Detection method and hair transplanting device

Abstract

The present invention determines the hair transplantation state with respect to the mesh of a base material with higher accuracy than in the prior art. A detection method for detecting hair (M) for hair transplantation after completion of hair transplantation with respect to a mesh of a mesh-shaped base material (J) comprises: an image acquisition step for acquiring a pre-image (G1) obtained by imaging a mesh of a hair transplantation target in the base material before hair transplantation and a post-image (G2) obtained by imaging after hair transplantation; a transformation matrix acquisition step for acquiring an attitude transformation matrix of the mesh on the basis of the pre-image and the post-image; a difference step for acquiring a difference image (G12) of a transformed pre-event image (G11) and a post-event image (G2), said transformed pre-event image (G11) being obtained by transforming the pre-event image by means of the attitude transformation matrix; and a hair detection step for determining, on the basis of the difference image, the presence or absence of hair (M) for hair transplantation in the mesh or the hair transplantation position.

Description

Technical Field

[0001] This invention relates to a method and apparatus for detecting hair transplanted after the hair has been transplanted relative to the mesh of a mesh-like matrix material. Background Technology

[0002] Existing hair transplant devices for manufacturing wigs or hairpieces that transplant hair relative to a base material include: a base holding mechanism that holds a mesh-like base material; and multiple capturing mechanisms that capture the hair for transplantation by hooks and weave it into the base material (for example, see Patent Document 1).

[0003] Patent Document 1: Japanese Patent Application Publication No. 2020-133073

[0004] In the aforementioned existing hair transplant devices, a camera is used to photograph the substrate material, and the mesh size for hair transplantation through the capture mechanism is determined.

[0005] There is a requirement to use the camera to photograph the transplanted hair substrate to confirm whether the hair transplant was performed appropriately.

[0006] In this case, consider the following method: compare images of the mesh of the base material before hair transplantation with images of the mesh of the base material after hair transplantation.

[0007] However, the mesh-like matrix material is usually soft, and the position, shape, or orientation of the mesh can easily change before and after hair transplantation, making it difficult to maintain constant accuracy for judgments made by comparing images. Summary of the Invention

[0008] The purpose of this invention is to determine the hair transplantation status relative to the mesh of the substrate material with higher accuracy than existing technologies.

[0009] This invention is a detection method for detecting hair grafts after hair transplantation, relative to the mesh-like matrix material.

[0010] The detection method is characterized by having:

[0011] The image acquisition process involves acquiring a pre-transplant image of the mesh of the hair transplant object in the substrate material before hair transplantation and a post-transplant image after hair transplantation.

[0012] The transformation matrix acquisition process involves obtaining the pose transformation matrix of the mesh based on the prior image and the subsequent image.

[0013] The difference process obtains a difference image between the transformed pre-image (after the pre-image has been transformed using the pose transformation matrix) and the post-image; and

[0014] The hair detection process determines whether there are hairs for hair transplantation or the location of hair transplantation in the mesh based on the differential image.

[0015] In addition, another invention is a hair transplant device, characterized by having:

[0016] The matrix support mechanism supports the mesh-like matrix material;

[0017] The hair transplant section, wherein the hair for transplantation held by the hair retention mechanism is braided relative to the base material using a hook; and

[0018] The imaging unit captures images of the locations within the matrix material supported by the matrix support mechanism where the hair transplantation unit performs the hair transplantation procedure.

[0019] This hair transplant device has the following features:

[0020] The image acquisition and processing unit acquires a pre-implantation image of the mesh of the hair transplant object in the substrate material before hair transplantation and a post-implantation image after hair transplantation.

[0021] The transformation matrix acquisition processing unit acquires the pose transformation matrix of the mesh based on the prior image and the subsequent image;

[0022] The differential processing unit acquires a differential image between the transformed pre-image (after transforming the pre-image using the pose transformation matrix) and the post-image; and

[0023] The hair transplant detection and processing unit determines the presence or absence of hair for transplantation or the location of hair transplantation in the mesh based on the differential image.

[0024] The effects of the invention

[0025] Based on the above structure, the hair transplantation status relative to the mesh of the matrix material can be determined with higher accuracy than existing technologies. Attached Figure Description

[0026] Figure 1 This is a front view showing the schematic structure of a hair transplant device as an embodiment of the present invention.

[0027] Figure 2 This is a block diagram representing the control system of the hair transplant device.

[0028] Figure 3 This is a perspective view of the hair transplant device.

[0029] Figure 4 This is another oblique view of the hair transplant device.

[0030] Figure 5 These are other oblique views of the hair transplant device.

[0031] Figure 6 This is a top view of the base worktable.

[0032] Figure 7 This is an oblique view of the base worktable.

[0033] Figure 8 This is a front view of the clamping device with the clamping plate in the raised position.

[0034] Figure 9 This is a front view of a clamping device with the clamping plate in a weak clamping position.

[0035] Figure 10 This is a front view of the clamping device with the clamping plate in a strong clamping position.

[0036] Figure 11 This is a right-side view of the hair supply device and hair retention mechanism.

[0037] Figure 12 (A) is a diagram illustrating the action of combining hair grafts with the procedure from the right side. Figure 12 (B) is a diagram illustrating the action of combining hair grafts for hair transplantation from the back.

[0038] Figure 13 (A) is a diagram illustrating the action of combining hair grafts with the procedure from the right side. Figure 13 (B) is a diagram illustrating the action of combining hair grafts for hair transplantation from the back.

[0039] Figure 14 (A) is a diagram illustrating the action of combining hair grafts with the procedure from the right side. Figure 14 (B) is a diagram illustrating the action of combining hair grafts for hair transplantation from the back.

[0040] Figure 15 This is a flowchart representing the overall process of motion control during a hair transplant procedure.

[0041] Figure 16 An example of an image of the substrate material taken by a camera within the working opening is shown.

[0042] Figure 17 This is an explanatory diagram showing the settings for hair transplant style data.

[0043] Figure 18 (A) is a prior image of the matrix material obtained by taking a photograph. Figure 18 (B) is a post-hoc image.

[0044] Figure 19 This refers to the prior image and the transformed prior image generated from the prior image.

[0045] Figure 20 This represents the difference image generated by subtracting the image after transformation from the image before transformation.

[0046] Figure 21 This represents the image before transformation and the dilated image generated based on the image before transformation.

[0047] Figure 22 It is a concept diagram in which each pixel that makes up the outline edge is divided into six lines, and each line is represented by a different pattern.

[0048] Figure 23 This represents the hair transplant location discrimination region corresponding to each side of the hexagonal mesh generated based on the dilated image.

[0049] Figure 24 This is a conceptual diagram illustrating the process of overlapping the difference image with the hair transplant location discrimination region corresponding to each side of the hexagonal mesh.

[0050] Figure 25 This is a chart showing a summary of the scores used to determine the location of hair transplants.

[0051] Figure 26 This is a flowchart representing the process of determining whether something is appropriate. Detailed Implementation

[0052] [Overall Structure of Embodiments of the Invention]

[0053] Hereinafter, with reference to the accompanying drawings, the hair transplant device 10, which is an embodiment of the present invention, will be described in detail.

[0054] Figure 1 This is a front view showing the general structure of the hair transplant device 10. Figure 2 It is a block diagram representing its control system. Figures 3 to 5 These are oblique views of the hair transplant device 10 as viewed from different directions.

[0055] The hair transplant device 10 is used to reduce the burden of work in manufacturing wigs or hairpieces and to smoothly transplant hair M into the base material J.

[0056] The hair used for hair transplantation is not limited to human hair, but includes all other fibers that look like human hair, including natural fibers and artificial fibers.

[0057] The matrix material J is not limited to fibrous material, but includes all sheet materials that constitute a planar or curved surface. However, in this embodiment, a curved (generally spherical) sheet with hexagonal lattice-like mesh openings, mimicking the shape of the top of a human head, is shown as an example. Furthermore, the shape of the mesh openings may not be hexagonal.

[0058] As shown in the figure, the hair transplant device 10 includes: a base worktable 30 as a base support mechanism, which holds the base material J; a feeding device 40, which feeds the held base material J in one direction (denoted as the X-axis direction) and an orthogonal direction (denoted as the Y-axis direction) on the placement surface of the base material J; a clamping device 50, which holds the base material J placed on the base worktable 30 from above; a hair holding mechanism 68, which holds hair transplant hair M on one side (e.g., the upper surface) of the base material J supported on the base worktable 30; a hair supply device 74, which supplies hair transplant hair M to the hair holding mechanism 68; a first capturing mechanism 21, which pulls the hair transplant hair M held by the hair holding mechanism 68 through the mesh hole H1 to the back side (lower side) of the base material J to form a loop; and a looping mechanism 24 (see reference). Figure 12 (A) to Figure 14 (B) expands the loop; the second capturing mechanism 22 pulls the loop of hair M for transplantation on the back side of the base material J from the adjacent mesh H2 toward the surface side (upper side) of the base material J; the third capturing mechanism 23 pulls the small loop of hair M for transplantation into one end of the hair M for transplantation and braids it between the mesh H1 and H2; and the moving mechanism 25 performs relative moving actions between the base material J and the hooks 211 to 231 of the first to third capturing mechanisms 21 to 23.

[0059] Furthermore, the hair transplant device 10 includes: a camera 11 serving as an imaging unit, which captures images of the placed substrate material J; a position switching mechanism 28, which holds the camera 11 and the first capturing mechanism 21 and switches their positions; a hair stripping mechanism 61, which smooths the transplanted hair M, which is inserted through the upper opening 511 of the clamping plate 51 (described later), to the outside of the upper opening 511; and an auxiliary clamping mechanism 62, which assists in holding the substrate material J placed on the substrate worktable 30. The device includes: a correction mechanism 63, which corrects the orientation of the base material J on the base worktable 30; a first blower mechanism 64, which blows air to make the hair M implanted on the base material J align with a specified direction; a second blower mechanism 65, which blows air to push the base material J toward the base worktable 30; a control device 100, which controls the operation of the above structures; a base 12, which directly or indirectly supports the above structures; and a cover (not shown) that houses the entire hair transplant device 10.

