Auxiliary hair follicle planting system

Abstract

The utility model provides an auxiliary hair follicle planting system. The auxiliary hair follicle planting system comprises a mounting seat; the planting part is detachably connected with the mounting seat, and the extension direction of a blade part of the planting part is defined as a first direction; the executing mechanism is connected with the mounting base, and the executing mechanism is used for driving the mounting base to do linear motion in the first direction and / or driving the mounting base to do rotary motion with the first direction as the axis; the sensing module is used for acquiring an image near the blade part of the planting part; and the path planning control module is in signal connection with the execution mechanism and the sensing module. According to the hair follicle auxiliary planting system, the path planning control module controls the execution mechanism to adjust the position of the planting part based on the image information acquired by the sensing module, so that manual work is replaced, the automation of hair follicle auxiliary planting is realized, and the efficiency and effect of a hair follicle planting operation can be improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to a kind of follicle auxiliary planting systems. BACKGROUND

[0002] The current follicle planting surgery, doctors need to use gemstone knife or planting needle to manually punch in the area to be planted, and then the follicle extracted in advance is placed into the hole by doctors or nurses. The survival rate of follicle after planting and hair transplantation effect depend on the punching position, angle, density and depth of doctors. Since the punching level of doctors is uneven, and when continuously punching hundreds of holes, it is inevitable that the eyes and body will be tired, which affects the punching effect and speed, and finally affects the planting effect. Therefore, the planting efficiency and effect of the current follicle planting surgery are not high. SUMMARY

[0003] The technical problem to be solved by the utility model is to overcome the defects of low planting efficiency and effect of the follicle planting surgery in the prior art, and provide a follicle auxiliary planting system.

[0004] The utility model solves the above technical problem by the following technical scheme:

[0005] A follicle auxiliary planting system is used for assisting follicle planting, and the follicle auxiliary planting system comprises:

[0006] A mounting seat;

[0007] A planting part, which is detachably connected with the mounting seat, and the extending direction of the blade part of the planting part is defined as the first direction;

[0008] An actuating mechanism, which is connected with the mounting seat, is used for driving the mounting seat to move linearly along the first direction and / or driving the mounting seat to rotate around the first direction as the axis;

[0009] A sensing module, which is used for collecting the image near the blade part of the planting part;

[0010] A path planning control module, which is signal-connected with the actuating mechanism and the sensing module.

[0011] The follicle auxiliary planting system can replace the planting part of different specifications according to the actual situation by arranging the mounting seat for mounting and dismounting the planting part, and the connecting part of the actuating mechanism and the mounting seat can adjust the front and back positions and the rotation angle of the mounting seat and the planting part, so that the moving track of the planting part can meet the auxiliary planting requirements. Meanwhile, the sensing module and the path planning control module are arranged, the path planning control module controls the actuating mechanism to adjust the position of the planting part based on the image information obtained by the sensing module, so as to replace manual operation, realize the automation of follicle auxiliary planting, and improve the efficiency and effect of follicle planting surgery.

[0012] Preferably, the actuating mechanism comprises a linear motion part and a rotary motion part, the linear motion part is connected with the mounting seat and drives the mounting seat to move linearly in the first direction, and the rotary motion part is connected with the mounting seat and drives the mounting seat to rotate around the first direction as the axis.

[0013] The actuating mechanism is provided with a linear motion part and a rotary motion part respectively to drive the mounting seat to move linearly and rotate, so that the mounting seat and the planting part arranged on the mounting seat can realize complex motion through the combination of the two direction motions.

[0014] Preferably, the actuating mechanism further comprises a force detection part, and the force detection part is used to detect the force of the mounting seat in the first direction.

[0015] The actuating mechanism is further provided with a force detection part to detect the force of the mounting seat in the first direction (i.e. the front and back direction), so as to realize the purpose of active detection, so that the follicle auxiliary planting system can realize relatively higher precision depth control and safety control of the planting part based on the force in the front and back direction.

[0016] Preferably, the mounting seat, the rotary motion part, the force detection part and the linear motion part are connected in sequence, the linear motion part is used to drive the mounting seat, the rotary motion part and the force detection part to move linearly in the first direction, the force detection part is used to detect the force of the mounting seat and the rotary motion part in the first direction, and the rotary motion part is used to drive the mounting seat to rotate around the first direction as the axis.

[0017] The mounting seat, the rotary motion part, the force detection part and the linear motion part are connected in sequence to provide a relatively simple and compact connection scheme, wherein the force detection part is arranged between the mounting seat and the linear motion part, so as to facilitate the force detection part to directly detect the force of the linear motion part in the motion and non-motion state.

[0018] Meanwhile, the force detection part is used to realize the connection between the rotary motion part and the linear motion part, and also plays the role of a connecting part, so that the structure of the follicle auxiliary planting system is more compact.

[0019] Preferably, the rotating motion part comprises a hollow motor, an encoder and a bearing, or the rotating motion part comprises a rotating motor, a shaft coupling, an encoder and a bearing.

[0020] The structure provides a variety of preferred structure implementation schemes of the rotating motion part. Among them, the hollow motor is used as the power source of the rotating motion part, which can realize the purpose of compact structure. By setting the encoder, the rotation angle of the rotating motion part is actively detected, closed-loop control is realized, and control accuracy is improved. The bearing can reduce the transmission resistance and improve the control accuracy. The shaft coupling enables the power of the rotating motor to be reliably transmitted to the mounting seat to drive the planting part to rotate.

