Intelligent precise positioning system for hair follicles in micro-needle art hair transplantation

Abstract

The invention discloses an intelligent precise positioning system for hair follicles in micro-needle art hair transplantation, and relates to the technical field of image processing of hair follicles in hair transplantation. According to the system, a to-be-transplanted hair area is determined through an obtained hair follicle three-dimensional network image, a two-dimensional coordinate system taking a to-be-measured target area as a reference is established to carry out preliminary planting density planning, then hair follicle density gradient division is carried out according to the determined to-be-transplanted hair area, and the coordinate position of each hair follicle is marked; a visual hair follicle planting point location distribution map is formed, a reference point location is provided for positioning of the microneedle, finally, skin deformation quantity and microneedle positioning coordinate deviation are monitored in real time in a spatial feature coordinate system, microneedle puncture positioning is adjusted, accurate positioning alignment of the microneedle and a target hair follicle is achieved, and the accuracy of the positioning of the microneedle and the target hair follicle is improved. The problem that in the prior art, when a microneedle carries out planting operation according to feedback information, in the link that position image coordinates of a to-be-planted area are converted to a mechanical arm coordinate system, the intelligent positioning accuracy of hair follicles is not high is solved.

Description

Technical Field

[0001] This invention relates to the field of hair follicle image processing technology, and in particular to a microneedle artistic hair transplantation intelligent and precise hair follicle positioning system. Background Technology

[0002] High-resolution images of the scalp area to be transplanted are acquired to obtain complete visual information including hair follicles, scalp tissue, and existing hair. Next, image preprocessing techniques are used: Gaussian filtering removes image noise, and histogram equalization enhances the grayscale contrast between the hair follicles and the surrounding scalp, laying the foundation for subsequent identification. Then, edge detection is used to extract the hair follicle edge contours, and combined with segmentation techniques, areas with significant color and grayscale differences are separated from the scalp background. The morphology of the hair follicle area is optimized, and contour fitting or feature point extraction determines the center coordinates and distribution location of individual hair follicles. Finally, the core processing unit converts the positioning results into coordinate data, providing positional references for the robotic arm movement of the micro-needle hair transplant device, assisting in the precise extraction and implantation of hair follicles, and initially realizing the visualization and datafication of hair follicle positioning during the hair transplant process.

[0003] For example, Chinese invention patent CN114972307B discloses a method and system for automatic hair follicle identification based on deep learning and a hair transplant robot, which includes: extracting hair follicle images and target hair follicle images from the hair extraction area in the acquired image, constructing a deep learning model and evaluating the target hair follicle images, selecting hair follicle identification images that meet the conditions based on the evaluation results, and finally obtaining the root position information in the hair follicle based on the hair follicle identification images to automatically perform the hair extraction stage in the hair transplant surgery process.

[0004] For example, Chinese invention patent application CN120495266A discloses a hair follicle activity grading and localization system and method based on multispectral imaging, including: acquiring reflected light information, constructing image information based on the acquired reflected light information, preprocessing the image information to obtain a first image, extracting features from the first image to obtain a first feature and a second feature, determining the activity level of the target hair follicle, and determining the location of the target hair follicle based on the first feature, the second feature and the activity level.

[0005] The above-mentioned technology has at least the following technical problems: In existing technologies, to accurately capture details such as hair follicle distribution and scalp texture, images of the scalp transplant area need to have high resolution and high definition. This increases the data volume of a single frame image, causing the image information of the scalp transplant area to be unable to be transmitted to the core processing unit in real time. At the same time, after image acquisition, the processing unit needs to wait for internal resource processing to be completed before processing the received image data. There is a processing delay for the real-time transmitted image data, which exacerbates the feedback delay of the initial positioning. This makes it impossible for the microneedle to accurately match the actual position of the current scalp hair follicle when performing the implantation operation based on the feedback information, resulting in a decrease in positioning accuracy. There is also the problem of low accuracy in intelligent positioning of hair follicles when the regional position image coordinates are converted to the robotic arm coordinate system. Summary of the Invention

[0006] To address the technical problem of low accuracy in intelligent positioning of hair follicles during the transformation of regional location image coordinates to the robotic arm coordinate system in existing technologies, this invention provides an intelligent and precise positioning system for microneedle artistic hair transplantation. The technical solution is as follows: On one hand, a micro-needle artistic hair transplant follicle intelligent precision positioning system is provided. This system includes the following modules: a planting area positioning and planning module, a preliminary follicle positioning module, and a micro-needle precision positioning alignment module. The planting area positioning and planning module is used to determine the area to be transplanted based on the acquired 3D network imaging of the follicles, simultaneously establishing a two-dimensional coordinate system with the target area as the reference, and performing preliminary planting density planning based on the acquired follicle distribution data to generate a planting point distribution scheme. The 3D network imaging of the follicles represents the area to be transplanted, automatically marked and located by image recognition algorithms. The two-dimensional coordinate system represents the area to be transplanted, with the target area as the reference. An XY plane coordinate system is established with the center of the target area as the origin, and the hair follicle depth is used as the Z-axis to form a three-dimensional positioning reference. The hair follicle preliminary positioning module is used to divide the determined hair follicle density gradient in the area to be transplanted to determine the differential density gradient range. At the same time, the coordinate positions of each hair follicle in the area to be transplanted are marked in the two-dimensional coordinate system to form a visual distribution map of hair follicle transplantation points. The microneedle precise positioning and alignment module is used to monitor the deviation between the skin dynamic deformation and the microneedle positioning coordinates in the two-dimensional coordinate system in real time according to the marked hair follicle coordinate positions, and to perform microneedle puncture adjustment to achieve precise positioning and alignment between the microneedle and the target hair follicle.