[0060] Furthermore, in the following description, the mounting surface on which the matrix material J is placed is horizontal, one side in the Y-axis direction parallel to the mounting surface is designated as the "left" side, the other side as the "right" side, and one side in the X-axis direction parallel to the mounting surface is designated as the "front" side. Figure 1 The side perpendicular to the paper (near the end), and the other side is designated as the "back" side ( Figure 1 (The far side of the paper in the vertical direction). In addition, the vertical up-down direction orthogonal to the X-axis and Y-axis is set as the Z-axis direction, one side of which is set as the "up" side and the other side as the "down" side.

[0061] [Base and Mobility Mechanism]

[0062] like Figure 1 As shown, the base 12 is a flat plate that directly or indirectly supports the overall structure of the hair transplant device 10. When the hair transplant device 10 is positioned on a horizontal plane, the upper surface of the base 12 is horizontal.

[0063] The following are directly supported on the base 12: a position switching mechanism 28, which supports the aforementioned first capture mechanism 21, second capture mechanism 22, third capture mechanism 23 and camera 11; a ring-ringing mechanism 24; a hair-stripping mechanism 61; an auxiliary clamping mechanism 62; a calibration mechanism 63; and a first blower mechanism 64.

[0064] Furthermore, "directly supported" means that it is set up without being moved by a mechanism, and its position will not move when viewed from above.

[0065] like Figure 1 and Figure 2As shown, the moving mechanism 25 has: an X-axis worktable 26 disposed on the upper surface of the base 12; and a Y-axis worktable 27 disposed on the X-axis worktable 26.

[0066] The X-axis stage 26 includes: a stage plate 261, the upper surface of which is parallel to the X-Y plane; a sliding guide 262 that supports the stage plate 261 slidably relative to the base 12 along the X-axis direction; and a direct-acting mechanism (not shown) that can move and position the stage plate 261 arbitrarily in the X-axis direction. The direct-acting mechanism includes a ball screw mechanism and an X-axis motor 263 consisting of a servo motor that serves as the drive source for the direct-acting mechanism.

[0067] The Y-axis worktable 27 includes: a worktable plate 271, the upper surface of which is parallel to the X-Y plane; a sliding guide 272 that supports the worktable plate 271 slidably relative to the worktable plate 261 of the X-axis worktable 26 along the Y-axis direction; and a direct-acting mechanism (not shown) that can move and position the worktable plate 271 arbitrarily in the Y-axis direction. The direct-acting mechanism includes a ball screw mechanism and a Y-axis motor 273 consisting of a servo motor that serves as the drive source for the direct-acting mechanism.

[0068] The base worktable 30, the feed device 40, the clamping device 50, and the second blower mechanism 65 are directly supported on the worktable plate 271 of the Y-axis worktable 27.

[0069] The moving mechanism 25 can position the base material J on the base worktable 30 at any position in the X-Y plane through the coordinated action of the X-axis worktable 26 and the Y-axis worktable 27.

[0070] Furthermore, the direct-drive mechanisms of the X-axis worktable 26 and the Y-axis worktable 27 are not limited to ball screw mechanisms; any mechanism capable of arbitrarily positioning the worktable 261 or 271 along the X-axis or Y-axis direction is acceptable. For example, the direct-drive motion of the worktable 261 or 271 can be achieved through a pinion-rack mechanism and a servo motor structure, or through a linear motor.

[0071] [Base Workbench]

[0072] Figure 6 This is a top view of the base worktable 30. Figure 7 It is an oblique view.

[0073] As shown in the figure, the base worktable 30 has: a base plate 32, which is supported by four pillars 31 (one of which is not shown) erected on the Y-axis worktable 27 of the moving mechanism 25; a tower-shaped upright mounting part 33, which is provided on the upper surface of the base plate 32; and a mounting plate 34, which serves as a mounting part, is provided at the upper end of the upright mounting part 33.

[0074] The upright mounting part 33 is upright in the center of the base plate 32 when viewed from above.

[0075] Furthermore, the mounting plate 34 provided at the upper end of the upright mounting section 33 is a generally rectangular frame-like body, with a generally rectangular working opening 341 formed in the generally central part. In addition, the upper surface of the mounting plate 34 is a mounting surface parallel to the X-Y plane.

[0076] During hair transplantation, the substrate material J is supported on the upper surface of the mounting plate 34. The mounting plate 34 is smaller than the substrate material J, and the substrate material J is placed in a state where the lower surface of the mounting plate 34 is in partial contact with the substrate material J. When performing the bonding operation of the hair grafts M to the substrate material J, the hook of the first capturing mechanism 21 needs to be inserted into the mesh hole from the lower side of the substrate material J, but the insertion of the hook is performed through the working opening 341 of the mounting plate 34. In addition, the bonding operation of the hair grafts M by the second and third capturing mechanisms 22 and 23 is also performed within the area of ​​the working opening 341 of the mounting plate 34.

[0077] [Feed device]

[0078] like Figure 6 and Figure 7 As shown, the feeding device 40 has on the base plate 32 of the base worktable 30: a pair of X-axis roller mechanisms 41, 41, which are arranged on both sides of the X-axis direction with respect to the mounting plate 34 when viewed from above; and a pair of Y-axis roller mechanisms 42, 42, which are arranged on both sides of the Y-axis direction with respect to the mounting plate 34 when viewed from above.

[0079] Each X-axis roller mechanism 41 includes: a roller 411 that abuts against the base material J placed on the mounting surface of the mounting plate 34 from below; an X-axis feed motor 412 that serves as the rotation drive source for the roller 411; a support bracket 413 that supports the roller 411 and the X-axis feed motor 412; two sliding guides 414 that support the support bracket 413 vertically along the Z-axis on the base plate 32; two helical springs 415 that act as elastic members and press the support bracket 413 upward; and a retraction cylinder 416 that pulls the support bracket 413 downward against the helical springs 415.

[0080] An X-axis feed motor 412, supported on a support bracket 413, imparts feed rotation to the rotation axis of roller 411 via a transmission mechanism consisting of pulleys and a synchronous belt from its output shaft. Both the output shaft of the X-axis feed motor 412 and the rotation axis of roller 411 are configured along the Y-axis direction. Therefore, if roller 411 is driven to rotate while in contact with the substrate material J placed on the mounting surface of the mounting plate 34 from below, the substrate material J can be conveyed in the X-axis direction.

[0081] Each Y-axis roller mechanism 42 includes: a roller 421 that abuts against the base material J placed on the mounting surface of the mounting plate 34 from below; a Y-axis feed motor 422 that serves as the rotation drive source for the roller 421; a support bracket 423 that supports the roller 421 and the Y-axis feed motor 422; a sliding guide 424 that supports the support bracket 423 on the base plate 32 in a way that allows it to move up and down in the Z-axis direction; a helical spring 425 that acts as an elastic component and presses the support bracket 423 upward; and a retraction cylinder 426 that pulls the support bracket 423 downward against the helical spring 425.

[0082] A Y-axis feed motor 422, supported on a support bracket 423, imparts feed rotation to the rotation axis of roller 421 from its output shaft via a transmission mechanism consisting of pulleys and a synchronous belt. Both the output shaft of the Y-axis feed motor 422 and the rotation axis of roller 421 are configured along the X-axis direction. Therefore, if roller 421 is driven to rotate while in contact with the substrate material J placed on the mounting surface of the mounting plate 34 from below, the substrate material J can be conveyed in the Y-axis direction.

[0083] When the retraction cylinders 416 and 426 are not pulling the support brackets 413 and 423 downwards, and the coil springs 415 and 425 are pushing the support brackets 413 and 423 to their highest positions, the height of the upper ends of each roller 411 and 421 is set to be the same as or slightly lower than the mounting surface (upper surface) of the mounting plate 34. Each roller 411 and 421 at this height is taken as the "feed position".

[0084] In contrast, when the retraction cylinders 416 and 426 pull the support brackets 413 and 423 downwards, the upper ends of each roller 411 and 421 do not reach the lower surface of the base material J placed on the mounting plate 34, and descend to a height where feeding is no longer possible. Each roller 411 and 421 at this height is considered the "retraction position".

[0085] Furthermore, if a pair of X-axis roller mechanisms 41 are in the feed position and a pair of Y-axis roller mechanisms 42 are in the retracted position, and the rollers 411 of the pair of X-axis roller mechanisms 41 are driven to rotate in the same direction, then a conveying force in the X-axis direction can be applied to the substrate material J from both sides of the mounting plate 34.

[0086] In addition, if a pair of Y-axis roller mechanisms 42 are in the feed position and a pair of X-axis roller mechanisms 41 are in the retracted position, and the rollers 421 of the pair of Y-axis roller mechanisms 42 are driven to rotate in the same direction, then a conveying force in the Y-axis direction can be applied to the substrate material J from both sides of the mounting plate 34.

[0087] As described above, the X-axis roller mechanism 41 and the Y-axis roller mechanism 42 do not work simultaneously, and respectively perform conveying in the X-axis direction and conveying in the Y-axis direction.

[0088] Furthermore, if the rollers 411 of the pair of X-axis roller mechanisms 41 in the feed position rotate in the opposite direction and are driven to rotate in the direction that separates the base materials J from each other, tension in the X-axis direction can be applied to the base materials J on the mounting plate 34 to suppress relaxation.

[0089] Furthermore, if the rollers 421 of the pair of Y-axis roller mechanisms 42 in the feed position rotate in the opposite direction and are driven to rotate in the direction that separates the base materials J from each other, tension in the Y-axis direction can be applied to the base materials J on the mounting plate 34 to suppress relaxation.

[0090] The action control of applying tension in each direction to the base material J through a pair of X-axis roller mechanisms 41 or a pair of Y-axis roller mechanisms 42 is referred to as "tension application control".

[0091] During a hair transplantation procedure in which hair M is combined with a base material J, the aforementioned moving mechanism 25, together with the mounting plate 34, moves the base material J in order to position each mesh opening of the base material J within the range of the working opening 341 relative to the hooks of the first to third capturing mechanisms 21 to 23.

[0092] In contrast, the feeding device 40 moves the substrate material J relative to the mounting plate 34 in order to move the area of ​​the substrate material J facing the working opening 341 of the mounting plate 34 to other positions within the substrate material J.

[0093] Therefore, the movement of the matrix material J by the moving mechanism 25 can be precisely controlled by a very small amount of movement compared to the movement of the matrix material J by the feeding device 40.