[0021] Preferably, the linear motion part comprises a rotating motor, a shaft coupling, an encoder, a lead screw and a lead screw nut.

[0022] The structure provides a variety of preferred structure implementation schemes of the rotating motion part. Among them, the forward and backward movement of the linear motion part is driven by the rotating motor through the shaft coupling and the lead screw to drive the lead screw to rotate and in turn drive the lead screw nut to move forward and backward, thereby providing a low-speed, high-torque forward and backward movement driving scheme to meet the high-precision forward and backward position adjustment requirements of the planting part.

[0023] Preferably, the hair follicle auxiliary planting system further comprises a pose adjustment module, the pose adjustment module is connected with the execution mechanism and is in signal connection with the path planning control module, and the pose adjustment module can adjust the attitude of the execution mechanism under the control of the path planning control module.

[0024] By setting the pose adjustment module to adjust the attitude of the execution mechanism, the freedom of movement of the planting part is further improved. Through the structure, the hair follicle auxiliary planting system can adjust the attitude of the execution mechanism, the mounting seat and the planting part connected to the execution mechanism when the bottom is fixed, so that the attitude and orientation of the planting part can meet the hair follicle auxiliary planting requirements of different parts of the patient.

[0025] Preferably, the execution mechanism comprises a mechanical arm, the mechanical arm is connected with the mounting seat, and the mechanical arm has at least the freedom of movement of linear motion in a first direction and rotating motion around the first direction as the axis.

[0026] The mechanical arm is used as the execution mechanism to realize the functions of driving the planting part to move forward and backward, rotate, etc. The system has high integration, can reduce cost and improve the operation reliability of the whole system.

[0027] Preferably, the mechanical arm can also detect the force of the mounting seat in the first direction.

[0028] The force sensing module or torque sensing module at the end of the mechanical arm is used to detect the force in the first direction (i.e. the front-rear direction), so that an additional force sensor is not needed to realize the force detection function, which can simplify the structure complexity of the hair follicle assisted implantation system and reduce the cost.

[0029] Preferably, the planting part has a conical circular table on one side of the mounting seat, and the mounting seat has a tapered hole for accommodating the conical circular table of the planting part.

[0030] The planting part and the mounting seat are connected through the conical circular table and the tapered hole, which can realize quick disassembly and assembly and ensure installation accuracy to avoid installation errors caused by repeated disassembly and assembly.

[0031] Preferably, the outer surface of the tapered hole has a thread, and the mounting seat further comprises a locking nut which is screwed at the thread.

[0032] On the basis of positioning and installation between the planting part and the mounting seat through the conical circular table and the tapered hole, the locking nut is arranged to lock the planting part to the mounting seat, which can completely avoid the planting part from separating from the tapered hole of the mounting seat, and can keep the conical circular table of the planting part and the tapered hole of the mounting seat closely fitted to avoid shaking during use.

[0033] Preferably, the outer edge of the tapered hole has a positioning stop, and the surface of the conical circular table of the planting part is provided with a positioning boss corresponding to the position of the positioning stop, and when the planting part is arranged in the mounting seat, the positioning boss is embedded in the positioning stop.

[0034] The positioning stop is arranged at the outer edge of the tapered hole of the mounting seat to cooperate with the corresponding positioning boss on the planting part to achieve the purpose of preventing rotation, so as to ensure that the cutting edge of the planting part can remain unchanged during multiple disassembly and assembly processes, which is beneficial to the automatic control of the path planning control module.

[0035] Preferably, a tool dismounting port is further arranged on the surface of the planting part, and the tool dismounting port is arranged close to the conical circular table.

[0036] The tool dismounting port is reserved on the surface of the planting part, which facilitates quick disassembly and replacement of the planting part under the condition of close cooperation between the planting part and the mounting seat.

[0037] Preferably, the planting part is a hollow single-edge blade or a solid double-edge blade.

[0038] The planting part adopts various cutting edges to realize different assisted implantation functions by replacing the cutting edges, which can meet the diversified needs of hair follicle assisted implantation.

[0039] Preferably, the planting part is a planting needle, a blade of the planting needle has a hollow inner hole extending in the first direction, the follicle auxiliary planting system further comprises a center rod and an additional actuator, the center rod is arranged in the hollow inner hole, and the additional actuator is connected to one end of the center rod away from the hollow inner hole and drives the center rod to move linearly in the first direction.

[0040] In the case that the planting part is a hollow planting needle, the additional actuator is further arranged to drive the center rod to reciprocate in the hollow inner hole of the planting needle, so as to meet diversified follicle auxiliary planting requirements.

[0041] Preferably, the follicle auxiliary planting system further comprises a trolley, and the trolley is used to carry the actuator.

[0042] By arranging the trolley to carry the actuator, the follicle auxiliary planting system as a whole has the ability of horizontal movement and fixation, and is convenient to arrange flexibly.

[0043] Preferably, the sensing module comprises a camera and an optical mirror, and a lens of the camera collects images near the blade of the planting part through optical reflection of the optical mirror.