[0007] The beneficial effects of the technical solutions provided in the embodiments of the present invention include at least the following: 1. This system achieves intelligent and precise hair follicle positioning through the coordinated operation of three modules: planting area positioning and planning, preliminary hair follicle positioning, and microneedle precise positioning and alignment. The planting area positioning and planning module uses 3D network imaging of hair follicles to determine the area to be transplanted, simultaneously establishing a 3D positioning benchmark and planning the planting density and locations. This eliminates the need for long-term transmission of high-resolution images, reducing information transmission delays caused by excessive data volume. The preliminary hair follicle positioning module marks hair follicle coordinates and divides density gradients in a two-dimensional coordinate system, forming a visual distribution map. This avoids image data processing delays caused by resource waiting in the processing unit, shortening the time required for preliminary positioning feedback. The microneedle precise positioning and alignment module monitors skin deformation and microneedle coordinate deviations in real time and dynamically adjusts the puncture, ensuring precise matching between the microneedle and the hair follicle position. This system avoids transmission delays caused by large amounts of high-resolution image data and eliminates processing delays caused by resource waiting in the processing unit, preventing preliminary positioning feedback delays. It also improves the accuracy of hair follicle positioning during the conversion of image coordinates to the robotic arm coordinate system, ensuring precise matching between the microneedle implantation operation and the actual position of the scalp hair follicles.

[0008] 2. The hair follicle density index, constructed through comprehensive consideration, can accurately reflect the degree of hair follicle loss and replenishment needs, avoiding the one-sidedness of formulating a plan based on a single density data point. Combined with scalp physiological parameters, the density planning is adapted to the characteristics, reducing the possibility of failing to achieve the desired effect due to unreasonable density. Real-time monitoring of the surface deformation coefficient enables dynamic adjustment of the microneedle puncture depth. By rationally controlling the spacing of the implantation points through density planning, a stable positioning space is reserved for microneedle puncture, avoiding positioning deviation during the puncture process due to overly dense positioning. At the same time, the distribution of positioning points conforms to the mechanical characteristics of the scalp, preventing the planned positioning points from being unable to be stably executed by the system due to characteristic limitations, and ensuring that each positioning point is operable at the device operation level.

[0009] 3. By dividing the density gradient and using the final planting density plan as a basis, combined with the hair follicle density data obtained from layered scanning, a complete gradient planning system was constructed, solving the problem of uneven planting distribution. The thickness of the scanning layer was adjusted according to the hair follicle density data to avoid missing potential planting points due to incomplete scanning and to prevent coordinate deviations caused by insufficient scanning accuracy. This ensures that the hair follicle identification of each layer can adapt to the actual density situation, providing accurate data support for gradient division. By comparing the actual planting planned density with the reference interval, the density data that deviates from the interval is corrected in a timely manner, ensuring that the final planting density of each layer area not only meets the overall planning requirements but also adapts to the hair follicle distribution characteristics of the local area, so that the hair follicle planting density in different areas can present reasonable differences according to actual needs.

[0010] 4. By developing differentiated adjustment strategies for different scenarios where the distance between adjacent hair follicles is too small, the needs for planting precision in the core area and uniformity of overall distribution are balanced. This ensures that the distribution of hair follicles in the area remains uniform, and prioritizes the accuracy of hair follicle coordinates in the core planting area. This prevents a decrease in planting precision in the core area due to compromises with secondary areas. This coordinate adjustment strategy reduces local precision loss and ensures that the planting effect in the core area is not affected. After coordinate adjustment, real-time monitoring of skin dynamic deformation and microneedle execution position deviation can promptly detect coordinate shifts caused by changes in scalp condition after adjustment, providing real-time correction basis for subsequent microneedle positioning. This ensures that the hair follicle coordinates are always consistent with the target planting position, improving the reliability of planting positioning.

[0011] 5. By monitoring the dynamic deformation and positional deviation of the skin in real time, dynamic synchronization between microneedle positioning and scalp condition is achieved. A pressure-deformation relationship curve is constructed to sensitively capture the subtle deformation of the scalp caused by external forces during the implantation process. The sampling frequency is automatically adjusted during monitoring to ensure more sensitive and timely perception of scalp deformation, avoiding misjudgment of deformation due to monitoring lag. Real-time verification of microneedle positional deviation can quickly correct the microneedle's offset trend and prevent puncture position errors caused by accumulated deviation. This real-time monitoring and dynamic adjustment not only avoids misalignment of microneedles and target hair follicles caused by scalp deformation, but also ensures that hair follicles can be accurately implanted in the preset position, avoiding the impact of implantation position deviation on hair follicle growth direction and survival rate. At the same time, the synchronous update of the implantation execution data table provides precise coordinate basis for each microneedle operation. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 This is a schematic diagram of the structure of the microneedle artistic hair transplant follicle intelligent precision positioning system provided in an embodiment of the present invention; Figure 2 A flowchart showing the correspondence between the planting area positioning planning module and the hair follicle preliminary positioning module provided in this embodiment of the invention; Figure 3 The flowchart corresponds to the microneedle precise positioning and alignment module provided in the embodiment of the present invention. Detailed Implementation

[0014] The technical solution of the present invention will now be described with reference to the accompanying drawings.

[0015] In embodiments of the present invention, words such as "exemplarily," "for example," etc., are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" in the present invention should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the word "exemplary" is intended to present the concept in a concrete manner. Furthermore, in embodiments of the present invention, the meaning expressed by "and / or" can be both, or either one.

[0016] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0017] In microneedle hair transplantation, precise follicle positioning is crucial for ensuring the best transplantation results. However, existing technologies have significant shortcomings, with frequent issues such as image processing delays and coordinate transformation deviations, making it difficult to achieve ideal follicle positioning accuracy during the microneedle hair transplantation process, thus affecting the final outcome. Therefore, this invention provides an intelligent and precise follicle positioning system for microneedle hair transplantation, such as... Figure 1 The diagram shown is a schematic of the intelligent and precise positioning system for microneedle hair transplantation. The system's processing flow can include the following modules: a planting area positioning and planning module, a preliminary hair follicle positioning module, and a microneedle precise positioning and alignment module.