[0094] Furthermore, although the example shows a structure in which roller mechanisms 41 and 42 in two intersecting directions feed in the X-axis and Y-axis directions respectively, it is not limited to the case of orthogonality, and can also be a structure that feeds in two intersecting directions at an angle.

[0095] Furthermore, the base worktable 30 has a cover member 35 that covers the base worktable 30 and the feed device 40. The cover member 35 is a generally convex polyhedral shape with its upper end protruding upwards, and the center of the upper end is cut off to make the upper parts of each roller 411, 421 and the mounting plate 34 exposed upwards. The base worktable 30 may also be configured with its upper end in a polyhedral shape that is closer to a spherical shell, or it may be generally spherical.

[0096] The substrate material J placed on the mounting plate 34 can avoid direct contact with the structure of the feeding device 40 other than the rollers 411 and 421 or the corner of the substrate plate 32 through the cover member 35, so that the feeding action of the substrate material J by the feeding device 40 can be carried out smoothly.

[0097] In addition, the cover component 35, besides Figure 1 Illustrations are omitted from the accompanying drawings other than those shown.

[0098] [Clamping device]

[0099] like Figure 1 , Figures 3 to 5 As shown, the clamping device 50 includes: a clamping plate (clamping component) 51 located above the base worktable 30, which is composed of a flat plate that is longer in the Y-axis direction; a pair of support platforms 52, which are erected on the upper surface of the worktable plate 271 of the Y-axis worktable 27 and support the two ends of the clamping plate 51 respectively; a sliding guide 53, which enables the clamping plate 51 to be raised and lowered relative to each support platform 52; a clamping cylinder 54 as a lifting part, which raises and lowers the clamping plate 51; and a helical spring 55 as an elastic component, which is disposed between each support platform 52 and the clamping plate 51 and presses the clamping plate 51 upward.

[0100] Since the clamping device 50 is supported on the worktable plate 271 of the Y-axis worktable 27, it moves X-Y together with the base worktable 30 through the moving mechanism 25.

[0101] The clamping plate 51 is located directly above the working opening 341 of the mounting plate 34, and has an upper opening 511 that is approximately the same shape and size as the working opening 341.

[0102] When the clamping plate 51 is at the lower limit position of the lifting action, its lower surface can abut against the mounting surface of the mounting plate 34. Moreover, by lowering to the lower limit position, the clamping plate 51 can clamp and fix the substrate material J placed on the mounting plate 34 from above.

[0103] Furthermore, at the lower limit position of the lifting action, the working opening 341 of the mounting plate 34 and the upper opening 511 can be made to coincide at approximately the same position when viewed from above.

[0104] The aforementioned second and third capturing mechanisms 22 and 23 are positioned above the clamping plate 51. They extend the hook downwards and perform the binding action of the hair M for hair transplantation within the working opening 341 of the substrate material J via the upper opening 511.

[0105] Furthermore, around the upper opening 511 on the lower surface side of the clamping plate 51, four abutment plates 512 are provided, each abutting against the outer periphery of the rollers 411 and 421. The lower surface of each abutment plate 512 is positioned lower than the lower surface of the clamping plate 51, and abuts against the upper part of each roller 411 and 421 at a position before descending to the lower limit position of the clamping plate 51's lifting action. As described above, by lowering the clamping plate 51 to a position slightly above the lower limit position, the substrate material J on the mounting plate 34 can be properly abutted against each roller 411 and 421, enabling the feeding action implemented by a pair of X-axis roller mechanisms 41 or a pair of Y-axis roller mechanisms 42 to be performed effectively.

[0106] Figures 8 to 10 These are front views of the clamping device 50 at different heights of the clamping plate 51.

[0107] Figure 8 This indicates that the clamping plate 51 is in the upper limit of the lifting action, i.e., the raised position, due to the rising pressure of each clamping cylinder 54. In this state, the lower surface of the clamping plate 51 is significantly separated from the mounting surface of the mounting plate 34.

[0108] In the raised position, the substrate material J on the mounting plate 34 is released from the clamped state. Since the clamping plate 51 in the raised position is significantly separated from the mounting plate 34, the hair stripping member 611 of the hair stripping mechanism 61, which will be described later, can perform a smoothing action on the hair M for hair transplantation.

[0109] Each clamping cylinder 54 is equipped with an adjuster 56 in the supply path from the air pressure source, which can be controlled by the control device 100 to supply each clamping cylinder 54 with two levels of air pressure to lower the clamping plate 51.

[0110] Figure 9This indicates the state of the clamping plate 51 when the descent pressure of each clamping cylinder 54 is low. Figure 10 This indicates the state of the clamping plate 51 when the descent pressure of each clamping cylinder 54 is high.

[0111] like Figure 9 As shown, when the descending pressure of each clamping cylinder 54 is low, the descending clamping plate 51 does not completely resist the upward pressing force from the coil spring 55, creating a gap d between the lower surface of the clamping plate 51 and the mounting surface of the mounting plate 34. The base material J becomes in a state where the constraint force generated by clamping is small or unconstrained. The height of the clamping plate 51 at this point is considered the weak clamping position.

[0112] On the other hand, at this weak clamping position, each abutment plate 512 of the clamping plate 51 abuts against each roller 411, 421, or forms a very narrow gap with respect to each roller 411, 421. Therefore, when the substrate material J is placed on the mounting plate 34, the substrate material J is pressed by each abutment plate 512 and abuts against each roller 411, 421 with appropriate abutment force, which enables the feeding action implemented by a pair of X-axis roller mechanisms 41 or a pair of Y-axis roller mechanisms 42 to be performed well.

[0113] In contrast, such as Figure 10 As shown, when the descending pressure of each clamping cylinder 54 is high, the descending clamping plate 51 can resist the helical spring 55, resulting in a state where the lower surface of the clamping plate 51 and the mounting surface of the mounting plate 34 are pressed together. Therefore, when the substrate material J is mounted on the mounting plate 34, the substrate material J is firmly gripped by the clamping plate 51 and the mounting plate 34, and is fixed and held with a large constraint force. The height of the clamping plate 51 at this time is taken as the strong clamping position.

[0114] Additionally, an illumination device 57 is provided on the upper surface of the clamping plate 51. This illumination device 57 illuminates the substrate material J from above the upper opening 511 when the camera 11 (described later) is taking pictures of the substrate material J from below the mounting plate 34 via the working opening 341. When not taking pictures, the illumination device 57 is retracted to one end of the clamping plate 51; during taking pictures, it is moved to directly above the upper opening 511 by an actuator (not shown) to project light downwards.

[0115] [Hair supply device]

[0116] Figure 11 This is a right-side view of the hair supply device 74 and the hair holding mechanism 68.

[0117] The hair supply device 74 is disposed on the base 12 in a manner that is located at the left front of the base worktable 30.

[0118] The hair supply device 74 can insert a scraper component near the upper end of a bundle Mb of numerous hair transplant hairs M held in a vertical direction to sort multiple hairs M, and rotate the scraper component to tilt the upper ends of the sorted hairs M in a rearward manner.

[0119] Furthermore, the hair supply device 74 has a head 741 that attracts and grips the front end of one of the multiple hair transplant hairs M that are tilted down. The hair supply device 74 can deliver the head 741 in the X-axis direction to the rear, pulling the hair transplant hair M straight backward. Figure 11 The label Mp indicates the position where the hair M for transplantation is pulled out from the head 741 of the hair supply device 74.

[0120] In addition, the hair supply device 74 has a gripping mechanism (not shown) that grips the front end of the hair M to be transplanted, which is pulled out from the head 741 to the pull-out position Mp.

[0121] Hair preservation organization

[0122] like Figure 11 As shown, the hair holding mechanism 68 is disposed on the base 12 at the rear of the hair supply device 74 and to the left of the base worktable 30.

[0123] The hair retention mechanism 68 includes: a first gripping mechanism 69 and a second gripping mechanism 70, which grip both ends of the hair M to be transplanted, respectively; a conveying mechanism 71, which supports the first gripping mechanism 69 and the second gripping mechanism 70 and conveys the hair along the Y-axis; and a recycling device 75, which recycles the hair M to be transplanted that remains in the first gripping mechanism 69 due to errors, etc.

[0124] The conveying mechanism 71 includes: a flat movable body 711 along the X-Y plane; a long flat support 712 erected at the right end of the movable body 711; and a feed motor 716 as an actuator.

[0125] The support body 712 is on the right plane to support the first gripping mechanism 69 and the second gripping mechanism 70 in a front-to-back arrangement.

[0126] The movable body 711 can be conveyed along the Y-axis direction by the drive of the feed motor 716, so as to move and position the first gripping mechanism 69 and the second gripping mechanism 70 arbitrarily along the Y-axis direction.

[0127] The first gripping mechanism 69 has a structure similar to the thread adjuster device mounted on a sewing machine, and includes: two sliding plates that grip the hair M for hair transplantation by spring pressure; and a release mechanism 72 that switches the gripping state to the release state.

[0128] The two sliding plates are circular plates supported by an axis in an overlapping manner. The outer periphery is slightly warped so that the sliding plates are separated from each other, creating a gap.

[0129] Therefore, if the two sliding plates move to the right relative to the hair M to be pulled out at the aforementioned pull-out position Mp via the conveying mechanism 71, the hair M can enter through the gap between the two sliding plates and be grasped.

[0130] The release mechanism 72 includes: an insertion plate that can be inserted from the left between two sliding plates of the first gripping mechanism 69; and a release cylinder 724 that imparts a reciprocating motion to the insertion plate along the Y-axis.

[0131] If the insertion plate is moved to the right by the release cylinder 724, it can be inserted between the two sliding plates, opening the two sliding plates and switching from the gripping state of the hair graft M to the releasing state. The insertion plate has a length that reaches the right end of the two sliding plates, allowing the hair graft M held by the two sliding plates to be discharged to the right.

[0132] The second gripping mechanism 70 has: two gripping components that grip the hair M for hair transplantation; and gripping cylinders 704 and 705 that act as lifting actuators, causing each gripping component to lift and lower respectively.

[0133] Both gripping components have flat protrusions extending to the right, with the lower surface of one protrusion and the upper surface of the other protrusion supported in an up-down and opposite manner.