[0044] The sensing module is arranged with the camera and the optical mirror, the lens of the camera collects images near the blade of the planting part through optical reflection of the optical mirror, so as to achieve the purpose of acquiring images, and meanwhile, the lens of the camera does not occupy the space near the blade of the planting part, thereby providing a larger space for auxiliary planting of the planting part and observation of the planting part from above by an operator.

[0045] Preferably, the sensing module comprises a camera, and a lens of the camera is directly arranged towards the blade of the planting part.

[0046] The sensing module is arranged with the camera, and the lens of the camera is directly arranged towards the blade of the planting part to acquire images near the blade, so that the structure is simple and reliable.

[0047] Preferably, the sensing module further comprises a supplementary light, and the supplementary light is arranged towards the blade of the planting part.

[0048] The supplementary light is arranged to provide auxiliary illumination, so that the quality of acquired images is improved, and the path planning control module is facilitated to generate a planting scheme based on the images.

[0049] The positive progress effect of the utility model lies in:

[0050] The hair follicle auxiliary planting system, by setting the mounting seat for mounting and dismounting the planting part, can replace the planting part of different specifications according to the actual situation, and meanwhile, the actuator is connected with the mounting seat, so that the front and back positions and the rotation angle of the mounting seat and the planting part can be adjusted, and the moving track of the planting part can meet the auxiliary planting requirements. Meanwhile, the sensing module and the path planning control module are arranged, the path planning control module controls the actuator to adjust the position of the planting part based on the image information obtained by the sensing module, so as to replace manual operation, realize the automation of hair follicle auxiliary planting, and improve the efficiency and effect of hair follicle planting operation. BRIEF DESCRIPTION OF DRAWINGS

[0051] Figure 1 It is a partial structure schematic view of the hair follicle auxiliary planting system of the embodiment 1 of the utility model.

[0052] Figure 2 It is a whole structure schematic view of the hair follicle auxiliary planting system of the embodiment 1 of the utility model.

[0053] Figure 3 It is a perspective view (one) of the actuator part of the embodiment 1 of the utility model.

[0054] Figure 4 It is a perspective view (two) of the actuator part of the embodiment 1 of the utility model.

[0055] Figure 5 It is a bottom view of the actuator part of the embodiment 1 of the utility model.

[0056] Figure 6 It is a sectional view of the linear motion part of the embodiment 1 of the utility model.

[0057] Figure 7 It is a sectional view of the rotary motion part of the embodiment 1 of the utility model.

[0058] Figure 8 It is a partial structure schematic view of the mounting seat of the embodiment 1 of the utility model.

[0059] Figure 9 It is a perspective view of the planting part of the embodiment 1 of the utility model.

[0060] Figure 10 It is a sectional view of the mounting seat and the planting part of the embodiment 1 of the utility model.

[0061] Figure 11 It is a perspective view of another planting part of the embodiment 1 of the utility model.

[0062] Figure 12 It is a flow chart of the hair follicle auxiliary planting method of the embodiment 1 of the utility model.

[0063] Figure 13 The stereogram of the actuator part of the embodiment 2 of the utility model.

[0064] Figure 14 The stereogram of the actuator part of the embodiment 3 of the utility model.

[0065] Figure 15 The sectional view of the rotary motion part of the embodiment 3 of the utility model.

[0066] Figure 16 The stereogram of the actuator part of the embodiment 4 of the utility model (1).

[0067] Figure 17 The stereogram of the actuator part of the embodiment 4 of the utility model (2).

[0068] Figure 18 The stereogram of the actuator part of the embodiment 5 of the utility model.

[0069] Figure 19 The stereogram of the actuator part of the embodiment 6 of the utility model (1).

[0070] Figure 20 The stereogram of the actuator part of the embodiment 6 of the utility model (2).

[0071] Figure 21 The sectional view of the rotary motion part of the embodiment 6 of the utility model.

[0072] Explanation of reference signs:

[0073] Hair follicle assisted planting system 100

[0074] Mounting seat 10, taper hole 11, locking nut 12, positioning stop 13

[0075] Planting part 20, circular table 21, positioning boss 22, tool dismounting opening 23, hollow inner hole 24

[0076] Actuator 30

[0077] Linear motion part 31, rotary motor 311, shaft coupling 312, encoder 313, lead screw 314, lead screw nut 315

[0078] Rotary motion part 32, hollow motor 321, encoder 322, bearing 323, rotary motor 324, shaft coupling 325

[0079] Stress detection part 33

[0080] Sensing module 40, camera 41, optical mirror 42, light supplement lamp 43

[0081] pose adjustment module 50

[0082] central rod 60

[0083] additional actuator 70, transmission rod 71

[0084] trolley 80 DETAILED DESCRIPTION

[0085] The preferred embodiments are described below in conjunction with the accompanying drawings.

[0086] Example 1

[0087] As shown in Figure 1 and Figure 2 The present application provides a hair follicle assisted implantation system 100, which comprises a mounting seat 10, an implantation part 20, an actuator 30, a sensing module 40, a pose adjustment module 50, a trolley 80 and a path planning control module (not shown in the figure). Among them, the pose adjustment module 50 is specifically a multi-degree-of-freedom mechanical arm, one end of which is connected to the trolley 80, and the other end is connected to the actuator 30, which is used to adjust the pose of the actuator 30, and the path planning control module is arranged inside the trolley 80.

