc. The appropriate display can be selected according to the actual situation, and this application does not make any specific limitation on this.

[0243] The communication connection between the display device and the visual device can be a wired connection or a wireless connection, which is set according to actual conditions.

[0244] The embodiment of the present application facilitates surgical personnel to observe the condition of the patient's surgical area in real time through a display device, thereby improving surgical efficiency and accuracy.

[0245] In some embodiments, based on the above definition of the vascular distribution image and the information contained therein, it can be known that the vascular distribution information can be determined based on the vascular distribution image; therefore, determining the surgical forbidden area of ​​the surgical area based on the vascular distribution image by the processor includes: determining the surgical forbidden area based on the vascular distribution information by the processor; the surgical forbidden area is used to characterize the area where the blood vessels are located in the surgical area.

[0246] The blood vessel distribution information includes one or more of the following information: location information of each blood vessel in the surgical area, thickness information of the blood vessel, type information of the blood vessel, and the like.

[0247] In the embodiment of the present application, the blood vessel distribution information reflects the distribution of blood vessels in the surgical area. Therefore, the surgical restricted area is determined by the blood vessel distribution information in the blood vessel distribution image, which improves the accuracy of the surgical restricted area, thereby improving the surgical efficiency and accuracy.

[0248] In some embodiments, the processor determines a surgical restricted area based on the blood vessel distribution information, including: the processor parses the blood vessel distribution information to obtain the position information of each blood vessel in the blood vessel distribution information; the processor determines the position of each blood vessel based on the position information of each blood vessel, and takes the blood vessel position as the center and the surrounding area within a ninth preset distance from the blood vessel position as the surgical restricted area.

[0249] For the specific execution process of the processor determining the surgical restricted area based on the blood vessel distribution information, please refer to the above-mentioned path planning method for hair follicle extraction, in which the server determines the surgical restricted area based on the blood vessel distribution information, which will not be repeated here.

[0250] The embodiment of the present application sets a surgical restricted area so that when removing hair, blood vessels and the surrounding areas of the blood vessels are avoided as much as possible, thereby reducing frequent damage to blood vessels and improving surgical efficiency and accuracy.

[0251] In some embodiments, the processor is also used to generate a planned path for hair follicle extraction based on the hair follicle distribution information and the surgical restricted area, including: the processor determines the path starting point of the planned path based on the hair follicle distribution information; the processor traverses the hair follicle distribution information starting from the path starting point based on the surgical restricted area to generate a planned path for hair follicle extraction.

[0252] The specific execution process of the processor generating a planned path for hair follicle extraction according to the hair follicle distribution information and the surgical restricted area can be found in the above-mentioned embodiment of a path planning method for hair follicle extraction, which will not be described in detail here.

[0253] When the embodiment of the present application generates a planned path, the path starting point of the planned path is determined by the hair follicle distribution information, so that the traversal starts from the path starting point. In this process, since the starting point of the traversal is combined with the specific situation of the hair follicle distribution, rather than randomly selecting a path starting point to start the traversal, not only personalized path planning is achieved, a good path starting point can also reduce unnecessary repeated operations during the operation, thereby improving the accuracy of path planning, thereby reducing the damage to blood vessels during the operation, and improving the efficiency and accuracy of the operation.

[0254] In some embodiments, the path starting point includes a ninth starting point and a tenth starting point; the processor traverses the hair follicle distribution information from the path starting point based on the surgical restricted area to generate a planned path for hair follicle extraction, including: the processor traverses the hair follicle distribution information from the ninth starting point in the direction of the tenth starting point based on the surgical restricted area to generate a forward search path; the processor traverses the hair follicle distribution information from the tenth starting point in the direction of the ninth starting point according to the surgical restricted area to generate a reverse search path; the processor generates a planned path through the forward search path and the reverse search path.

[0255] For the specific process of using a processor to traverse the hair follicle distribution information from the path starting point to generate a planned path for hair follicle extraction, please refer to the above-mentioned embodiment of a path planning method for hair follicle extraction, which will not be repeated here.

[0256] The embodiment of the present application traverses the hair follicle distribution information of the surgical area from the ninth starting point and the tenth starting 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.