[0134] One gripping component is supported by a gripping cylinder 704 that allows for switching between an upper and lower position, and another gripping component is supported by a gripping cylinder 705 that allows for switching between an upper and lower position.

[0135] Therefore, by using the gripping cylinders 704 and 705, the hair for transplantation can be gripped by pressing the protrusions of the two gripping components together, and the hair for transplantation can be released by separating the protrusions of the two gripping components.

[0136] The first gripping mechanism 69 and the second gripping mechanism 70 grip the hair M supplied by the hair supply device 74 at a receiving position slightly to the right of the retraction position furthest to the left from the base worktable 30.

[0137] Furthermore, the first gripping mechanism 69 and the second gripping mechanism 70 move to the right from the receiving position and hold the hair graft M for transplantation at the supply position on the upper opening 511 of the clamping plate 51. At this supply position, a braiding operation (bonding operation) is performed on the hair graft M relative to the base material J.

[0138] Furthermore, when the first gripping mechanism 69 and the second gripping mechanism 70 are in the retracted position between the receiving position and the supply position in the Y-axis direction, the first gripping mechanism 69 performs the release action of the hair transplant hair M (as for the second gripping mechanism 70, the release is performed during the combination operation of the hair transplant hair M).

[0139] At the recycling location, transplanted hair M that was not released after being grabbed by the first gripping mechanism 69 due to operational errors or other reasons is recycled.

[0140] At the recycling location, a recycling device 75 for hair transplant M is installed.

[0141] The recovery device 75 includes: a suction nozzle 751 that expands rearward; and a suction blower 752 (see reference). Figure 2 ), which is connected to the suction nozzle 751; and a collector (not shown) which consists of a mesh for hair transplant M repair provided between the suction nozzle 751 and the suction blower 752.

[0142] When the release mechanism 72 is working, the recycling device 75 drives the suction blower 752 to perform suction and recycling if there is hair M for hair transplantation discharged from the first gripping mechanism 69.

[0143] [Hair Transplant Department]

[0144] The first to third capturing mechanisms 21 to 23 and the ring-binding mechanism 24 constitute the hair transplant section 20, which braids the hair M for transplantation and combines it with the base material J.

[0145] The first to third capturing mechanisms 21 to 23 each have: hooks 211 to 231, which have a return section near their front end; a ball screw mechanism (not shown) that causes the hooks to move forward and backward; and a capturing motor (not shown) that serves as the driving source for the lifting and lowering motion of the hooks 211 to 231.

[0146] The first capturing mechanism 21 is positioned below the working opening 341 of the mounting plate 34 with the hook 211 facing vertically upward. The mounting plate 34 can be moved in the XY direction via the aforementioned moving mechanism 25. The first capturing mechanism 21 is positioned on the base 12 such that the center position of the working opening 341, in which the mounting plate 34 is positioned at a predetermined reference position by the moving mechanism 25, coincides with the hook 211 when viewed from above.

[0147] The second capturing mechanism 22 is positioned above the upper opening 511 of the clamping plate 51 when the hook 221 is facing vertically downward.

[0148] When viewed from above, the hook 221 of the second capture mechanism 22 is positioned slightly to the left of the hook 211 of the first capture mechanism 21 on the base 12. Furthermore, strictly speaking, the second capture mechanism 22 is supported by a support plate (not shown) that is erected on the base 12.

[0149] The second capture mechanism 22 is also equipped with an actuator that rotates the hook 221. The first and third capture mechanisms 21 and 23 can also be equipped with actuators that rotate the hooks 211 and 231.

[0150] The third capturing mechanism 23 is positioned above the upper opening 511 of the clamping plate 51 and behind the second capturing mechanism 22, with the hook 231 facing forward and downward.

[0151] The hook 231 of the third capturing mechanism 23 is positioned on the base 12 such that its centerline intersects the centerline of the hook 221 of the second capturing mechanism 22 slightly above the mounting surface of the mounting plate 34. Furthermore, strictly speaking, the third capturing mechanism 23 is also supported by a support plate (not shown) that is erected on the base 12.

[0152] The ring-forming mechanism 24 is positioned above the first capturing mechanism 21 and below the lower surface of the mounting plate 34.

[0153] The looping mechanism 24 has a pair of wrists 241 extended to the right, which are used to expand the loops of hair M for transplantation pulled under the substrate material J by the first capturing mechanism 21. Furthermore, the looping mechanism 24 has: an actuator that separates the front ends of the pair of wrists 241 in the X-axis direction; and an actuator that moves the pair of wrists 241 in the Y-axis direction.

[0154] The structure of these hair transplant sections 20 and the bonding action of the transplanted hair M with respect to the matrix material J are substantially the same as those disclosed in Japanese Patent Application Publication No. 2018-040084. Therefore, for detailed information regarding the structure of the hair transplant section 20 and the bonding action of the transplanted hair M with respect to the matrix material J, please refer to the aforementioned publication; only a brief explanation will be provided here.

[0155] Figure 12 (A) to Figure 14 (B) is a diagram illustrating the combined action of hair graft M for hair transplantation. Figure 12 (A) Figure 13 (A) Figure 14 (A) shows the periphery of the ring-beating mechanism 24 as viewed from the right side. Figure 12 (B) Figure 13 (B) Figure 14 (B) shows the periphery of the ring-beating mechanism 24 when viewed from the rear.

[0156] In addition, the aforementioned first gripping mechanism 69 and second gripping mechanism 70 are simply illustrated in the figures, but in the description, they are illustrated in a configuration that is smaller than the actual configuration and closer to the actual configuration of the ring-beating mechanism 24.

[0157] In the combined action of hair transplantation using hair M, such as Figure 12 (A) and Figure 12 As shown in (B), the hair M for hair transplantation is held on the upper side of the substrate material J on the upper surface of the mounting plate 34 and is supported in the front-back direction by the first gripping mechanism 69 and the second gripping mechanism 70.

[0158] In this state, the hook 211 of the first capturing mechanism 21 passes through the mesh hole H1 of the substrate material J and moves forward and backward from below to capture the hair M for hair transplantation and pull it into the mesh hole H1 to form a loop.

[0159] Furthermore, the pair of wrists 241 of the ring-forming mechanism 24 are moved to the right to enter the thread loop of the hair transplant M, and while opening the pair of wrists 241, they are moved to the left to pull the thread loop under the adjacent mesh hole H2 on the left.

[0160] Furthermore, the hook 221 of the second capturing mechanism 22 passes through the mesh hole H2 of the substrate material J and moves forward and backward from above to capture the loop of hair M for hair transplantation, pulling it into the mesh hole H2 to form a small loop on the upper side of the substrate material J.

[0161] Moreover, such as Figure 13 (A) and Figure 13 As shown in (B), the hook 221 of the second capturing mechanism 22 rotates to apply a twist to the small thread loop, and the hook 231 of the third capturing mechanism 23 enters from the rear oblique upper side, protrudes into the small thread loop, and captures the end of the hair M to the side of the first grasping mechanism 69.

[0162] Moreover, such as Figure 14 (A) and Figure 14 As shown in (B), the hook 231 of the third capturing mechanism 23 performs a retraction action, inserting the end of the first grasping mechanism 69 into the small loop of the hair transplant M, and the hook 221 of the second capturing mechanism 22 disengages from the small loop. The ringing mechanism 24 moves a pair of wrists 241 to the left to release the hair transplant M.

[0163] The end of the hair transplant hair M slides and is pulled out from the first gripping mechanism 69, passing through a small loop. Then, the hair transplant hair M is pulled by the hook 231 until it is braided at the boundary between the mesh holes H1 and H2. The second gripping mechanism 70 releases the hair transplant hair M, and the binding action of the hair transplant hair M ends.

[0164] In addition, a gripping mechanism for maintaining the capture state of the hair M for hair transplantation can also be attached to the hook 231 of the third capture mechanism 23.

[0165] [Auxiliary clamping mechanism]

[0166] like Figure 3 As shown, the auxiliary clamping mechanisms 62 are respectively disposed on both sides of the X-axis direction, separated from the base worktable 30. The two auxiliary clamping mechanisms 62 are respectively configured opposite to the two X-axis roller mechanisms 41.

[0167] Each auxiliary clamping mechanism 62 includes: an auxiliary clamping plate 621, which is tiltably movable; and an auxiliary clamping cylinder 622, which imparts tilting motion to the auxiliary clamping plate 621.

[0168] The base end of the auxiliary clamping plate 621 is supported so as to be able to move at an angle around the Y-axis, and the front end is formed into a flat plate that abuts against the outer peripheral surface of the roller 411 of the X-axis roller mechanism 41.

[0169] The auxiliary clamping cylinder 622 applies tilting force in the direction in which the front end of the auxiliary clamping plate 621 abuts against the outer peripheral surface of the roller 411. As a result, the substrate material J placed on the mounting plate 34 is held by the X-axis roller mechanism 41 and the front end of the auxiliary clamping plate 621.

[0170] The two auxiliary clamping mechanisms 62 are used, for example, to press the base material J so that no positional displacement of the base material J relative to the mounting plate 34 occurs when the clamping plate 51 of the clamping device 50 is placed in the raised position and the base material J on the mounting plate 34 is released.

[0171] When the base material J is clamped by the two auxiliary clamping mechanisms 62, the base material J is prone to loosening due to the pushing of the front end of the auxiliary clamping plate 621. Therefore, it is preferable to simultaneously implement the aforementioned tension control by a pair of X-axis roller mechanisms 41.

[0172] [Hair stripping agency]

[0173] like Figure 3 and Figure 4 As shown, the hair stripping mechanism 61 is a mechanism for smoothing out the hair M for transplantation that is bonded to the base material J.

[0174] As described above, the hair transplantation operation relative to the base material J is performed by passing the working opening 341 and the upper opening 511 while the base material J is held by the clamping plate 51.

[0175] In this case, each hair M for hair transplantation, which is bonded to the base material J, protrudes through the upper opening 511 and extends to the upper side of the clamping plate 51.

[0176] On the other hand, if hair transplantation of hair M is completed in a section within the working opening 341 of the mounting plate 34 in the substrate material J, the clamping plate 51 rises to the weak clamping position, and the feeding device 40 performs the feeding action of the substrate material J so that the adjacent section is within the working opening 341.