[0088] As shown in Figure 3 The implantation part 20 is a gemstone knife for realizing assisted implantation, which pierces the patient's skin through the blade part to realize the purpose of assisted implantation. The implantation part 20 is detachably connected with the mounting seat 10, so that the implantation part 20 can be replaced, for example, by replacing it with other implantation knives or implantation needles, other assisted implantation purposes other than punching can be realized. The actuator 30 is connected with the mounting seat 10, and the actuator 30 is used to drive the mounting seat 10 to move linearly along the extension direction (i.e. the first direction A) of the blade part of the implantation part 20, at the same time, the actuator 30 is also used to drive the mounting seat 10 to rotate around the first direction A as the axis. The sensing module 40 is arranged on the actuator 30, which is used to collect images near the blade part of the implantation part 20. The path planning control module arranged inside the trolley 80 is signal connected with the actuator 30 and the sensing module 40, the path planning control module can obtain the image data collected by the sensing module 40, and based on the implantation scheme, combined with the collected image data, control the actuator 30, drive the mounting seat 10 and the implantation part 20 to move linearly and rotate through the actuator 30. Among them, the implantation scheme can include manually planned path data by doctors and / or AI generated path data, which can include punching area, punching density, punching direction, punching depth, etc.

[0089] Specifically, by image recognition on the image data collected by the perception module 40, the positional relationship (including the distance and the blade orientation angle, etc.) between the blade end of the planting part 20 and the patient's skin can be obtained, and based on the positional relationship, the actuator 30 can be controlled to drive the planting part 20 to move in a branch line direction towards the patient's skin, or to rotate the planting part 20 to adjust the orientation angle of the blade of the planting part 20, to meet the needs of automated auxiliary punching.

[0090] Specifically, the follicle auxiliary planting system 100 is provided with the mounting seat 10 for mounting and dismounting the planting part 20, so that different specifications of the planting part 20 can be replaced according to actual conditions. Meanwhile, the actuator 30 is connected with the mounting seat 10, so that the front and back positions and the rotation angle of the mounting seat 10 and the planting part 20 can be adjusted, so that the movement track of the planting part 20 can meet the auxiliary planting requirements. Meanwhile, the perception module 40 and the path planning control module are provided, and the path planning control module controls the actuator 30 to adjust the position of the planting part 20 based on the image information obtained by the perception module 40, so as to replace manual operation, realize the automation of follicle auxiliary planting, and improve the efficiency and effect of follicle planting surgery.

[0091] As shown in Figure 1 and Figure 2 In the present embodiment, the pose adjustment module 50 is connected with the actuator 30 and can adjust the pose of the actuator 30 under the control of the path planning control module, so as to further improve the movement freedom of the planting part 20, so that the follicle auxiliary planting system 100 can adjust the pose of the actuator 30, the mounting seat 10 and the planting part 20 connected with the actuator 30 by using the pose adjustment module 50, so that the pose and orientation of the planting part 20 can meet the needs of follicle auxiliary planting of different parts of the patient. Specifically, in the present embodiment, the pose adjustment module 50 is composed of a multi-degree-of-freedom mechanical arm, so as to realize the adjustment of the pose of the actuator 30 (and indirectly connected mounting seat 10, planting part 20 and perception module 40) by using the multi-degree-of-freedom movement of the multi-degree-of-freedom mechanical arm. Among them, the six-degree-of-freedom mechanical arm can meet the needs of multi-directional adjustment of the pose, and if further flexibility is needed, a seven-degree-of-freedom mechanical arm can be used.

[0092] In the embodiment, since the path planning control module is arranged inside the trolley 80, and one end of the pose adjustment module 50 is fixed on the trolley 80, the path planning control module is connected with the pose adjustment module 50, the actuating mechanism 30 and the sensing module 40 through signal lines. In other embodiments, if the path planning control module is arranged at a position relatively far away from other devices of the hair follicle assisted implantation system 100, the path planning control module can also be connected with the pose adjustment module 50, the actuating mechanism 30 and the sensing module 40 through wireless communication or other ways. In addition, by arranging the pose adjustment module 50 on the trolley 80, the hair follicle assisted implantation system 100 as a whole has the ability of horizontal movement and fixation, which is convenient for flexible arrangement.

[0093] In the embodiment, in order to realize the forward and backward movement and the rotating movement of the driving mounting seat 10 and the implanting part 20 along the first direction A, the actuating mechanism 30 includes a linear motion part 31 and a rotating motion part 32. The linear motion part 31 is connected with the mounting seat 10 and drives the mounting seat 10 to move linearly along the first direction A, and the rotating motion part 32 is connected with the mounting seat 10 and drives the mounting seat 10 to rotate around the first direction A as the axis. By respectively arranging the linear motion part 31 and the rotating motion part 32 to drive the mounting seat 10 to move linearly and rotate, the two kinds of direction movements are combined, so that the mounting seat 10 and the implanting part 20 can realize complex movement.