[0257] In some embodiments, the processor is also used to: if there is an undesirable target point in the planned path, then the undesirable target point is eliminated; the undesirable target point is used to represent the point where the hair follicles are not extracted during the hair follicle extraction surgery; or, if there is an undesirable target point in the planned path, then determine the midpoint between the undesirable target point and the next target point, and at least one eighth adjacent node between the undesirable target point and the next target point that is adjacent to the undesirable target point; use the eighth adjacent node whose distance to the midpoint is less than the tenth preset distance as a replacement point for the undesirable target point, so as to dynamically adjust the planned path according to the replacement point; the undesirable target point is used to represent the point where the hair follicles are not extracted during the hair follicle extraction surgery.

[0258] For the specific execution process of the planned path having undesirable target points, please refer to the embodiment of the path planning method for hair follicle extraction mentioned above, which will not be repeated here.

[0259] The embodiments of the present application take into account that in actual surgery, there may be undesirable target points in the planned path. In order to ensure the normal operation and reduce the impact of the surgical operation on the blood vessels, the planned path needs to be dynamically adjusted to improve the efficiency and accuracy of the operation.

[0260] An embodiment of the present application provides a hair removal method, the method comprising: removing hair according to a planned path for hair follicle extraction; the planned path for hair follicle extraction is obtained by any embodiment of the above-mentioned path planning method for hair follicle extraction.

[0261] The specific process of how to generate the planning path for hair follicle extraction can be found in the above embodiment and will not be repeated here.

[0262] After determining the planned path for hair follicle extraction, the surgical robot extracts the hair follicles based on the planned path, thereby achieving hair removal.

[0263] The embodiment of the present application performs hair removal by planning a path, thereby improving the efficiency and accuracy of hair removal during surgery.

[0264] Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application, such as Figure 7 As shown, the electronic device includes a processor 701 (processor), a memory 702 (memory) and a bus 703; wherein the processor 701 and the memory 702 communicate with each other through the bus 703. The processor 701 is used to call the program instructions in the memory 702 to execute the methods provided by the above-mentioned method embodiments.

[0265] The processor 701 may be an integrated circuit chip with signal processing capabilities. The processor 701 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. It may implement or execute various methods, steps and logic block diagrams disclosed in the embodiments of the present application. A general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0266] The memory 702 may include but is not limited to random access memory (RAM), read only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable read-only memory (EEPROM), etc.

[0267] 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.

[0268] 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.

[0269] 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.

[0270] 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.

[0271] 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 separately, or two or more modules may be integrated to form an independent part.

[0272] 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 removal system, characterized in that: The system comprises: an imaging device, a mechanical arm and a processor; the imaging device and the mechanical arm are respectively connected to the processor for communication; The imaging device is used to collect a blood vessel distribution image of the surgical area and send the blood vessel distribution image to the processor; The processor is used to determine a surgical restricted area of ​​the surgical area based on the blood vessel distribution image, and control the robotic arm to avoid the surgical restricted area and perform hair removal in the surgical area.

2. The system according to claim 1, characterized in that The system also includes a visual device, which is used to capture an image of the surgical area when the imaging device is turned on; the image of the surgical area includes hair follicle distribution information; the processor is also used to generate a planned path for hair follicle extraction based on the hair follicle distribution information and the surgical restricted area, and control the robotic arm to extract hair follicles in the surgical area based on the planned path for hair follicle extraction.

3. The system according to claim 2, characterized in that The system further comprises a display device, which is communicatively connected with the visual device and is used for receiving and displaying the surgical area image sent by the visual device.

4. The system according to claim 1, characterized in that The imaging device includes at least one of a near-infrared imaging device, an optical imaging device, an ultrasonic imaging device, a fluorescence imaging device, an optical coherence tomography device, a magnetic resonance imaging device, an electronic computed tomography device, a digital subtraction angiography device, a direct digital X-ray device, and a computer X-ray camera system.

5. The system according to any one of claims 1 to 4, characterized in that: The imaging device is arranged on the mechanical arm.