[0177] Then, while each hair graft M is still inserted through the upper opening 511 after hair transplantation, it may adversely affect the feeding action of the matrix material J, the combination action of the hair graft M of the next zone, and the shooting of the new zone through the working opening 341.

[0178] Therefore, the following operation is performed: the clamping plate 51 is raised to the raised position, and the hair transplant hair M bonded to the base material J is smoothed by the hair stripping mechanism 61 on the lower side of the clamping plate 51, and each hair transplant hair M is smoothed from the upper opening 511.

[0179] Furthermore, the order in which the substrate material J is fed and the hair transplanted M is smoothed can be reversed.

[0180] like Figure 3 As shown, the hair-stripping mechanism 61 is positioned to the right rear relative to the mounting plate 34 when viewed from above. Furthermore, the hair-stripping mechanism 61 is positioned lower than the clamping plate 51 in its raised position and higher than the mounting plate 34.

[0181] The hair stripping mechanism 61 includes: a rod-shaped hair stripping component 611 that smooths out each hair M used for hair transplantation; a telescopic cylinder 612 that extends and retracts the hair stripping component 611; and a smoothing cylinder 613 that imparts back-and-forth movement to the hair stripping component 611 for smoothing.

[0182] The hair-stripping component 611 is a cylindrical rod along the Y-axis, extending to the left from the telescopic cylinder 612.

[0183] The telescopic cylinder 612 is supported on the leveling cylinder 613 with its plunger, which performs the forward and backward movement, parallel to the Y-axis direction. The plunger of the telescopic cylinder 612 is directly connected to the hair-stripping member 611 in the extension direction of the plunger, and can be switched to a state in which the hair-stripping member 611 retracts to the right and extends to the left.

[0184] In the retracted state, the hair-stripping component 611 is located to the right of the mounting plate 34, and in the extended state, it coincides with the mounting plate 34 in the Y-axis direction.

[0185] The smoothing cylinder 613 is supported on the base 12 with the plunger parallel to the X-axis direction. Furthermore, by supporting the telescopic cylinder 612 with the front end of the plunger, the stripping member 611 can move forward relative to the mounting plate 34 when the plunger is in the inserted state, and move backward relative to the mounting plate 34 when the plunger is in the retracted state.

[0186] According to the above structure, if the hair stripping mechanism 61 has completed the binding of hair M for hair transplantation in a section within the working opening 341 of the mounting plate 34 and the clamping plate 51 has risen to the rising position, then after the hair stripping component 611 is moved forward by the smoothing cylinder 613, the hair stripping component 611 is extended by the telescopic cylinder 612, and the hair stripping component 611 is moved backward by the smoothing cylinder 613.

[0187] Thus, the hair stripping component 611 can pass between the working opening 341 of the mounting plate 34 and the upper opening 511 of the clamping plate 51, and sweep each hair M for transplantation backward and flatten it from the upper opening 511.

[0188] Furthermore, the hair stripping component 611 can be used in any way as long as it can smooth out the hair M used for transplantation. For example, it is not limited to a cylindrical shape; it can also be plate-shaped or made of a brush.

[0189] [First Blower Mechanism]

[0190] The first blower mechanism 64 has a nozzle connected to an air pressure supply source. For example... Figure 3 and Figure 4 As shown, the first blower mechanism 64 is located in front of the mounting plate 34, positioned slightly above and lower than the clamping plate 51 in the raised position, and blows air towards the mounting plate 34 side at a rearward and downward angle.

[0191] As described above, the hair M for transplantation, which is flattened backward by the hair stripping mechanism 61, attempts to stand up above the substrate material J due to its elasticity. In this case, when the substrate material J is clamped for the new area by the clamping device 50, it is possible to clamp the hair M for transplantation between the mounting plate 34 and the clamping plate 51.

[0192] Therefore, the first blower mechanism 64 blows air onto the hair M for transplantation that has been flattened by the hair stripping mechanism 61 so that it does not stand up.

[0193] [Second blower mechanism]

[0194] The second blower mechanism 65 has a nozzle connected to an air pressure supply source. For example... Figure 1 As shown, a second blower mechanism 65 is provided at each of the two ends of the clamping plate 51 in the Y-axis direction. On the lower side of the clamping plate 51, each second blower mechanism 65 blows air toward the mounting plate 34.

[0195] These second blower mechanisms 65 have the following functions: when the clamping plate 51 rises and releases the substrate material J on the mounting plate 34, air is blown out to push the substrate material J toward the cover component 35 or each roller 411, 421.

[0196] In addition, the second blower mechanism 65 also has the following function: when the feeding action of the base material J is performed by the feeding device 40 in such a way that the adjacent area on the Y-axis side is located within the working opening 341 and the smoothing action is performed by the hair stripping mechanism 61, air is blown towards the downstream side of the feeding direction of the base material J, so that the hair M for hair transplantation moves towards the downstream side of the feeding direction of the base material J.

[0197] [camera]

[0198] like Figure 1 As shown, the camera 11 passes through the working opening 341 from below the mounting plate 34 to photograph the substrate material J. The camera 11 has an image sensor and optical system such as a CCD (Charge-Coupled Device) or CMOS (Complementary Metal-Oxide Semiconductor).

[0199] Camera 11 and first capturing mechanism 21 are supported together on position switching mechanism 28 (see reference). Figure 2 The camera 11 and the first capture mechanism 21 can be switched by the position switching cylinder 283 of the position switching mechanism 28 to a state in which the optical axis of the camera 11 is aligned with the center line along the Z-axis direction passing through the center of the working opening 341, and a state in which the center line of the hook of the first capture mechanism 21 is aligned with the center line along the Z-axis direction passing through the center of the working opening 341.

[0200] Furthermore, the position switching mechanism 28 is directly mounted on the base 12 and does not move on the base 12. In contrast, the mounting plate 34 is mounted relative to the base 12 via the moving mechanism 25. Therefore, when viewed from above, the mounting plate 34 can move relative to the position switching mechanism 28 in both the X-axis and Y-axis directions. Therefore, "center of the working opening 341" refers to the center of the working opening 341 when the mounting plate 34 is located at the center of the movable range involved by the moving mechanism 25 (set as the reference position of the mounting plate 34).

[0201] [Calibration Agency]

[0202] The substrate material J is a mesh material that has been unfolded with mesh holes arranged on its surface. For example, the substrate material J in this embodiment has hexagonal mesh holes. When hair M for hair transplantation is sequentially attached to each mesh hole of the substrate material J as described above, the substrate material J is held on the mounting plate 34 in such a way that the arrangement direction of the mesh holes is parallel to the feeding direction of the feeding device 40, i.e., the X-axis direction or the Y-axis direction.

[0203] However, during feeding, if the substrate material J deviates due to slippage, or if the substrate material J is not planar but three-dimensional or a soft material that is easily deformed, the arrangement direction of the mesh holes may become tilted for various reasons.

[0204] The tilt of the mesh openings of the substrate material J described above can be detected based on the image captured by the camera 11.

[0205] Furthermore, if the tilt of the mesh openings of the substrate material J exceeds the allowable value, the substrate material J on the substrate worktable 30 can be rotated around the Z-axis by the correction mechanism 63 to correct the orientation of the camera 11.

[0206] like Figures 3 to 5 As shown, the calibration mechanism 63 is positioned in front of the mounting plate 34. Furthermore, the calibration mechanism 63 includes: a support shaft 632, which is rotatable about the Z-axis and supported by a bracket 631 mounted on the base 12; an arm 633 fixedly mounted to the upper end of the support shaft 632; a circular pressing plate 634 disposed at the front end of the arm 633; ​​and a calibration motor 635 (see reference). Figure 2 The pressing plate 634 is rotated via a transmission belt mechanism; and the arm rotation cylinder 636 (see reference) Figure 2 It imparts rotational motion to the support shaft 632.

[0207] The support shaft 632 is supported by the bracket 631 in the Z-axis direction.

[0208] Arm 633 is connected to support shaft 632 via spline nut 637. That is, arm 633 can move along support shaft 632 via spline nut 637 and can rotate together with support shaft 632 about the Z-axis.

[0209] In addition, arm 633 is pressed upward via spline nut 637 through helical spring 638, which is an elastic component.

[0210] A pressing plate 634, located on the lower surface of the front end of the arm 633, is supported at the front end of the arm 633 in a way that allows it to rotate about the Z-axis. This pressing plate 634 is rotated via a drive belt mechanism located on the upper surface of the arm 633, supplied with rotational force by a calibration motor 635. Furthermore, the lower surface of the pressing plate 634 abuts against the substrate material J placed on the substrate worktable 30 from above, allowing rotation of the pressing plate 634 to be applied to the substrate material J.

[0211] In addition, the arm 633 is always pressed upward by the helical spring 638, thereby keeping the pressing plate 634 at a height that does not reach the base material J on the base worktable 30.

[0212] Furthermore, a pressing cylinder 639 that lowers the arm 633 in response to the helical spring 638 is arranged in parallel on the arm 633. When the correction is performed by rotating the base material J, the pressing plate 634 can be lowered and come into contact with the base material J on the mounting plate 34.

[0213] In addition, the arm rotation cylinder 636 inputs rotational action to the support shaft 632 via a connecting rod member (not shown) provided at the lower end of the support shaft 632.

[0214] By inputting a rotational action from the arm rotation cylinder 636, the arm 633 can move the pressing plate 634 between a retracted position in front of the mounting plate 34 and a pressing position directly above the mounting plate 34.

[0215] [Control system of hair transplant device: control device]

[0216] like Figure 2 As shown, the control device 100 of the hair transplant device 10 includes: a ROM (Read Only Memory) 102, which stores a program for controlling the hair transplant operation; a RAM (Random Access Memory) 103, which serves as a working area for computation and processing; an erasable and rewritable non-volatile data memory 104, which serves as a storage unit for storing various setting data, etc.; and a CPU 101 (Central Processing Unit), which executes the program in the ROM 102.

[0217] In addition, the CPU 101 is connected to the moving mechanism 25 and the first to third capturing mechanisms 21 to 23 and the ringing mechanism 24 that constitute the hair transplant section 20.

[0218] The first to third capture mechanisms 21 to 23 each have a capture motor that serves as the drive source for the forward and backward movement of the hooks 211 to 231. The CPU 101 controls the movement of these capture motors through a drive circuit (not shown) that enables these capture motors to operate.