[0094] As shown in FIG. 1, the hair follicle assisted implantation system 100 includes a trolley 80, a pose adjustment module 50, an actuating mechanism 30, a sensing module 40, a driving mounting seat 10 and an implanting part 20. Figure 4 and Figure 5As shown, the actuator 30 further comprises a force detection part 33 for detecting the force of the mounting base 10 along the first direction A, so as to achieve the purpose of active detection, and enable the follicle assisted implantation system 100 to control the implantation part 20 based on the force along the front-back direction, so as to achieve relatively higher precision control. For example, during the process of the implantation part 20 penetrating into the patient's skin, and the process of contacting and piercing the epidermis, the force of the implantation part 20 should gradually increase, and after piercing the epidermis, the force of the implantation part 20 will decrease, and then gradually increase with the increase of the penetration depth of the implantation part 20. Therefore, by arranging the force detection part 33 to detect the force of the implantation part 20 along the first direction A, the penetration state of the implantation part 20 relative to the patient's skin can be determined based on the force, so as to improve the control precision and enhance the effect of assisted punching. Specifically, in the embodiment, the mounting base 10, the rotary movement part 32, the force detection part 33 and the linear movement part 31 are connected in sequence. Among them, the linear movement part 31 is used to drive the mounting base 10, the rotary movement part 32 and the force detection part 33 to move linearly along the first direction A. The force detection part 33 is used to detect the force of the mounting base 10 and the rotary movement part 32 along the first direction A. And the rotary movement part 32 is used to drive the mounting base 10 to rotate around the first direction A as the axis. Compared with other transmission connection modes, this connection scheme of sequentially connecting the mounting base 10, the rotary movement part 32, the force detection part 33 and the linear movement part 31 is relatively simple and compact. In addition, the force detection part 33 is arranged between the mounting base 10 and the linear movement part 31, which facilitates the force detection part 33 to directly detect the force of the linear movement part 31 in the moving and non-moving state. At the same time, the force detection part 33 is used to realize the connection between the rotary movement part 32 and the linear movement part 31, and also plays the role of a connecting piece, so that the structure of the follicle assisted implantation system 100 is more compact. Among them, the force detection part 33 can be realized by using a force sensor or a torque sensor.

[0095] Of course, in other embodiments, the mounting base 10, the rotary movement part 32, the force detection part 33 and the linear movement part 31 can also be connected in other orders. For example, the linear movement part 31 is connected with the mounting base 10 through the force detection part 33, and is used to drive the mounting base 10 to move forward and backward, and detects the force through the force detection part 33, while the rotary movement part 32 is connected with the linear movement part 31, and is used to drive the linear movement part 31, the force detection part 33 and the mounting base 10 to rotate as a whole.

[0096] As Figure 6As shown, in this embodiment, the linear motion unit 31 includes a rotary motor 311, a coupling 312, an encoder 313, a lead screw 314, and a lead screw nut 315. The rotary motor 311 is connected to the lead screw 314 via the coupling 312. By driving the lead screw 314 to rotate, the lead screw nut 315 mounted on the lead screw 314 moves back and forth along the first direction A. The lead screw nut 315 is further connected to the force detection unit 33. In addition, an encoder 313 is provided between the coupling 312 and the lead screw 314 to detect the rotation angle and the number of rotations, so as to realize closed-loop control and improve the control accuracy of the back and forth movement. The back and forth movement of the linear motion unit 31 is achieved by the rotary motor 311 driving the lead screw 314 to rotate, which in turn drives the lead screw nut 315 to move back and forth, so as to provide a low-speed, high-torque back and forth movement drive scheme to meet the high-precision back and forth position adjustment requirements of the planting unit 20.

[0097] like Figure 7 As shown, in this embodiment, the rotating motion unit 32 includes a hollow motor 321, an encoder 322, and bearings 323. The hollow motor 321 is connected to the mounting base 10 and is used to drive the mounting base 10 to rotate. Multiple bearings 323 are sleeved on the surface of the mounting base 10, which can achieve smooth rotation, improve rotational rigidity, and ensure coaxiality. In addition, the encoder 322 is set on the surface of the mounting base 10 in the area between two bearings 323 to detect the rotation angle and number of rotations of the mounting base 10, realize closed-loop control, and improve the control accuracy of rotation.

[0098] like Figure 8 As shown and Figure 9 As shown, in this embodiment, the implantation part 20 has a frustum 21 with a tapered surface on the side facing the mounting base 10, and a conical hole 11 for accommodating the frustum 21 is provided at the end of the mounting base 10. Connection is achieved by inserting the frustum 21 of the implantation part 20 into the conical hole 11 of the mounting base 10 (see...). Figure 10 This design allows for quick assembly and disassembly of the planting section 20 relative to the mounting base 10, facilitating the replacement of the planting section 20, while also ensuring installation accuracy and avoiding installation errors caused by repeated assembly and disassembly. The taper of the frustum 21 can be a Morse taper, or a Luer taper, or other tapers commonly used in existing technologies, to achieve the insertion and positioning between the planting section 20 and the mounting base 10.

[0099] like Figure 8As shown, the outer side surface of the taper hole 11 of the mounting base 10 is further provided with a thread, and the mounting base 10 further comprises a locking nut 12 which is screwed on the thread through the locking nut 12 to fix the circular table 21 of the planting part 20 at the taper hole 11 of the mounting base 10. Specifically, in the present embodiment, the planting part 20 is locked on the mounting base 10 by the locking nut 12, which can completely avoid the planting part 20 from being separated from the taper hole 11 of the mounting base 10, and can also make the circular table 21 of the planting part 20 closely fit the taper hole 11 of the mounting base 10 to avoid shaking during use.