[0018] The transplantation area positioning and planning module is used to determine the area to be transplanted based on the acquired 3D network imaging of hair follicles, simultaneously establish a two-dimensional coordinate system with the target area as the reference, and perform preliminary planting density planning based on the acquired hair follicle distribution data to generate a planting point distribution scheme. The 3D network imaging of hair follicles represents the area to be transplanted that is automatically marked and located by image recognition algorithms. The two-dimensional coordinate system represents the XY plane coordinate system established with the center of the target area as the origin, and the hair follicle depth is used as the three-dimensional positioning reference formed by the Z-axis. The preliminary hair follicle positioning module is used to divide the determined area to be transplanted into hair follicle density gradients to determine the differential density gradient intervals. At the same time, it marks the coordinate positions of each hair follicle in the area to be transplanted in the two-dimensional coordinate system to form a visualized hair follicle planting point distribution map. The microneedle precise positioning and alignment module is used to monitor the deviation between the skin dynamic deformation and the microneedle positioning coordinates in the two-dimensional coordinate system in real time based on the marked hair follicle coordinate positions, and perform microneedle puncture adjustments to achieve precise positioning and alignment between the microneedle and the target hair follicle.

[0019] In this embodiment, the hair transplant area range, two-dimensional coordinate system, and preliminary planting density planning scheme generated by the hair transplant area positioning and planning module provide core data benchmarks and spatial frameworks for the operation of the subsequent two modules. The hair follicle preliminary positioning module needs to use the hair transplant area determined by the hair transplant area positioning and planning module as the range boundary and perform hair follicle density gradient division under the spatial benchmark constructed by the two-dimensional coordinate system. The microneedle precise positioning and alignment module uses the hair follicle coordinate position generated by the hair follicle preliminary positioning module as the core reference. It needs to compare it with the marked hair follicle coordinates under the two-dimensional coordinate system to determine whether the deviation exceeds the acceptable range and trigger adjustment. The precise coordinate reference provided by the hair follicle preliminary positioning module provides directional basis for the real-time adjustment of the microneedles.

[0020] This synergy enhances the accuracy of the entire hair transplant positioning process, forming a complete precision control chain. The close cooperation between modules not only ensures the rationality of the planting plan through early planning, but also responds to the dynamic changes in skin deformation during the planting process through real-time adjustments. This ensures the precise alignment of the microneedles with the target hair follicles, reduces positioning deviation, and promotes the overall upgrade of hair transplant operation towards data-driven and precision directions.

[0021] like Figure 2 The diagram shows a flowchart of the planting area positioning and planning module and the hair follicle preliminary positioning module provided in this embodiment of the invention. The area to be transplanted is determined by dividing it into sub-regions and prioritizing them, obtaining the matching degree of the center coordinates, and determining whether it is located in the first, second, or third priority region. After the priority ranking is completed, preliminary planting density planning is performed. Based on the obtained initial planting density, hair follicle density gradient is divided, and planting parameters are matched. During the matching process, adaptation verification is required. Before adaptation verification, the accuracy of data synchronization transmission needs to be verified. After the adaptation verification is passed, the matching of planting parameters is completed.

[0022] Further, the area to be transplanted is determined. The specific process is as follows: Data reflecting the distribution of hair follicles in the target area is obtained from the 3D network imaging data of the hair follicles. The target area is divided into several sub-regions using a fixed grid division method (e.g., 5mm x 5mm). Simultaneously, each sub-region is prioritized. Specifically, based on a preset priority ranking rule, a center coordinate matching degree reflecting the transplant priority of each sub-region is generated and mapped onto the 3D network imaging of the hair follicles. Priority evaluation intervals are also divided to differentiate between regions of different priorities. The center coordinate matching degree represents the degree of agreement between the geometric center coordinates of each sub-region and the center coordinates of the reference area to be transplanted. This is calculated by measuring the Euclidean distance between the two in a two-dimensional coordinate system and converting it using a distance attenuation coefficient. The smaller the distance, the higher the matching degree, intuitively reflecting the core positioning priority of the sub-region in the overall hair transplant plan. Priority; the specific values ​​of the fixed grid division method are not immutable. The preset personnel can fine-tune the grid division method and size based on the current purpose. The distance attenuation coefficient is used as the input based on Euclidean distance. Through the adjustment of the distance attenuation coefficient, the distance difference in physical space is transformed into the center coordinate matching degree that reflects the positioning priority. Its function is to transform the distance difference in physical space into the matching degree difference that conforms to the logic of clinical priority. Collect the Euclidean distance between each sub-region and the coordinate center and the actual priority of the sub-region. The relationship between distance and matching degree is initially fitted by linear regression to obtain the initial coefficient. Based on the linear regression model, the least squares algorithm is used to adjust the coefficient to form a distance attenuation coefficient that can reflect the physical distance characteristics and meet the needs of clinical priority. The expression is: the center coordinate matching degree is the product of the distance attenuation coefficient and the negative of the normalized Euclidean distance. Since the center coordinate matching degree increases as the Euclidean distance decreases, and the two independent variables, distance decay coefficient and normalized Euclidean distance, have the same positive and negative correlation with the dependent variable (center coordinate matching degree), the distance decay coefficient can be set to a negative value, and the normalized Euclidean distance can be negatively transformed (e.g., 1 - normalized value) so that the product of the two is positively correlated with the matching degree, thus maintaining consistent correlation.

[0023] The priority evaluation interval division process is as follows: if the center coordinate matching degree of a sub-region is greater than the maximum value of the reference center coordinate matching degree interval, the corresponding sub-region is recorded as the first priority region; if the center coordinate matching degree of a sub-region is within the reference center coordinate matching degree interval, the corresponding sub-region is recorded as the second priority region; if the center coordinate matching degree of a sub-region is less than the minimum value of the reference center coordinate matching degree interval, the corresponding sub-region is recorded as the third priority region. The urgency and priority of hair transplantation needs of the first, second, and third priority regions decrease sequentially. After the priority regions are divided, the first, second, and third priority regions are color-coded in the hair follicle 3D network imaging (e.g., the first priority region is marked in red, the second priority region in yellow, and the third priority region in blue). The scalp parameters of each sub-region after priority ranking are recorded, and the coordinates of the area to be transplanted are output to prompt the preset personnel to confirm the area to be transplanted. After confirmation, the area to be transplanted is marked in the hair follicle 3D network imaging.