[0219] The ring-ringing mechanism 24 has multiple actuators, and the CPU 101 controls the movement of the ring-ringing mechanism 24 through a drive circuit (not shown) that activates the actuators.

[0220] The moving mechanism 25 has an X-axis worktable 26 and a Y-axis worktable 27. The CPU 101 controls the movement of the X-axis worktable 26 and the Y-axis worktable 27 through a drive circuit (not shown) that drives the X-axis motor 263 of the X-axis worktable 26 and the Y-axis motor 273 of the Y-axis worktable 27.

[0221] In addition, the CPU 101 is connected to a position switching mechanism 28 that switches the positions of the camera 11 and the first capture mechanism 21, and controls the position switching cylinder 283 via a solenoid valve (not shown).

[0222] In addition, the CPU 101 is connected to the X-axis roller mechanism 41, controls the X-axis feed motor 412 through a drive circuit (not shown), and controls the retraction cylinder 416 through a solenoid valve (not shown).

[0223] Similarly, the CPU 101 is connected to the Y-axis roller mechanism 42, controls the Y-axis feed motor 422 through a drive circuit (not shown), and controls the retraction cylinder 426 through a solenoid valve (not shown).

[0224] Furthermore, there are two of each of the X-axis roller mechanism 41 and the Y-axis roller mechanism 42, but... Figure 2 Only one unit is shown in the diagram.

[0225] In addition, the CPU 101 is connected to the clamping device 50, controls the clamping cylinder 54 through a solenoid valve (not shown), and controls the strength of the air pressure supplied to the clamping cylinder 54 through the regulator 56.

[0226] In addition, the CPU 101 is connected to the lighting device 57 to switch the illumination of the lighting light on and off, and controls the actuator to move the lighting device 57 to a specified position.

[0227] In addition, the CPU 101 is connected to the hair stripping mechanism 61 and controls the telescopic cylinder 612 and the smoothing cylinder 613 via solenoid valves (not shown) that are connected to the telescopic cylinder 612 and the smoothing cylinder 613 respectively.

[0228] In addition, the CPU 101 is connected to the auxiliary clamping mechanism 62 and controls the auxiliary clamping cylinder 622 through a solenoid valve (not shown).

[0229] In addition, the auxiliary clamping mechanism 62 has two units, but... Figure 2 Only one unit is shown in the diagram.

[0230] In addition, the CPU 101 is connected to the calibration mechanism 63 and controls the calibration motor 635 through a drive circuit (not shown). It also controls the arm rotation cylinder 636 and the pressing cylinder 639 through solenoid valves (not shown) connected to the arm rotation cylinder 636 and the pressing cylinder 639, respectively.

[0231] In addition, both the first blower mechanism 64 and the second blower mechanism 65 have solenoid valves that supply high-pressure air to the nozzles. The CPU 101 controls each solenoid valve to control the air ejection of these blower mechanisms.

[0232] In addition, the CPU 101 is connected to the hair holding mechanism 68, controls the feed motor 716 through a drive circuit (not shown), controls the gripping cylinders 704, 705 and the release cylinder 724 through solenoid valves (not shown) connected to the gripping cylinders 704, 705 and the release cylinder 724 respectively, and controls the suction blower 752 through a drive circuit (not shown).

[0233] In addition, the CPU 101 is connected to the camera 11 to control the imaging of the substrate material J.

[0234] Furthermore, the CPU 101 is connected to the pedal 14 that initiates the hair transplantation process.

[0235] In addition, the CPU 101 is connected to the operation panel 15, which has the functions of a display unit for displaying various information and an input unit for making various inputs.

[0236] In addition, the CPU 101 includes software modules such as an image acquisition unit 105 as an image acquisition processing unit, a transformation matrix acquisition unit 106 as a transformation matrix acquisition processing unit, a difference processing unit 107, and a hair detection unit 108 as a hair detection processing unit for hair transplantation. Furthermore, some or all of these software modules may be implemented in hardware.

[0237] The functions of the aforementioned software modules will be explained in detail in the action control of the hair transplantation operation performed by the hair transplantation device 10 described later.

[0238] Furthermore, the CPU 101 controls various cylinders, electric motors, and actuators via solenoid valves, drive circuits, interfaces, etc. However, in the following description, the description of solenoid valves, drive circuits, and interfaces will be omitted, and it will be simply referred to as controlling various cylinders, electric motors, or actuators.

[0239] [Hair transplant procedure control]

[0240] exist Figure 15The flowchart shows the overall process of motion control for the hair transplant operation performed by the CPU 101.

[0241] First, as a preparatory step, the CPU 101 controls the clamping cylinder 54 of the clamping device 50 to set the clamping plate 51 to the rising position, and controls the auxiliary clamping cylinder 622 of each auxiliary clamping mechanism 62 to set the auxiliary clamping plate 621 to the released position that is separated from the X-axis roller mechanism 41.

[0242] Furthermore, the CPU 101 performs the substrate setup process (step S1).

[0243] That is, the base material J is placed on the mounting plate 34 of the base worktable 30. If the start of the hair transplant operation is input from the pedal 14, the CPU 101 supplies air pressure to the clamping cylinder 54 at low pressure through the regulator 56, so that the clamping plate 51 is lowered to the weak clamping position.

[0244] Next, CPU 101 performs the tilt detection process (step S3).

[0245] That is, the CPU 101 controls the position switching cylinder 283 of the position switching mechanism 28 to position the camera 11 so that the optical axis of the camera 11 is aligned with the center of the working opening 341 at the reference position.

[0246] In addition, the CPU 101 controls the lighting device 57 to move the lighting device 57 onto the upper opening 511 and to make the lighting light shine downward.

[0247] Furthermore, the CPU 101 takes a picture of the substrate material J within the working opening 341 using the camera 11, extracts multiple mesh holes that are spread out on the surface of the substrate material J from the captured image, and detects the centroid point g of each mesh hole.

[0248] Figure 16 An example of a captured image is shown using camera 11.

[0249] like Figure 16 As shown, the CPU 101 determines the centroid point gc closest to the camera center (optical axis of camera 11), and further determines two centroid points g arranged sequentially above and below this centroid point gc, with a total of 5 centroid points arranged in a straight line as a base number. Here, "adjacent" means adjacent at the closest interval. Furthermore, "closest interval," for example in the case of mesh holes in a regular polygon such as a regular hexagon, refers to the interval between the centroid points of adjacent mesh holes whose edges are connected.

[0250] Furthermore, unless there is a specific centroid gc or the centroid gn described later is specifically distinguished from other centroids g, they are included and simply referred to as "centroid g".

[0251] Furthermore, CPU 101 calculates the tilt angle θ of the straight line l passing through these five adjacent centroids g relative to the X-axis direction (the vertical direction in the image). This tilt angle θ becomes the tilt of the matrix material J.

[0252] If the tilt angle θ is within the allowable range, the matrix material J is determined to be tilt-free; if it exceeds the allowable range, it is determined to be tilt-free.

[0253] Additionally, sometimes the following situation occurs: the detection of mesh holes or centroids is not performed well, and only centroids g that do not meet the baseline number can be detected. In this case, the CPU 101 considers the centroid gn of the mesh hole adjacent to the centroid gc on one side of the Y-axis as the new centroid gc, and detects five centroids g, including the centroid gn adjacent in the X-axis direction, to determine the tilt.

[0254] Furthermore, if five centroid points g cannot be obtained from the centroid point gn, five centroid points g are obtained from the original centroid point gc along both sides of the Y-axis, up to the specified maximum number of times (e.g., twice on each side). If even this fails to obtain five centroid points g, the tilt detection is stopped. In this case, an error can be reported and the hair transplant operation can be interrupted, or the tilt detection step and the next correction control step can be skipped and the subsequent hair transplant operation can continue. Furthermore, if the operation continues, the hair transplant will be performed with slightly lower accuracy.

[0255] Next, CPU 101 performs the correction control process (step S5). This correction control is implemented when it is determined in step S3 that the matrix material J is tilted. Alternatively, if it is determined that there is no tilt, this correction control is skipped.

[0256] The CPU 101 controls the correction mechanism 63 as a correction control mechanism. The correction motor 635, which holds the substrate material J from above using a pressing plate 634, rotates the substrate material J in the direction that corrects the detected tilt angle. Alternatively, before and after tilt correction, the relaxation of the substrate material J can be eliminated by tension control implemented by the feed device 40.

[0257] Furthermore, the CPU 101 lowers the clamping plate 51 of the clamping device 50 to a weak clamping position and raises each roller 411, 421 of the feeding device 40 to a feeding position.

[0258] Next, the CPU 101 functions as the image acquisition unit 105 and performs a pre-shooting process, that is, before the hair transplantation operation, the base material J is photographed by the camera 11 within the working opening 341 of the mounting plate 34 (step S7).

[0259] Here, regarding the hair transplant pattern data pre-stored in the data storage 104, based on Figure 17 The hair transplant pattern data specifies the settings related to the hair transplant operation, which pertains to the hair transplant operation of multiple mesh holes contained within a unit interval within the range of the working opening 341.

[0260] As shown in the figure, the hair transplant pattern data specifies the order and multiple transplant locations for hair transplantation on a plane where all mesh openings are regular hexagons at uniform intervals. The label K in the figure indicates the aforementioned unit division. Within this unit division K, there are 72 mesh openings, and each mesh opening is marked with an "0" to indicate its transplant location. The order in which hair is transplanted is also determined for each transplant location.

[0261] In the pre-shooting process, the moving mechanism 25 is controlled according to the hair transplantation pattern data to make the mesh hole to be transplanted the center of the shooting range, and the camera 11 takes pictures in this state.

[0262] The image acquisition unit 105 performs the above-mentioned shooting in order to obtain a prior image of the mesh of the hair transplant object in the substrate material J before hair transplantation.

[0263] In this case, similar to the aforementioned shooting action, the image acquisition unit 105 positions the camera 11 via the position switching mechanism 28, illuminates it with light by the illumination device 57, and takes a picture of the substrate material J within the range of the working opening 341 using the camera 11. The shooting data obtained through this shooting is stored in the data memory 104 as pre-image data.