[0100] As shown in Figure 8 and Figure 9 , the taper hole 11 has two positioning stoppers 13 on the outer edge, and the planting part 20 is provided with two positioning bosses 22 on the surface of the circular table 21 corresponding to the positions of the two positioning stoppers 13. When the planting part 20 is arranged on the mounting base 10, the positioning bosses 22 are embedded in the positioning stoppers 13, so as to achieve the purpose of anti-rotation through the cooperation of the positioning bosses 22 and the positioning stoppers 13, and ensure that the cutting edge of the planting part 20 can remain unchanged during multiple disassembly and assembly processes, which is beneficial to the automatic control of the path planning control module. In addition, the planting part 20 is further provided with a tool dismounting opening 23 which is arranged close to the circular table 21. By reserving the tool dismounting opening 23 on the surface of the planting part 20, the quick dismounting and replacement of the planting part 20 can be realized under the condition that the planting part 20 is tightly fitted with the mounting base 10.

[0101] By dismounting the planting part 20 from the mounting base 10, it is convenient to replace the planting needle or planting knife with different cutting edge shapes, for example, a solid double-edged blade (gem knife) as shown in Figure 9 , or a hollow single-edged blade (planting needle) as shown in Figure 11 , can be used by replacing the planting part 20 to meet the diversified needs of hair follicle assisted planting.

[0102] As shown in Figure 4As shown, the perception module 40 in the embodiment is arranged on the frame of the actuator 30, and specifically includes the camera 41 and the optical mirror 42. The camera 41 is at least two in number, and the lenses of the cameras 41 respectively collect images near the blade part of the planting part 20 through optical reflection of the optical mirror 42. Among them, the camera 41 lens of the perception module 40 collects images near the blade part of the planting part 20 through optical reflection of the optical mirror 42, which realizes the purpose of obtaining images, and at the same time avoids the lens of the camera 41 occupying the space near the blade part of the planting part 20, thereby providing a larger space for the auxiliary planting of the planting part 20 and the observation of the planting part 20 from above by the operator. In addition, the perception module 40 in the embodiment further includes the supplementary light 43, which is arranged towards the blade part of the planting part 20 to perform auxiliary lighting, improve the image quality, and facilitate the path planning control module to generate a planting scheme based on the image.

[0103] As shown in the drawings, Figure 12 The utility model also provides a hair follicle auxiliary planting method, which is realized by using the above-mentioned hair follicle auxiliary planting system 100. The hair follicle auxiliary planting method specifically includes the following steps:

[0104] S1. The path planning control module controls the pose adjustment module 50 to adjust the pose of the mounting seat 10 based on the pre-established hair transplantation object three-dimensional model, so that the planting part 20 is aligned with the hair transplantation receiving area of the hair transplantation object.

[0105] S2. The perception module 40 obtains images near the blade part of the planting part 20 and transmits the collected images to the path planning control module.

[0106] S3. The path planning control module plans a planting scheme based on the images, controls the pose adjustment module 50 to adjust the pose of the mounting seat 10 so that the planting part 20 is aligned with the to-be-planted point, and controls the actuator 30 to drive the planting part 20 to perform auxiliary punching.

[0107] The planting scheme can include manually planned path data by a doctor and / or AI generated path data, which can include punching area, punching density, punching direction, punching depth, etc.

[0108] Specifically, the path planning control module of the hair follicle auxiliary planting method controls the pose adjustment module 50 to adjust the pose of the mounting seat 10 based on the pre-established hair transplantation object three-dimensional model, so that the planting part 20 is driven by the actuator 30 to perform auxiliary punching, thereby providing an automatic punching scheme to replace manual auxiliary punching and improving the efficiency and effect of hair follicle planting surgery.

[0109] In step S3, the control of the actuator 30 to drive the planting part 20 to assist in the punching scheme specifically includes the following sub-schemes:

[0110] (1) Control the linear motion part 31 of the actuator 30 to drive the planting part 20 to move forward along the first direction A to penetrate into the to-be-planted point.

[0111] (2) Control the rotary motion part 32 of the actuator 30 to drive the planting part 20 to rotate around the first direction A as the axis to adjust the angle between the blade of the planting part 20 and the to-be-planted point.

[0112] (3) Control the force detection part 33 of the actuator 30 to detect the force of the planting part 20 along the first direction A to control the linear motion part 31 to stop moving or move backward after the force is greater than a threshold.

[0113] In which, by controlling the linear motion part 31 of the actuator 30 to drive the planting part 20 to move forward to penetrate into the to-be-planted point, the purpose of assisting in punching is achieved. By controlling the rotary motion part 32 of the actuator 30 to drive the planting part 20 to rotate, the angle between the blade of the planting part 20 and the to-be-planted point is adjusted, so that the penetration angle meets the demand of the growth direction of the hair after assisted planting.

[0114] In addition, by detecting the force of the planting part 20 along the first direction A through the force detection part 33, the force condition is judged to determine whether the auxiliary punching depth or punching is abnormal, and the punching process can be stopped when the force is too large, or the external force collision that the planting part may be subjected to in a non-punching state is detected, meeting the collision safety detection requirement.