[0024] The hair follicle density of the donor area and the residual hair follicle density in the area to be transplanted are obtained from the 3D network imaging data of the hair follicles. The difference between the hair follicle density of the donor area and the residual hair follicle density is calculated to obtain the absolute value of the result. This result is then weighted and calculated in combination with the area ratio of the area to be transplanted to obtain a hair follicle density index that reflects the degree of hair follicle loss and the need for replenishment in the area to be transplanted. The area ratio of the area to be transplanted represents the ratio of the area to be transplanted to the pre-set total scalp area. Since the size of the area to be transplanted varies among different subjects, the larger the area ratio of the area to be transplanted, the higher the weight of the area that needs to be replenished within the overall reference range. The final calculated hair follicle density index will be more in line with the actual transplant needs of the overall scalp, avoiding evaluation bias caused by only looking at local density and ignoring the scale of the area.

[0025] The hair follicle density index is input into a reference density mapping table to obtain an initial implantation density that reflects the distribution level of hair follicles in the area to be transplanted. This initial density serves as a benchmark for subsequent optimization of the transplantation plan based on scalp physiological parameters (such as vascular density and epidermal thickness). The coordinate parameters of each sub-region of the area to be transplanted are obtained from a two-dimensional coordinate system and, combined with the initial implantation density, a transplantation execution data table is generated, containing sub-region coordinates, implantation point distribution, and puncture depth parameters. This table guides the microneedles to perform the hair transplantation operation according to precise positioning and density requirements. The transplantation execution data table is used to obtain data reflecting the different scanning layers during the layered scanning process of the area to be transplanted. The corresponding hair follicle density data; if the obtained hair follicle density data is less than the preset hair follicle density data, the deviation of the hair follicle density data is matched with the mapping relationship between hair follicle density and scanning layer to obtain the adjustment value of the scanning layer thickness in the layered scanning, so as to increase the scanning layer thickness and improve the hair follicle recognition coverage; otherwise, the scanning layer thickness is reduced to improve the positioning accuracy; after the layered scanning is completed, the planting parameters are matched, specifically: based on the measured data of hair follicle distribution in each layer obtained after the layered scanning of the area to be transplanted, the actual planting planning density is calculated by weighted algorithm and adapted and verified to determine the final planting density of each layered area.

[0026] Based on the initial planting density, the surface deformation coefficient of the implantation target and the area to be transplanted is monitored in real time. The surface deformation coefficient represents the ratio of the deformation of the scalp in the area to be transplanted to the applied pressure. It is a quantitative indicator reflecting the elastic characteristics and mechanical response of the scalp, and its value is directly related to the dynamic adjustment requirements of the microneedle puncture depth. For areas with a surface deformation coefficient greater than the preset surface deformation coefficient, the upper deviation of the surface deformation coefficient is input into the deformation coefficient-planting density mapping relationship to obtain the reduction value of the microneedle puncture depth. The current puncture depth is reduced by decreasing the microneedle feed rate. For areas with a surface deformation coefficient less than the preset surface deformation coefficient, the lower deviation of the surface deformation coefficient is input into the deformation coefficient-planting density mapping relationship to obtain the increase value of the microneedle puncture depth. The current puncture depth is increased by increasing the microneedle feed rate. The dynamically adjusted microneedle puncture depth is obtained, and combined with the initial planting density, a final planting density scheme adapted to the deformation characteristics of different areas to be transplanted is generated.

[0027] In this embodiment, multi-dimensional optimizations were achieved in terms of the accuracy of the hair transplant area positioning, the scientific nature of the planting density planning, and the adaptability of operation. In terms of the positioning of the hair transplant area, the complex overall area was transformed into sub-regions that could be analyzed in detail, avoiding local positioning deviations. The priority was quantified and sorted using the center coordinate matching degree to reflect the planting priority of different sub-regions. High-priority areas were subjected to priority area transmission analysis, reducing data latency caused by large image transmissions. Sampling color markings made different priority areas intuitively distinguishable, reducing the speed of recognition and planning, avoiding possible misjudgments of areas due to single judgments, and improving the accuracy of the hair transplant area delineation.

[0028] By dividing the target area into several sub-regions using a fixed grid, the positioning perspective shifts from a holistic view to a detailed analysis of the local area. This avoids the difficulty in accurately controlling local boundaries in large areas, allowing the positioning of each sub-region to focus on its own hair follicle distribution characteristics, thus improving the precision of the positioning. By combining Euclidean distance in a two-dimensional coordinate system with attenuation coefficient quantification, the core sub-regions with a higher degree of coincidence with the center of the baseline area to be transplanted are accurately identified. This ensures that the positioning of high-priority areas is both accurate and has a clear priority basis, avoiding the positioning center shift caused by confusion between the core and secondary areas in traditional positioning. This allows the positioning to accurately focus on the key areas where the hair transplant needs are more urgent.

[0029] Furthermore, the color-coded design of different priority areas transforms the positioning results from abstract data into intuitive and visual image information. This allows for rapid identification of the positioning priority and specific location of each sub-region, reducing the interpretation time of the positioning results and minimizing misjudgments caused by data interpretation bias. Human-machine collaborative verification further corrects positioning deviations, ensuring that the coordinates of the hair transplant area output by the system closely match the actual scalp condition. This ensures that the positioning results are both accurate and meet the positioning requirements of actual operation. By proactively capturing the deformation trend of the scalp under external forces, it provides a predictive basis for coordinate correction during subsequent microneedle positioning, preventing the already determined coordinates of the hair transplant area from shifting due to scalp deformation. This indirectly guarantees the stability of the positioning results during dynamic operation, ensuring that areas accurately positioned in the early stages maintain accurate coordinates throughout the subsequent transplantation process.