[0264] Next, the CPU 101 executes the hair transplantation procedure (step S9). In this hair transplantation procedure, the position switching cylinder 283 is controlled to position the first capture mechanism 21 at the reference position, and the hair M for transplantation is supplied.

[0265] That is, the CPU 101 pulls out a hair M for transplantation through the hair supply device 74 so that the hair holding mechanism 68 holds it, and the hair M for transplantation waits above the first capturing mechanism 21 which is in the reference position through the conveying mechanism 71.

[0266] Furthermore, the CPU 101 controls the hair transplant section 20 to perform the bonding action between the hair transplant hair M and the matrix material J. Since the bonding action is based on... Figure 12 (A) to Figure 14 As explained in (B), details are omitted here.

[0267] Next, the CPU 101 once again functions as the image acquisition unit 105, and performs a post-implantation photography process after the hair transplantation operation, that is, the camera 11 takes a picture of the same position as the pre-implantation of the substrate material J within the range of the working opening 341 of the mounting plate 34 (step S11).

[0268] The image acquisition unit 105 performs a photographing operation to obtain a post-transplant image of the mesh of the hair transplant object in the substrate material J after the hair transplant.

[0269] In this case, similar to the aforementioned shooting action, the image acquisition unit 105 positions the camera 11 via the position switching mechanism 28, illuminates it with light by the illumination device 57, and takes a picture of the substrate material J within the range of the working opening 341 using the camera 11. The shooting data obtained through this shooting is stored in the data memory 104 as post-processing image data.

[0270] Next, if the image acquisition unit 105 obtains pre- and post-transplant image data before and after the hair transplantation procedure, appropriateness determination processing is performed.

[0271] Regarding the appropriateness determination process, based on Figure 18 (A) to Figure 26 Please provide an explanation. Figure 26 This is a flowchart representing the process of determining whether something is appropriate.

[0272] In the appropriateness determination process, the area around a mesh of the hair transplant object is extracted by trimming from the pre-transplant image data and the post-transplant image data respectively (image trimming process: step S31). Figure 18 (A) is a mesh image based on prior image data (hereinafter, denoted as prior image G1). Figure 18 (B) is a mesh image based on post-image data (hereinafter referred to as post-image G2). By comparing these images, it can be seen that if a hair M is implanted into a mesh, the shape, posture, position, and orientation of the mesh will change due to tension and other factors from the hair M.

[0273] Therefore, in simple comparative processing such as obtaining the difference between the pre-transplant image G1 and the post-transplant image G2, it is difficult to accurately obtain the presence, location, etc. of the hair M to be transplanted after hair transplantation.

[0274] Therefore, the CPU 101 functions as the transformation matrix acquisition unit 106, executing the transformation matrix acquisition process.

[0275] That is, the transformation matrix acquisition unit 106 performs feature point extraction for the previous image G1 and the subsequent image G2 (feature point extraction process: step S33).

[0276] The transformation matrix acquisition unit 106 performs matching processing on multiple feature points extracted from the previous image G1 and multiple feature points extracted from the subsequent image G2 (matching process: step S35).

[0277] Next, the transformation matrix acquisition unit 106 selects multiple groups with higher matching scores from the feature points of the matched previous image G1 and the feature points of the matched subsequent image G2 from an infinite number of groups.

[0278] Furthermore, the transformation matrix acquisition unit 106 calculates the transformation matrix for attitude transformation from the previous image G1 to the subsequent image G2 based on the position coordinates of each selected feature point in the image (transformation matrix calculation step: step S37).

[0279] The transformation matrix simply needs to be a matrix that performs a transformation from one plane to another. For example, the homography transformation matrix can be considered as a transformation matrix. Theoretically, the homography transformation matrix can be calculated if there are four sets of feature points.

[0280] Next, the CPU 101 functions as the differential processing unit 107, executing the differential process.

[0281] That is, the differential processing unit 107 performs a transformation based on the transformation matrix obtained in step S37 on the data of the prior image G1 to generate a transformed prior image G11 after the pose transformation from the prior image G1 to the subsequent image G2 (transformed prior image generation process: step S39). Figure 19 This represents the prior image G1 and the transformed prior image G11 generated based on the prior image G1.

[0282] The pre-transformation image G11 is an image approximately derived from the state of the mesh of the transplanted hair object after its posture changes due to the tension of the transplanted hair M. Since the pre-transformation image G1, which serves as the source of the transformation, does not contain the transplanted hair M, it naturally does not contain the transplanted hair M either, becoming an image that only contains the mesh after its posture has been deformed due to the transplanted hair M.

[0283] Next, the differential processing unit 107 subtracts the data of the post-transformation image G2 from the data of the pre-transformation image G11 to obtain the differential image G12 (differential image generation process: step S41). Figure 20G12 represents the difference image generated by subtracting the post-transformation image G2 from the data of the pre-transformation image G11.

[0284] Next, the CPU 101 functions as the hair detection unit 108, performing the hair detection process.

[0285] That is, the hair detection unit 108 performs binarization and black dilation processing on the data of the pre-transformation image G11 to generate a mesh dilated image G13 (dilation image generation process: step S43). Figure 21 This represents the pre-transformation image G11 and the dilated image G13 generated based on the pre-transformation image G11.

[0286] The hair detection unit 108 first performs binarization processing on the data of the pre-transformation image G11. As a result, each pixel constituting the pre-transformation image G11 is sorted into either black or white based on a brightness threshold. Furthermore, within each pixel of the binarized pre-transformation image G11, pixels that were originally white are transformed into black pixels under certain conditions based on their relationship with surrounding pixels. Thus, areas where white and black pixels intersect within the image are unified into black pixels.

[0287] like Figure 21 As shown, the dilated image G13 consists of the following regions: a roughly hexagonal white region with a mesh opening at its center; six white regions representing other mesh openings around the mesh opening; and black regions that form the boundaries of the white regions.

[0288] The hair detection unit 108 performs marking processing on each white area of ​​the above-mentioned dilated image G13 (marking process: step S45).

[0289] Furthermore, the hair detection unit 108 identifies the largest white area among the marked white areas as the mesh opening of the hair transplant recipient. It then identifies the six largest white areas (W0) after the mesh opening of the hair transplant recipient, and determines the centroid positions of these seven white areas. Based on the relative positions of the centroid positions of the six white areas surrounding white area W0 with respect to the centroid position of the white area W0 of the mesh opening of the hair transplant recipient, the hair detection unit 108 designates the six white areas as "upper," "upper right," "lower right," "lower," "lower left," and "upper left," respectively, as white areas W1 to W6.

[0290] Furthermore, the hair detection unit 108 divides each pixel of the boundary line, i.e. the outline edge, between the white area W0 constituting the mesh hole of the hair transplant object and the surrounding black area into six based on which of the six surrounding white areas W1 to W6 is closest to it (edge ​​division process: step S47).

[0291] Figure 22 It is a conceptual diagram representing each pixel that constitutes the outline edge as being divided into six lines L1 to L6, each represented by a different pattern.

[0292] The hair detection unit 108 calculates an approximate straight line for each line L1 to L6. For example, Figure 23 As shown, the least squares lines are calculated based on the position coordinates of the pixels that make up each line L1 to L6, and they are used as approximate lines LC1 to LC6 (approximate line acquisition process: step S49).

[0293] Furthermore, the hair detection unit 108 generates inner contour lines LI1 to LI6 and outer contour lines LO1 to LO6 by moving approximately straight lines LC1 to LC6 parallel to each other with the same width on the centroid side and the opposite side of the centroid in the white region W0.

[0294] The inner contour lines LI1 to LI6 and the outer contour lines LO1 to LO6 are obtained by moving parallel to the approximate straight lines LC1 to LC6 with a predetermined number of pixels. The number of pixels moved in parallel can be arbitrarily set from the operation panel 15, for example. However, it is preferable that the number of pixels is set to the width between the inner contour lines LI1 to LI6 and the outer contour lines LO1 to LO6, where the fiber portion around the mesh holes converges.

[0295] Furthermore, a trapezoidal region T1 is formed by the parallel inner contour line LI1, the outer contour line LO1, and the adjacent outer contour lines LO2 and LO6 on both sides. Similarly, trapezoidal hair transplant location determination regions T2 to T6 are formed with respect to the inner contour line LI2 and the outer contour line LO2, the inner contour line LI3 and the outer contour line LO3, the inner contour line LI4 and the outer contour line LO4, the inner contour line LI5 and the outer contour line LO5, and the inner contour line LI6 and the outer contour line LO6 (hair transplant location determination region setting process: step S51).

[0296] Next, as Figure 24As shown, the hair detection unit 108 overlays the hair transplant location discrimination regions T1 to T6 onto the differential image G12 generated by the differential image generation process in step S41. Furthermore, the hair detection unit 108 counts the number of pixels in the differential image G12 that belong to each hair transplant location discrimination region T1 to T6 and have a difference value (brightness value) of a predetermined value or higher, and uses this count as a score (hair transplant location discrimination process: step S53).

[0297] exist Figure 25 Here is an example of the results of the above counting. Hair transplant location discrimination area T1 is the area surrounding the "top" side of the hexagonal mesh, hair transplant location discrimination area T2 is the area surrounding the "top right" side, hair transplant location discrimination area T3 is the area surrounding the "bottom right" side, hair transplant location discrimination area T4 is the area surrounding the "bottom" side, hair transplant location discrimination area T5 is the area surrounding the "bottom left" side, and hair transplant location discrimination area T6 is the area surrounding the "top left" side.

[0298] Therefore, among the hair transplant location discrimination areas T1 to T6, the area with the highest score represents the part that has undergone the greatest visual change before and after the hair transplant procedure.

[0299] That is, in Figure 25 In the case of the example, a large visual change occurred in the upper right hair transplant location discrimination area T2, which had the highest score. It can be inferred that the hair transplant hair M was combined with the upper right side of the hexagonal mesh corresponding to the hair transplant location discrimination area T2.

[0300] Next, the hair detection department 108 compares the hair transplant pattern data with the data to determine whether the hair transplant hair M is combined with the mesh of the current hair transplant object at the predetermined position (data comparison process: step S55).

[0301] Next, return Figure 15 The flowchart represents the action control of the hair transplant operation. If the suitability determination in step S13 is completed, the CPU 101 determines the qualification of the hair transplant operation based on the result of the suitability determination (step S15).