[0115] Of course, in other embodiments, other control schemes can also be used to control the hair follicle assisted planting system 100, such as controlling the actuator 30 and the movement of the mechanical arm through the pre-set path in the path planning control module, to achieve the purpose of automatic assisted planting.

[0116] Embodiment 2

[0117] This embodiment provides a hair follicle assisted planting system 100, which has a structure similar to that of the hair follicle assisted planting system 100 in Embodiment 1, and the main difference is that in this embodiment, as shown in Figure 13 The perception module 40 also includes at least two cameras 41, the lenses of which are directly arranged towards the blade of the planting part 20, so that the lenses of the cameras 41 are directly towards the blade of the planting part 20 to obtain images near the blade. Compared with the scheme of Embodiment 1, since there is no need to set an optical mirror 42, the structure is simpler. In this embodiment, a fill light 43 is also provided for auxiliary lighting to improve the quality of the obtained images.

[0118] In this embodiment, the perception module 40 uses at least two cameras 41 to capture images of the vicinity of the cutting edge of the planting part 20 from different angles, which are transmitted to the path planning control module.

[0119] Embodiment 3

[0120] This embodiment provides a hair follicle assisted planting system 100, which has substantially the same structure as the hair follicle assisted planting system 100 in Embodiment 1, except that the specific structure of the rotating motion part 32 is different from that in Embodiment 1. In this embodiment, as shown in Figure 14 and Figure 15 The rotating motion part 32 includes a rotating motor 324, a coupling 325, an encoder 322, and a bearing 323. The coupling 325 is provided to reliably transmit the power of the rotating motor 324 to the mounting seat 10 to drive the planting part 20 to rotate. At the same time, a plurality of bearings 323 are sleeved on the surface of the mounting seat 10 to achieve smooth rotation, improve rotational rigidity, and ensure coaxiality. In addition, the encoder 322 is arranged on the surface of the region between the two bearings 323 of the mounting seat 10 to detect the rotation angle and rotation number of the mounting seat 10, achieve closed-loop control, and improve the control accuracy of rotation.

[0121] Embodiment 4

[0122] This embodiment provides a hair follicle assisted planting system 100, which has substantially the same structure as the hair follicle assisted planting system 100 in Embodiment 1, except that the specific structure of the executing mechanism 30 in this embodiment is different from that in Embodiment 1. As shown in Figure 16 and Figure 17 The executing mechanism 30 in this embodiment further includes a mechanical arm (not shown in the figure). One end of the mechanical arm of the executing mechanism 30 is connected to the trolley 80, and the other end is connected to the mounting seat 10 through the rotating motion part 32. The mechanical arm is used to drive the mounting seat 10 to move linearly along the first direction A, and the force along the first direction A can be detected by the force sensor built in the mechanical arm.

[0123] The executing mechanism 30 of the hair follicle assisted planting system 100 is provided with a mechanical arm to realize the functions of driving the mounting seat 10 and the planting part 20 to move linearly along the first direction A and detecting the force, so that a separate linear motion part 31 and a force detection part 33 do not need to be additionally provided, the integration of the entire system is improved, and the system cost is reduced.

[0124] Embodiment 5

[0125] This embodiment provides a hair follicle assisted planting system 100, which has substantially the same structure as the hair follicle assisted planting system 100 in Embodiment 4, except that the specific structure of the executing mechanism 30 in this embodiment is different from that in Embodiment 4. As shown in Figure 18As shown, in this embodiment, the robotic arm of the actuator 30 also has the function of driving the mounting base 10 to rotate around the first direction A. Therefore, the actuator 30 does not need to be equipped with a separate rotating motion part 32. It is only necessary to fix the sensing module 40 and the mounting base 10 to the end of the robotic arm. The mounting base 10 can be moved back and forth and rotated through the multi-degree-of-freedom motion inside the robotic arm. At the same time, by setting the robotic arm, the functions of driving the mounting base 10 and the planting part 20 to move linearly along the first direction A and detecting the magnitude of the force can be realized.

[0126] The robotic arm is used as the actuator 30 to drive the planting section 20 to move back and forth, rotate, and detect force. The system has a high degree of integration, which can reduce costs and improve the reliability of the entire system.

[0127] Example 6

[0128] This embodiment provides a hair follicle-assisted transplantation system 100, whose structure is largely the same as that of the hair follicle-assisted transplantation system 100 in Embodiment 1, with the main difference being: Figure 19 , Figure 20 and Figure 21 As shown, the implantation part 20 in this embodiment adopts a hollow single-edged blade (implant needle), and the blade has a hollow inner hole 24 extending along the first direction A. Therefore, the hair follicle assisted implantation system 100 is also provided with an additional actuator 70 to drive the central rod 60 located inside the hollow inner hole 24 of the implantation part 20 to move linearly along the first direction A, so as to meet the diverse hair follicle assisted implantation needs.

[0129] Specifically, in this embodiment, the rotary motion unit 32 uses a hollow motor 321 to drive the mounting base 10 to rotate, without occupying the space on the side of the mounting base 10 away from the planting part 20. Therefore, the auxiliary actuator 70 is connected to the central rod 60 passing through the mounting base 10 via a transmission rod 71, so as to transmit the back-and-forth reciprocating motion of the auxiliary actuator 70 to the central rod 60. The specific structure of the auxiliary actuator 70 in this embodiment is roughly the same as the structure of the linear motion unit 31 of the actuator 30, and the specific structure will not be described in detail.