[0030] The preset priority ranking rule is based on the actual priority scores of the sub-regions labeled by preset personnel. It employs a hybrid architecture of convolutional neural networks (CNNs) and graph neural networks (GNNs). The CNNs extract hair follicle distribution and boundary features from 3D imaging, while the GNNs model the spatial relationships between sub-regions. Combined with the quantized value of the output center coordinate matching degree, a dynamic rule adaptive to individual differences is formed. The reference center coordinate matching degree interval is a closed interval composed of the maximum and minimum values ​​of the historical center coordinate matching degree during the historical priority ranking process. The reference density mapping table is obtained by training the DDPG (Deep Deterministic Policy Gradient) reinforcement learning algorithm based on multi-source hair transplant case data including 3D hair follicle imaging and scalp physiological parameters. The deformation coefficient-planting density mapping relationship is based on the scalp elastic modulus and surface deformation coefficient through SAC (Software-Assisted Acrylic Amplifier) ​​processing. The surface deformation coefficient deviation is obtained through closed-loop optimization of reinforcement learning (Actor-Critic), and a mapping relationship between the surface deformation coefficient deviation and the increase in microneedle puncture depth is constructed. The upper deviation and lower deviation of the surface deformation coefficient are represented by the difference (including positive and negative signs) between the preset surface deformation coefficient and the currently obtained surface deformation coefficient. The preset surface deformation coefficient is represented by the summation and averaging of the historical surface deformation coefficients from the historical preliminary planting density planning process.

[0031] The specific process of adaptation and verification is as follows: If the actual planned planting density is not within the density division reference interval, the actual planned planting density adjustment value is obtained by inputting the density deviation-scanning layer mapping relationship based on the planting planned density deviation. The actual planned planting density is corrected by adjusting the sampling frequency of the layer scan. The planting planned density deviation represents the difference between the average of the maximum and minimum values ​​in the density division reference interval and the obtained actual planned planting density. If the actual planned planting density is within the density division reference interval, the actual planned planting density corresponding to the density division reference interval is used as the final planting density. The final planting density is associated with the two-dimensional coordinate system to generate the coordinate parameters of each planting point position in the two-dimensional coordinate system and complete the planting parameter matching.

[0032] Before the adaptation verification, the accuracy of data synchronization transmission is also verified. Specifically, the process is as follows: First-level data transmission is performed, and a pause signal is sent to the transmission interface of second-level scanning data. When the first-level data node at the receiving end sends a transmission completion confirmation signal, the first-level data transmission is considered complete. After the first-level data transmission is completed, second-level scanning data transmission is performed. When the second-level data node at the receiving end sends a transmission completion confirmation signal, the second-level scanning data transmission is considered complete. After the second-level scanning data transmission is completed, the core data of the hair transplant is accurately synchronized to the hair transplant operation end, and adaptation verification is performed. Otherwise, it indicates that the core data of the hair transplant has not been accurately synchronized to the hair transplant operation end. In this case, the retransmission process of first-level data and second-level scanning data needs to be executed, and the abnormal transmission nodes (such as the first-level data receiving end not responding or the second-level data transmission interruption point) need to be recorded. After retransmission, the data synchronization status is manually verified again. When a manual verification pass instruction is received, the adaptation verification is started again.

[0033] In this embodiment, "first-level and second-level" in the above-mentioned first-level data transmission and second-level data transmission refer to the data transmission priority level. First-level core data is transmitted first, followed by second-level auxiliary data. Second-level scanning data is hair follicle auxiliary information other than the core data in the layered scanning. Pausing the second-level scanning data transmission interface can avoid interference from the data in the second-level data transmission during first-level data transmission, ensuring that the first-level core data is transmitted to the receiving end completely, accurately and quickly, thus improving transmission efficiency and stability.

[0034] In the layered scanning process, a strategy of dynamically adjusting the scanning layer thickness based on hair follicle density data optimizes the coverage and precision of the positioning. Increasing the scanning layer thickness expands the scanning coverage area, preventing potential implantation points from being missed due to an excessively narrow scanning range. Conversely, decreasing the scanning layer thickness improves scanning resolution, allowing for more accurate identification of each hair follicle's location and avoiding overlapping points or coordinate offsets caused by insufficient scanning precision. This ensures that the positioning of different density areas matches the actual hair follicle distribution. Furthermore, the adaptation and verification in the implantation parameter matching process further guarantees positioning accuracy from the perspective of parameter coordination.

[0035] By optimizing data acquisition accuracy and correcting positioning parameter deviations, the final planting density is ensured to match the positioning point height in the dual-dimensional coordinate system. If the density is within the reference range, the planned density is used, guaranteeing the stability of the positioning parameters. This ensures that the positioning results meet the overall planning requirements while also adapting to the hair follicle distribution characteristics of the local area. Furthermore, the accuracy verification of data synchronization transmission before adaptation safeguards the positioning accuracy from the data source, avoiding congestion or errors that may occur during the simultaneous transmission of multi-dimensional data. This prevents the loss of positioning coordinates due to data loss, accurately repairs data breakpoints, and ensures that the core planting data is completely and accurately synchronized to the operating end. This prevents the microneedle positioning basis from becoming invalid due to data errors, ensuring that all subsequent positioning operations are based on reliable data.

[0036] The hair follicle density data deviation is represented by the difference between the preset hair follicle density data and the acquired hair follicle density data. The preset hair follicle density data is a value pre-set and calibrated according to the hair follicle body. In actual application, each hair follicle body has different preset hair follicle density data. The hair follicle density-scanning layer mapping relationship is constructed based on historical hair follicle density data and scanning layer thickness using a convolutional neural network for supervised learning. The density division reference interval is a closed interval formed by the maximum and minimum values ​​of the historical actual planting planning density during the historical adaptation verification process. The density deviation-scanning layer mapping relationship is generated by collecting historical planting planning density deviations and corresponding scanning layer sampling frequency adjustment values, using a multilayer perceptron model for supervised learning. Similarly, the mapping relationships involved in the embodiments of the present invention are all implemented through similar methods, and the process is specifically described in the embodiments of the invention mentioned above.

[0037] like Figure 3 The flowchart shown is a flowchart of the microneedle precise positioning and alignment module provided in this embodiment of the invention. The coordinate spacing is obtained by marking the coordinate positions of each hair follicle, and it is determined whether the obtained coordinate spacing is less than a preset value. If not, the deformation and execution deviation are monitored in real time. If it is less than the preset value, it is necessary to determine whether they are located in the same priority area. If they are, the coordinates of the hair follicle with the smallest distance from the boundary of the sub-area need to be adjusted. If they are not located in the same priority area, the implantation accuracy of the first priority area is guaranteed first. After the judgment is completed, the deformation and execution deviation are monitored in real time. By obtaining the position coordinate deviation, it is determined whether it exceeds the critical value. If it does, the positioning system calibration prompt is output; otherwise, the implantation execution confirmation signal is output.