6. The system according to claim 1, characterized in that The blood vessel distribution image includes blood vessel distribution information; The processor is used to determine a surgical restricted area of ​​the surgical area based on the blood vessel distribution image, including: The processor determines a surgical restricted area based on the blood vessel distribution information; The surgical exclusion zone is used to characterize the area in the surgical region where blood vessels are located.

7. The system according to claim 6, characterized in that The processor determines a surgical restricted area based on the blood vessel distribution information, including: The processor analyzes the blood vessel distribution information to obtain position information of each blood vessel in the blood vessel distribution information; The processor determines the position of each blood vessel based on the position information of each blood vessel, takes the blood vessel position as the center, and uses the surrounding area within a ninth preset distance from the blood vessel position as the surgical restricted area.

8. The system according to claim 2, characterized in that The processor is further used to generate a planning path for hair follicle extraction according to the hair follicle distribution information and the surgical restricted area, including: The processor determines a path starting point of the planned path according to the hair follicle distribution information; The processor traverses the hair follicle distribution information starting from the path starting point based on the surgical restricted area to generate a planned path for hair follicle extraction.

9. The system according to claim 8, characterized in that The path starting points include a ninth starting point and a tenth starting point; The processor traverses the hair follicle distribution information based on the surgical restricted area starting from the path starting point to generate a planned path for hair follicle extraction, including: The processor traverses the hair follicle distribution information from the ninth starting point to the tenth starting point based on the surgical restricted area to generate a forward search path; The processor traverses the hair follicle distribution information from the tenth starting point toward the ninth starting point according to the surgical restricted area to generate a reverse search path; The processor generates the planned path through the forward search path and the reverse search path.

10. The system according to any one of claims 8-9, characterized in that: The processor is further configured to: If there are undesirable target points in the planned path, the undesirable target points are removed; the undesirable target points are used to represent the points where the hair follicles are located that are not to be extracted during the hair follicle extraction surgery; or If there is an undesirable target point in the planned path, the midpoint between the undesirable target point and the next target point, and at least one eighth adjacent node between the undesirable target point and the next target point and adjacent to the undesirable target point are determined; the eighth adjacent node whose distance to the midpoint is less than the tenth preset distance is used as a replacement point of the undesirable target point, so as to dynamically adjust the planned path according to the replacement point; the undesirable target point is used to represent the point where the hair follicles are not extracted during the hair follicle extraction surgery.

11. A path planning method for hair follicle extraction, characterized in that: The method comprises: Acquire an image of the surgical area; the image of the surgical area includes blood vessel distribution information and hair follicle distribution information; Determine a surgical forbidden zone based on the blood vessel distribution information; the surgical forbidden zone is used to characterize the area where the blood vessels are located in the surgical area; A planning path for hair follicle extraction is generated according to the hair follicle distribution information and the surgical restricted area.

12. The method according to claim 11, characterized in that The generating a planning path for hair follicle extraction according to the hair follicle distribution information and the surgical restricted area comprises: Determining a path starting point of the planned path according to the hair follicle distribution information; Based on the surgical restricted area, the hair follicle distribution information is traversed starting from the path starting point to generate a planned path for hair follicle extraction.

13. The method according to claim 12, characterized in that The path starting point includes a first starting point and a second starting point; The step of traversing the hair follicle distribution information based on the surgical restricted area from the path starting point to generate a planned path for hair follicle extraction includes: Based on the surgical forbidden area, starting from the first starting point, traversing the hair follicle distribution information in the direction of the second starting point to generate a forward search path; According to the surgical forbidden area, starting from the second starting point, traversing the hair follicle distribution information in the direction of the first starting point to generate a reverse search path; The planned path is generated through the forward search path and the reverse search path.