[0302] That is, if the hair detection unit 108 determines that the hair follicle M for the current hair transplant target is not combined with the hair transplant target at the predetermined position, the CPU 101 performs a notification process.

[0303] Notification processing can also be achieved by using, for example, the operation panel 15 or other lights, buzzers, speakers, etc., to notify the outside world of the occurrence of an error.

[0304] Alternatively, different handling methods can be applied to the errors. For example, if there is no hair M to be transplanted at the predetermined position of the mesh, and it is not incorrectly combined with other positions, the process can be returned to step S9 as a notification to retry the hair transplant operation.

[0305] Additionally, if hair grafts (M) are grafted outside the designated mesh area, an error in the grafting location can be reported via the operation panel 15 as a notification, awaiting the operator's input of subsequent handling procedures. These procedures can include either continuing to the next grafting step or halting the entire hair transplant procedure.

[0306] On the other hand, in the hair transplantation action qualification determination in step S15, if it is determined that the hair transplantation hair M is combined with the mesh of the current hair transplantation object at the predetermined position, the CPU 101 determines whether the combination of hair transplantation hair M has ended for all the combination parts within the current unit division K (step S17).

[0307] Furthermore, before the hair grafting for all grafting sites has been completed, the process returns to step S7, where the mesh of the next hair graft is positioned above the hook 211 of the first capture mechanism 21 for imaging, and the hair grafting action is performed.

[0308] On the other hand, if the hair grafts M for transplantation have been completed for all the grafting sites within the current unit area K, the CPU 101 determines whether hair transplantation has been completed for all the predetermined areas in the matrix material J (step S19). If hair transplantation has been completed for all the areas, the CPU 101 raises the clamping plate 51 of the clamping device 50 to the raised position, releases the matrix material J on the mounting plate 34, and ends the hair transplantation operation.

[0309] On the other hand, if hair transplantation is not completed for all areas, the CPU 101 performs the hair stripping operation (step S21).

[0310] That is, the CPU 101 causes the rollers 411 and 421 of the feeding device 40 to descend and retract, clamping the base material J through the auxiliary clamping plates 621, and causing the clamping plate 51 to retract to the rising position.

[0311] Furthermore, the CPU 101 moves the hair-stripping component 611 forward via the smoothing cylinder 613 of the hair-stripping mechanism 61, and extends the hair-stripping component 611 via the telescopic cylinder 612. Additionally, the smoothing cylinder 613 moves the hair-stripping component 611 backward, thereby sweeping the hair M inserted through the upper opening 511 backward and smoothing it out from the upper opening 511.

[0312] At this time, air is blown backward by the first blower mechanism 64 to suppress the standing up of the transplanted hair M that is being swept backward.

[0313] Furthermore, the CPU 101 lowers the clamping plate 51 to a weak clamping position and releases the auxiliary clamping of the base material J by each auxiliary clamping plate 621.

[0314] Next, CPU 101 executes the feed control procedure (step S23).

[0315] That is, the CPU 101 first feeds the base material J in predetermined division units by the rising of each roller 411 of the feeding device 40 and the movement of the base material J in the X-axis direction driven by the X-axis feed motor 412, or by the rising of each roller 421 and the movement of the base material J in the Y-axis direction driven by the Y-axis feed motor 422.

[0316] Furthermore, once the feed action to the next zone is completed, the clamping plate 51 is lowered to the strong clamping position.

[0317] Then, CPU 101 completes the hair transplant procedure after repeating steps S3 to S23 for all sections.

[0318] [Technical Effects of Embodiments of the Invention]

[0319] As described above, in the hair transplant device 10, the CPU 101 of the control device 100 includes: an image acquisition unit 105, which performs an image acquisition process, that is, acquiring a pre-transplant image G1 obtained by taking pictures of the mesh of the hair transplant object in the substrate material J before hair transplantation and a post-transplant image G2 obtained by taking pictures after hair transplantation; a transformation matrix acquisition unit 106, which performs a transformation matrix acquisition process, that is, acquiring the posture transformation matrix of the mesh based on the pre-transplant image G1 and the post-transplant image G2; a differential processing unit 107, which performs a differential process, that is, acquiring a differential image G12 of the transformed pre-transplant image G11 and the post-transplant image G2 after the posture transformation matrix is ​​applied to the pre-transplant image G1; and a hair detection unit 108, which performs a hair detection process, that is, determining whether there is hair M for hair transplantation in the mesh or the hair transplantation position based on the differential image G12.

[0320] Therefore, based on the post-image G2 and the pre-image G1 of the mesh, which change in position, shape, or posture due to the combination of hair M for hair transplantation using the hair transplantation action, it is possible to maintain constant accuracy in detecting hair M for hair transplantation and the combination position of hair M for hair transplantation.

[0321] Furthermore, in the transformation matrix acquisition process performed by the transformation matrix acquisition unit 106, multiple feature points of the prior image G1 and multiple feature points of the subsequent image G2 are obtained, and the pose transformation matrix is ​​obtained based on the feature points matched among these feature points. Therefore, an appropriate pose transformation matrix can be easily obtained, and the detection of hair M for hair transplantation and the detection of the binding position of hair M for hair transplantation can be performed with higher accuracy.

[0322] In addition, in the hair detection process performed by the hair detection unit 108, multiple hair transplant location discrimination areas T1 to T6 are set around the mesh holes according to the transformation pre-image G11, and the hair transplant location is determined according to the number of pixels of the difference image G12 belonging to the multiple hair transplant location discrimination areas T1 to T6.

[0323] Therefore, as long as the pre-transplant image G1 and the post-transplant image G2 are obtained, the transplant position of the hair M after the hair transplant operation can be detected with higher accuracy.

[0324] [other]

[0325] The various embodiments of the present invention have been described above. However, the present invention is not limited to the embodiments described above. For example, in the embodiments, a structural element integrally formed by a single component can be replaced by a structural element divided into multiple components that are connected or fixed to each other. In addition, a structural element composed of multiple components connected together can be replaced by a structural element integrally formed by a single component. Apart from this, the details shown in the embodiments can be appropriately changed without departing from the spirit of the invention.

[0326] For example, the detection method executed by the CPU 101 of the control device 100 to detect the transplanted hair M after the hair transplant is completed relative to the mesh of the base material J may not be limited to the hair transplant device 10 having all the above structures. For example, the hair transplant device 10 may be configured as a minimal structure having a base worktable 30 as a base support mechanism, a hair transplant part 20, a camera 11 as an imaging part, and a control device 100.

[0327] In addition, the detection method executed by the CPU 101 to detect the hair M after hair transplantation relative to the mesh of the base material J can also be configured to be executed by a computer outside the hair transplantation device 10, which obtains data of the pre-transplant image G1 and the post-transplant image G2 through communication or the like.

[0328] Explanation of the label

[0329] 10 Hair transplant device

[0330] 11. Camera (Photography Department)

[0331] 20 Hair Transplant Department

[0332] 21 to 23 First to Third Capture Agencies

[0333] Crochet hooks 211 to 231

[0334] 24 Ring-ringing mechanism

[0335] 241 Wrist

[0336] 25. Mobile mechanisms

[0337] 30. Base worktable (base support mechanism)

[0338] 34 mounting plate

[0339] 341 Opening for operation

[0340] 40 Feed device

[0341] 41 X-axis roller mechanism

[0342] 42 Y-axis roller mechanism

[0343] 50 Clamping device

[0344] 51 Clamping plate

[0345] 511 Upper opening

[0346] 100 Control device

[0347] 101CPU

[0348] 105 Image Acquisition Unit (Image Acquisition and Processing Unit)

[0349] 106 Transformation Matrix Acquisition Unit (Transformation Matrix Acquisition Processing Unit) 107 Difference Processing Unit

[0350] 108 Hair Detection Department (Hair Transplant Detection and Processing Department) J Matrix Material d Gap

[0351] G1 Pre-event Images

[0352] G2 post-event images

[0353] G11 transforms the prior image

[0354] G12 difference image

[0355] G13 dilated image

[0356] H1, H2 mesh holes

[0357] L1 to L6 lines

[0358] Approximate straight lines from LC1 to LC6

[0359] Inner contour lines of LI1 to LI6

[0360] Outer contour lines of LO1 to LO6

[0361] T1 to T6 hair transplant location identification areas

Claims

1. A detection method for detecting hair grafts after hair transplantation relative to the mesh of a mesh-like matrix material. The detection method is characterized by having: The image acquisition process involves acquiring a pre-transplant image of the mesh of the hair transplant object in the substrate material before hair transplantation and a post-transplant image after hair transplantation. The transformation matrix acquisition process involves obtaining the pose transformation matrix of the mesh based on the prior image and the subsequent image. The difference process obtains a difference image between the transformed pre-image (after the pre-image has been transformed using the pose transformation matrix) and the post-image; and The hair detection process determines whether there are hairs for hair transplantation or the location of hair transplantation in the mesh based on the differential image.

2. The detection method according to claim 1, characterized in that, In the transformation matrix acquisition process, multiple feature points of the prior image and multiple feature points of the subsequent image are obtained, and the pose transformation matrix is ​​obtained based on the matched feature points among these feature points.

3. The detection method according to claim 1, characterized in that, In the hair detection process, multiple regions are set around the holes of the mesh according to the pre-transformation image, and the hair transplant position is determined according to the number of pixels of the differential image belonging to the multiple regions.

4. A hair transplant device, characterized in that, have: The matrix support mechanism supports the mesh-like matrix material; The hair transplant section, which uses a crochet hook to braid the hair for transplantation relative to the base material; and The imaging unit captures images of the locations within the matrix material supported by the matrix support mechanism where the hair transplantation unit performs the hair transplantation procedure. This hair transplant device has the following features: The image acquisition and processing unit acquires a pre-implantation image of the mesh of the hair transplant object in the substrate material before hair transplantation and a post-implantation image after hair transplantation. The transformation matrix acquisition processing unit acquires the pose transformation matrix of the mesh based on the prior image and the subsequent image; The differential processing unit acquires a differential image between the transformed pre-image (after the pre-image has been transformed by the pose transformation matrix) and the post-image. as well as The hair transplant detection and processing unit determines the presence or absence of hair for transplantation or the location of hair transplantation in the mesh based on the differential image.

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