[0038] Furthermore, the coordinate positions of each hair follicle in the area to be transplanted are marked in a two-dimensional coordinate system. The specific steps are as follows: First, obtain the spatial features of each hair follicle in the area to be transplanted after gradient partitioning, including the coordinates of the hair follicle opening center and the growth direction vector. Second, map the spatial features of each hair follicle to a two-dimensional coordinate system to obtain a spatial feature coordinate system, and determine the coordinate values ​​of each hair follicle in the spatial feature coordinate system. Third, sequentially obtain the coordinate spacing between adjacent hair follicles. If the coordinate spacing between adjacent hair follicles is less than the preset coordinate spacing, and the adjacent hair follicles are located in the same priority region, then the obtained coordinate spacing deviation and the coordinate deviation-bias ratio are calculated. The displacement mapping relationship is matched to obtain the hair follicle coordinate adjustment value with the smallest distance from the sub-region boundary to maintain the uniformity of hair follicle distribution within the region. If the coordinate distance between adjacent hair follicles is less than the preset coordinate distance, but the adjacent hair follicles are located in different priority regions, the first priority region is taken as the first priority. The obtained coordinate distance deviation is matched with the coordinate deviation-offset displacement mapping relationship to obtain the hair follicle coordinate adjustment value offset towards the first priority region to ensure the implantation accuracy of the first priority region. After the hair follicle coordinate adjustment, the dynamic deformation of the skin and the deviation of the microneedle execution position are monitored in real time.

[0039] Acquire the marked hair follicle positioning coordinates in the spatial feature coordinate system, and simultaneously collect the dynamic deformation of the skin at a preset acquisition frequency to construct a pressure-deformation relationship curve with pressure as the abscissa and deformation as the ordinate. Acquire the slope change range of the pressure-deformation relationship curve within a specified positioning monitoring period. If the acquired slope change range is not greater than the slope change range of the reference curve, continue to monitor the slope change in the pressure-deformation relationship curve; otherwise, acquire the coordinate values ​​in the current pressure-deformation relationship curve and input them into the acquisition frequency-positioning coordinate mapping relationship to obtain the acquisition frequency adjustment value, thereby increasing the acquisition frequency to the current adjustment value.

[0040] After adjusting the acquisition frequency, the slope change amplitude is monitored in real time.

[0041] In addition, it is necessary to consider whether there is any deviation between the microneedle's positioning and the pre-set target hair follicle position during the microneedle hair transplantation procedure.

[0042] The position coordinate deviation is obtained by calculating the difference between the current execution coordinates of the microneedle tip and the straight-line distance between the marked target hair follicle positioning coordinates, which are fed back in real time by the microneedle. If the obtained position coordinate deviation continuously exceeds the deviation threshold within the preset positioning monitoring period, the positioning system will trigger a calibration prompt and provide feedback on the microneedle puncture path change. Otherwise, the positioning verification of the current hair follicle implantation point is completed, an implantation execution confirmation signal for that point is generated, and the implantation execution data table is updated synchronously to provide accurate coordinate basis for subsequent microneedle puncture operations.

[0043] In this embodiment, the accuracy, uniformity of distribution, and dynamic adaptability of hair follicle positioning are improved through multi-dimensional coordinate calibration, dynamic monitoring, and closed-loop verification. Spatial features such as the coordinates of the hair follicle opening center and the growth direction vector are mapped to a two-dimensional coordinate system and a spatial feature coordinate system is constructed. This ensures that the coordinates of each hair follicle not only correspond to its planar position but also closely match its actual growth state. From the source of coordinate generation, the matching degree between positioning and the real spatial attributes of the hair follicle is ensured, laying a coordinate foundation that conforms to the physiological characteristics of the hair follicle for subsequent precise implantation.

[0044] In the two-dimensional coordinate system of the image, the positioning adjustment is achieved by modifying the X and Y coordinate values ​​of the hair follicles on the image, making the visual distribution of hair follicle coordinate points on the image more uniform and avoiding the situation of local coordinate points clustering or sparseness in the image. This is a direct correction of the spatial position of coordinate points on the image. By constructing a pressure-deformation relationship curve and monitoring the slope change, the subtle deformation trend of the scalp under the action of external force is captured, and the dynamic state of the scalp is tracked more sensitively, ensuring that the positioning coordinates can match the actual position after the skin deformation in real time.

[0045] By comparing the distance between the microneedle execution coordinates and the target hair follicle coordinates in real time, positioning deviations are corrected in a timely manner to prevent misalignment caused by the accumulation of deviations. This ensures that the positioning of each hair follicle implantation point is strictly verified, providing a highly reliable coordinate basis for subsequent microneedle puncture. This allows the hair follicle positioning to not only conform to the physiological characteristics of hair follicles and the priority requirements of the area, but also to respond to dynamic changes in the scalp in real time, comprehensively improving the reliability and adaptability of the positioning, and providing key support for the precise alignment of the microneedle and the target hair follicle.

[0046] The preset coordinate spacing is represented by the sum and average of historical coordinate spacings during the marking process of each hair follicle coordinate position in the historical hair transplant area. The coordinate spacing deviation represents the difference between the obtained coordinate spacing and the preset coordinate spacing. The coordinate deviation-offset displacement mapping relationship is generated by collecting historical coordinate spacing deviations and corresponding sub-region boundary information, and using a multilayer perceptron regression model for supervised learning to generate a relationship model that can map the coordinate deviation and the optimal offset displacement. The preset acquisition frequency is a value pre-set in combination with the acquisition purpose. The slope change amplitude of the reference curve is represented by the sum and average of the slope change amplitudes of the historical curves during the historical monitoring process. The acquisition frequency-positioning coordinate mapping relationship is obtained by collecting the coordinate values ​​of the historical pressure-deformation relationship curve and the positioning coordinate deviations under different acquisition frequencies. A Long Short-Term Memory Network (LSTM) combined with a fully connected layer is used for supervised learning to generate a relationship model that can map the pressure-deformation coordinate values ​​and the acquisition frequency adjustment value. The deviation critical value is represented by the sum and average of historical position coordinate deviations during the historical monitoring process.