14. The method according to claim 13, characterized in that The step of traversing the hair follicle distribution information from the first starting point toward the second starting point based on the surgical restricted area to generate a forward search path includes: Determine a first adjacent node: determine at least one first adjacent node of the first starting point; Determine the first passability: calculate the first distance between the first starting point and each of the first adjacent nodes, and determine whether each of the first adjacent nodes is located in the surgical restricted area; if there is a second adjacent node whose first distance is greater than the first preset distance among the first adjacent nodes, the second adjacent node is eliminated; if there is a third adjacent node located in the surgical restricted area among the first adjacent nodes, the third adjacent node is eliminated; and the remaining nodes among the first adjacent nodes are used as first passable nodes; Determining a first target node: calculating a path cost of each of the first traversable nodes, and determining a first target node among the first traversable nodes based on the path cost; Taking the first target node as the third starting point, repeating the steps of determining the first adjacent node, judging the first accessibility, and determining the first target node until a forward search path is generated; or The step of traversing the hair follicle distribution information from the second starting point in the direction of the first starting point according to the surgical forbidden area to generate a reverse search path includes: Determine a fourth adjacent node: determine at least one fourth adjacent node of the second starting point; Determine the second passability: calculate the second distance between the second starting point and each of the fourth adjacent nodes, and determine whether each of the fourth adjacent nodes is located in the surgical restricted area; if there is a fifth adjacent node whose second distance is greater than the second preset distance among the fourth adjacent nodes, the fifth adjacent node is eliminated; if there is a sixth adjacent node located in the surgical restricted area among the fourth adjacent nodes, the sixth adjacent node is eliminated; and the remaining nodes among the fourth adjacent nodes are used as second passable nodes; Determining a second target node: calculating a path cost of each of the second traversable nodes, and determining a second target node among the second traversable nodes based on the path cost; Taking the second target node as a fourth starting point, repeating the steps of determining a fourth adjacent node, determining the second accessibility, and determining the second target node until a reverse search path is generated; or The generating the planned path by using the forward search path and the reverse search path comprises: If the forward search path and the reverse search path meet, generating the planned path through the forward search path and the reverse search path; If the forward search path and the reverse search path do not meet, a new first starting point and a new second starting point are determined based on the forward search path and the reverse search path, and path planning is performed according to the new first starting point and the new second starting point to generate a planned path.

15. The method according to claim 11, characterized in that The step of determining a surgical restricted area based on the blood vessel distribution information comprises: parsing the blood vessel distribution information to obtain position information of each blood vessel in the blood vessel distribution information; The position of each blood vessel is determined based on the position information of each blood vessel, and the surrounding area within a fifth preset distance from the blood vessel position is used as the surgical restricted area with the blood vessel position as the center.

16. The method according to claim 11, characterized in that The step of acquiring the surgical area image comprises: Acquire a first image captured by a near-infrared imager and a second image captured by a visual system; the first image and the second image are images captured when the near-infrared imager is turned on; fuse the first image and the second image to generate the surgical area image; or The third image acquired by the visual system when the near-infrared imager is turned on is obtained as the surgical area image.

17. The method according to any one of claims 11 to 16, characterized in that: After generating a planning path for hair follicle extraction according to the hair follicle distribution information and the surgical restricted area, the method further includes: If there are undesirable target points in the planned path, the undesirable target points are removed; the undesirable target points are used to represent the points where the hair follicles are located that are not to be extracted during the hair follicle extraction surgery; or If there is an undesirable target point in the planned path, the midpoint between the undesirable target point and the next target point, and at least one seventh adjacent node between the undesirable target point and the next target point and adjacent to the undesirable target point are determined; the seventh adjacent node whose distance from the midpoint is less than a sixth preset distance is used as a replacement point for the undesirable target point, so as to dynamically adjust the planned path according to the replacement point; the undesirable target point is used to represent the point where the hair follicles are not extracted during the hair follicle extraction surgery.

18. A hair removal method, characterized in that: The method comprises: Hair is removed according to a planned path for hair follicle extraction; the planned path for hair follicle extraction is obtained by any method described in claims 11-17.

19. A path planning device for hair follicle extraction, characterized in that: The device comprises: An acquisition module, used for acquiring an image of the surgical area; the image of the surgical area includes blood vessel distribution information and hair follicle distribution information; A determination module, configured to determine a surgical forbidden area based on the blood vessel distribution information; the surgical forbidden area is used to characterize an area in a surgical area where blood vessels are located; A generating module is used to generate a planning path for hair follicle extraction according to the hair follicle distribution information and the surgical restricted area.

20. 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 11 to 18 is performed.

21. 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 11 to 18 is executed.

22. 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 11 to 18 is executed.

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