[0130] The structural arrangement provided in this embodiment can be used alone for auxiliary drilling during implantation, or simultaneously for both drilling and implantation. When used only for auxiliary drilling, the main function of the central rod 60 is to prevent blockage of the implantation needle's inner hole; that is, the reciprocating linear motion of the central rod 60 clears the inner hole of the implantation needle. When used for both drilling and implantation, the central rod 60 needs to retract backward, placing the hair follicle into the inner hole of the implantation needle beforehand. As the implantation needle completes the drilling process and retracts, the central rod extends forward to push the hair follicle out of the inner hole, leaving it within the skin.

[0131] Although the specific embodiments of the present application are described above, those skilled in the art should understand that this is only an example, the protection scope of the present application is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of the present application, but these changes and modifications all fall within the protection scope of the present application.

Claims

1. A follicle assisted implantation system, characterized by, It is used for assisting hair follicle planting, and the hair follicle assisting planting system comprises: a mounting base; a planting part which is detachably connected with the mounting base, and the extending direction of the blade part of the planting part is defined as a first direction; an executing mechanism which is connected with the mounting base, and the executing mechanism is used for driving the mounting base to move linearly along the first direction and / or driving the mounting base to rotate around the first direction as the axis; a sensing module which is used for collecting images near the blade part of the planting part; a path planning control module which is signal connected with the executing mechanism and the sensing module.

2. The follicle assisted implantation system of claim 1, wherein, The executing mechanism comprises a linear motion part and a rotary motion part, the linear motion part is connected with the mounting base and drives the mounting base to move linearly along the first direction, and the rotary motion part is connected with the mounting base and drives the mounting base to rotate around the first direction as the axis.

3. The follicle assisted implantation system of claim 2, wherein, The executing mechanism further comprises a force detection part which is used for detecting the force of the mounting base along the first direction.

4. The follicular unit assisted implantation system of claim 3, wherein, The mounting base, the rotary motion part, the force detection part and the linear motion part are connected in sequence, the linear motion part is used for driving the mounting base, the rotary motion part and the force detection part to move linearly along the first direction, the force detection part is used for detecting the force of the mounting base and the rotary motion part along the first direction, and the rotary motion part is used for driving the mounting base to rotate around the first direction as the axis.

5. The follicular unit assisted implantation system of claim 2, wherein the at least one guide is a guide tube. The rotary motion part comprises a hollow motor, an encoder and a bearing, or the rotary motion part comprises a rotary motor, a shaft coupling, an encoder and a bearing; and / or, the linear motion part comprises a rotary motor, a shaft coupling, an encoder, a lead screw and a lead screw nut; and / or, the hair follicle assisting planting system further comprises a pose adjustment module which is connected with the executing mechanism and signal connected with the path planning control module, and the pose adjustment module can adjust the pose of the executing mechanism under the control of the path planning control module.

6. The follicular unit assisted implantation system of claim 1, wherein, The executing mechanism comprises a mechanical arm which is connected with the mounting base, and the mechanical arm has at least a movement freedom degree of moving linearly along the first direction and rotating around the first direction as the axis.

7. The follicular unit assisted implantation system of claim 6, wherein, The mechanical arm can further detect the force of the mounting base along the first direction.

8. The follicular unit assisted implantation system of any of claims 1-7, wherein, The side of the planting part which faces the mounting base has a circular truncated cone with a tapered surface, and the mounting base has a tapered hole for accommodating the circular truncated cone of the planting part.

9. The follicular unit assisted implantation system of claim 8, wherein, The outer side surface of the tapered hole has a thread, and the mounting base further comprises a locking nut which is screw set at the thread; and / or, the outer edge of the tapered hole has a positioning stop, and the circular truncated cone of the planting part is provided with a positioning boss at the position corresponding to the positioning stop, and when the planting part is arranged at the mounting base, the positioning boss is embedded at the positioning stop; and / or, a tool dismounting opening is further arranged on the surface of the planting part and close to the circular truncated cone.

10. The follicular unit assisted implantation system of any of claims 1-7, wherein, The planting part is a hollow single-edge blade or a solid double-edge blade.

11. The follicular unit assisted implantation system of any of claims 1-7, wherein, The planting part is a planting needle, a cutting edge of the planting needle has a hollow inner hole extending in a first direction, the follicle auxiliary planting system further comprises a center rod and an additional actuating mechanism, the center rod is arranged in the hollow inner hole, and the additional actuating mechanism is connected to one end of the center rod away from the hollow inner hole and drives the center rod to move linearly in the first direction.

12. The follicular unit assisted implantation system of any of claims 1-7, wherein, The follicle auxiliary planting system further comprises a trolley, and the trolley is used to carry the actuating mechanism.

13. The follicular unit assisted implantation system of any of claims 1-7, wherein, The sensing module comprises a camera and an optical mirror, a lens of the camera directly faces the cutting edge of the planting part, and the sensing module comprises a camera. And / or, the sensing module further comprises a light supplementing lamp, and the light supplementing lamp is arranged in the direction of the cutting edge of the planting part.

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