[0047] The above embodiments can be implemented, in whole or in part, by software, hardware (such as circuits), firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, as a computer program product. A computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, all or part of the flow or function according to the embodiments of the present invention is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. Computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., infrared, wireless, microwave, etc.) means. A computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more sets of available media. Available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media. Semiconductor media can be solid-state drives.

[0048] It should be understood that the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. A and B can be singular or plural. Additionally, the character " / " in this article generally indicates an "or" relationship between the preceding and following related objects, but it can also represent an "and / or" relationship. Please refer to the context for a more accurate understanding.

[0049] In this invention, "at least one" means one or more, and "more than one" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of a single item or a plurality of items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be a single item or multiple items.

[0050] It should be understood that, in various embodiments of the present invention, the order of the above-mentioned process numbers does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0051] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0052] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the devices, apparatuses, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0053] In the embodiments provided by this invention, it should be understood that the disclosed devices, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0054] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0055] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0056] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0057] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. The intelligent and precise positioning system for microneedle artistic hair transplantation follicles, characterized in that: It includes the following modules: planting area positioning and planning module, hair follicle preliminary positioning module and microneedle precise positioning and alignment module; The planting area positioning and planning module is used to determine the area to be transplanted based on the acquired three-dimensional network imaging of hair follicles, simultaneously establish a two-dimensional coordinate system with the target area to be tested as the reference, and perform preliminary planting density planning based on the acquired hair follicle distribution data to generate a planting point distribution scheme. The three-dimensional network imaging of hair follicles represents the area to be transplanted that is automatically marked and located by image recognition algorithm. The two-dimensional coordinate system represents the XY plane coordinate system established with the center of the target area to be tested as the origin, and the hair follicle depth is used as the three-dimensional positioning reference formed by the Z axis. The hair follicle preliminary positioning module is used to divide the determined hair transplant area into hair follicle density gradients to determine the differential density gradient range. At the same time, it marks the coordinate position of each hair follicle in the hair transplant area in a two-dimensional coordinate system to form a visual distribution map of hair follicle implantation points. The microneedle precision positioning and alignment module is used to monitor the deviation between the skin dynamic deformation and the microneedle positioning coordinates in the two-dimensional coordinate system in real time according to the marked hair follicle coordinate position, and to make microneedle puncture adjustments to achieve precise positioning and alignment between the microneedle and the target hair follicle.

2. The intelligent and precise positioning system for microneedle artistic hair transplantation as described in claim 1, characterized in that, The specific process for determining the area to be transplanted is as follows: Data reflecting the distribution of hair follicles in the target area is obtained from the 3D network imaging data of hair follicles. The target area is divided into several sub-regions using a fixed grid division method, and each sub-region is prioritized. Specifically: Based on the preset priority ranking rules, the center coordinate matching degree is generated to reflect the hair transplant priority of each sub-region and mapped to the three-dimensional network imaging of hair follicles. At the same time, priority evaluation intervals are divided to differentiate the processing of different priority regions. The center coordinate matching degree refers to the degree of agreement between the geometric center coordinates of each sub-region and the center coordinates of the reference area to be transplanted.

3. The intelligent and precise positioning system for microneedle artistic hair transplantation follicles as described in claim 2, characterized in that, The process of dividing the priority evaluation interval is as follows: If the center coordinate matching degree of a sub-region is greater than the maximum value of the reference center coordinate matching degree interval, then the corresponding sub-region is recorded as the first priority region. If the center coordinate matching degree of a sub-region is within the reference center coordinate matching degree interval, then the corresponding sub-region is recorded as the second priority region. If the center coordinate matching degree of a sub-region is less than the minimum value of the reference center coordinate matching degree interval, then the corresponding sub-region is recorded as the third priority region. The urgency and priority of hair transplant needs in the first priority area, the second priority area, and the third priority area decrease sequentially. After priority regions are divided, the first, second, and third priority regions are color-marked in the three-dimensional network imaging of hair follicles. Record the scalp parameters of each sub-region after priority sorting, output the coordinates of the area to be transplanted, prompt the preset personnel to confirm the area to be transplanted, and mark the area to be transplanted in the three-dimensional network imaging of hair follicles after confirmation.

4. The intelligent and precise positioning system for microneedle artistic hair transplantation follicles as described in claim 1, characterized in that, The preliminary planting density planning involves the following steps: The hair follicle density of the transplant object and the residual hair follicle density in the area to be transplanted are obtained from the three-dimensional network imaging data of hair follicles. The difference between the hair follicle density of the transplant object and the residual hair follicle density is calculated and weighted in combination with the area ratio of the area to be transplanted to obtain a hair follicle density index that reflects the degree of hair follicle loss and replenishment needs in the area to be transplanted. Input the hair follicle density index deviation into the reference density mapping table to obtain the initial planting density that reflects the hair follicle distribution level in the area to be transplanted. Based on the obtained initial planting density, the surface deformation coefficient of the planting object and the area to be transplanted is monitored in real time. The surface deformation coefficient represents the ratio of the deformation of the scalp in the area to be transplanted caused by external force to the applied pressure.

5. The intelligent and precise positioning system for microneedle artistic hair transplantation as described in claim 4, characterized in that, The preliminary planting density plan also includes: For regions where the surface deformation coefficient is greater than the preset surface deformation coefficient, the deviation of the surface deformation coefficient is input into the deformation coefficient-planting density mapping relationship to obtain the increase value of the microneedle puncture depth. The current puncture depth is increased by increasing the microneedle feed rate. For regions where the surface deformation coefficient is less than the preset surface deformation coefficient, the lower deviation of the surface deformation coefficient is input into the deformation coefficient-planting density mapping relationship to obtain the reduction value of the microneedle puncture depth. The current puncture depth is reduced by decreasing the microneedle feed rate. The dynamically adjusted microneedle puncture depth is obtained and combined with the initial planting density to generate a final planting density scheme that adapts to the deformation characteristics of different planting areas.

6. The intelligent and precise positioning system for microneedle artistic hair transplantation as described in claim 5, characterized in that, The specific process of performing hair follicle density gradient segmentation is as follows: The coordinate parameters of each sub-region of the area to be transplanted are obtained from the two-dimensional coordinate system. Combined with the final planting density plan, a planting execution data table containing sub-region coordinates, planting point distribution, and puncture depth parameters is generated to guide the microneedles to perform hair transplantation operations according to precise positioning and density requirements. Obtain hair follicle density data corresponding to different scanning layers during the layered scanning process of the area to be transplanted from the hair transplant execution data table; If the obtained hair follicle density data is less than the preset hair follicle density data, the deviation of the hair follicle density data is matched with the mapping relationship between hair follicle density and scanning layer to obtain the adjustment value of the scanning layer thickness in the layered scanning, so as to increase the scanning layer thickness to improve the hair follicle recognition coverage, and conversely, the scanning layer thickness is reduced to improve the positioning accuracy. After the stratified scanning is completed, planting parameters are matched.

7. The intelligent and precise positioning system for microneedle artistic hair transplantation as described in claim 6, characterized in that, The specific steps for matching the planting parameters are as follows: Based on the measured data of hair follicle distribution in each layer obtained after layered scanning of the area to be transplanted, the actual planting density is calculated by weighted algorithm and then adapted and verified to determine the final planting density of each layer area. The adaptation verification specifically includes: If the actual planned planting density is not within the density division reference range, the actual planned planting density adjustment value is obtained by inputting the density deviation-scanning layer mapping relationship based on the planting planned density deviation. The actual planned planting density is corrected by adjusting the sampling frequency of the layer scan. If the actual planned planting density is within the density division reference range, then the actual planned planting density corresponding to the density division reference range shall be used as the final planting density. The final planting density is associated with a two-dimensional coordinate system to generate coordinate parameters of each planting point within the two-dimensional coordinate system, and planting parameter matching is completed.

8. The intelligent and precise positioning system for microneedle artistic hair transplantation as described in claim 7, characterized in that, Prior to the adaptation verification, the accuracy of data synchronization transmission is also verified, specifically as follows: The system performs primary data transmission and simultaneously sends a pause signal to the secondary scan data transmission interface. When the primary data node at the receiving end sends a transmission completion confirmation signal, the primary data transmission is considered to have ended. After the first-level data transmission is completed, the second-level scan data transmission is performed. When the second-level data node at the receiving end sends a transmission completion confirmation signal, the second-level scan data transmission is determined to be completed. After the secondary scanning data transmission is completed, ensure that the core planting data is accurately synchronized to the hair transplant operation terminal and perform adaptation verification; Otherwise, the process of retransmitting the first-level data and the second-level scan data is executed, and the abnormal transmission nodes are recorded. After the data is retransmitted, the data synchronization status is manually verified again. When the manual verification is qualified, the adaptation verification is started.

9. The intelligent and precise positioning system for microneedle artistic hair transplantation as described in claim 1, characterized in that, The specific steps for marking the coordinate positions of each hair follicle in the area to be transplanted in a two-dimensional coordinate system are as follows: After gradient segmentation, obtain the spatial features of each hair follicle in the area to be transplanted, including the coordinates of the hair follicle opening center and the growth direction vector. The spatial features of each hair follicle are mapped to a two-dimensional coordinate system to obtain the spatial feature coordinate system. The coordinate values ​​of each hair follicle in the spatial feature coordinate system are determined, and the coordinate spacing between adjacent hair follicles is obtained in turn. If the coordinate spacing between adjacent hair follicles is less than the preset coordinate spacing, and the adjacent hair follicles are located in the same priority area, the obtained coordinate spacing deviation is matched with the coordinate deviation-offset displacement mapping relationship to obtain the hair follicle coordinate adjustment value with the smallest distance from the sub-region boundary, so as to maintain the uniformity of hair follicle distribution within the region. If the coordinate spacing between adjacent hair follicles is less than the preset coordinate spacing, but the adjacent hair follicles are located in different priority areas, then the first priority area is taken as the first priority. The obtained coordinate spacing deviation is matched with the coordinate deviation-offset displacement mapping relationship to obtain the hair follicle coordinate adjustment value offset towards the first priority area, so as to prioritize the planting accuracy of the first priority area. After adjusting the hair follicle coordinates, real-time monitoring of skin dynamic deformation and microneedle execution position deviation is performed.

10. The intelligent and precise positioning system for microneedle artistic hair transplantation as described in claim 9, characterized in that, The specific steps for real-time monitoring of skin dynamic deformation and microneedle placement deviation are as follows: Acquire the marked hair follicle positioning coordinate data in the spatial feature coordinate system, and at the same time collect the dynamic deformation of the skin at a preset acquisition frequency to construct a pressure-deformation relationship curve with pressure as the abscissa and deformation as the ordinate. Obtain the slope change of the pressure-deformation relationship curve within the specified location monitoring period. If the obtained slope change is not greater than the slope change of the reference curve, continue to monitor the slope change in the pressure-deformation relationship curve. Otherwise, obtain the coordinate values ​​in the current pressure-deformation curve and input them into the acquisition frequency-positioning coordinate mapping relationship to obtain the acquisition frequency adjustment value, so as to increase the acquisition frequency to the current adjustment value; After the acquisition frequency is adjusted, the position coordinate deviation is obtained by the straight-line distance between the current execution coordinate of the microneedle tip, which is fed back by the microneedle in real time, and the marked target hair follicle positioning coordinate. If the deviation of the obtained position coordinates continues to exceed the deviation threshold during the preset positioning monitoring period, the positioning system will trigger a calibration prompt and provide feedback on the change of the microneedle puncture path. Otherwise, complete the location verification of the current hair follicle implantation point, generate an implantation execution confirmation signal for that point, and update the implantation execution data table synchronously.

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