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WO2024058499A1 - Procédé et appareil pour générer des données de coordonnées d'une zone de greffe de cheveux - Google Patents

Procédé et appareil pour générer des données de coordonnées d'une zone de greffe de cheveux Download PDF

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Publication number
WO2024058499A1
WO2024058499A1 PCT/KR2023/013487 KR2023013487W WO2024058499A1 WO 2024058499 A1 WO2024058499 A1 WO 2024058499A1 KR 2023013487 W KR2023013487 W KR 2023013487W WO 2024058499 A1 WO2024058499 A1 WO 2024058499A1
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WIPO (PCT)
Prior art keywords
hair
coordinate data
scalp
transplant
hair transplant
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2023/013487
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English (en)
Korean (ko)
Inventor
손대웅
김병술
김종훈
박지혜
박은헌
김남지
송진섭
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Ohdae Corp
Original Assignee
Ohdae Corp
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Publication date
Priority claimed from KR1020220117234A external-priority patent/KR102598858B1/ko
Application filed by Ohdae Corp filed Critical Ohdae Corp
Publication of WO2024058499A1 publication Critical patent/WO2024058499A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/10—Hair or skin implants

Definitions

  • the present invention relates to a hair transplant device, and more specifically, to a method and device for generating coordinate data for a hair transplant area on a patient's scalp for hair transplantation using a hair transplanter mounting module attached to the end of a robot arm. will be.
  • Hair transplantation is one of the hair treatment methods that allows patients to have a large amount of hair like the general public by collecting hair from the hair growth area of the patient's scalp and transplanting it to another barren area where hair loss has occurred.
  • a hair transplanter is a device for collecting hair from the hair growth area of the scalp and transplanting it to the hair loss area.
  • the conventionally widely used hair transplanter has one hair transplant needle each in one body and can slide inside the hair transplant needle. It is equipped with a mandrel that is arranged appropriately.
  • the operator When using a conventional hair transplanter, the operator holds the hair transplanter with his hand and operates the hair transplant needle and mandrel by manually manipulating the hair transplanter (such as pressing or pulling it up) with his fingers. Since these conventional single-hair manual hair transplanters can only transplant one hair root with one hair transplanter, in order to transplant a large number of hair roots, multiple hair transplanters must be prepared and the devices must be changed one by one for each treatment. In addition, it is a fairly difficult task that requires manipulation of the operator's fingers to operate the hair transplant needle and mandrel.
  • Korean Patent Publication No. 2019-0109321 discloses a hair transplanter in which a plurality of basting channels are arranged radially and each basting channel is sequentially pushed one by one by a push bar to perform a hair transplant operation.
  • control the robot arm to automatically transplant hair onto the patient's scalp.
  • control unit can control the robot arm and end devices. There is a need.
  • the present invention uses a vision camera and a distance sensor to obtain three-dimensional coordinate data (coordinate values) for the hair transplant area on the patient's scalp and automatically performs hair transplantation based on this.
  • the purpose is to provide a method and device for generating coordinate data.
  • the purpose of the present invention is to provide a hair transplant guide that can automatically set the hair transplant area and the transplant guide point within the hair transplant area so that the user (e.g., doctor) and the robot arm system can work cooperatively during the hair transplant procedure. Do it as
  • a method of generating coordinate data of the hair transplant area on the patient's scalp for hair transplantation using a hair transplanter mounting module attached to the end of a robot arm attaches a marker to the patient's scalp and takes pictures. steps; Obtaining horizontal coordinate data by referring to the marker within the captured image; and obtaining vertical coordinate data by calculating the distance from the scalp to the hair transplanter mounting module using a distance sensor installed in the hair transplanter mounting module.
  • three-dimensional coordinate data of the hair transplant area is acquired using a camera and distance sensor installed on the hair transplanter mounting module attached to the end of the robot arm, and this is converted into a robot coordinate system to determine the exact hair transplant location. can be confirmed.
  • the hair transplant area is automatically identified from an image taken of the patient's scalp, a guide point is automatically set within the hair transplant area, and the robot arm is operated according to the transplant direction and transplant angle input by the user.
  • FIG. 1 is a diagram illustrating an automatic hair transplantation system according to an embodiment of the present invention
  • Figure 2 is a diagram illustrating a transplanter mounting module according to an embodiment
  • Figure 3 is a flowchart of generating coordinate data of a hair transplant area according to an embodiment
  • Figure 4 is a diagram illustrating a marker for generating coordinate data according to an embodiment
  • Figure 5 is a diagram schematically showing an image taken of a patient's scalp including markers
  • Figure 6 is a flowchart of a method for generating horizontal coordinate data according to an embodiment
  • Figure 7 is a diagram illustrating a method of measuring the distance between the scalp and the needle according to one embodiment
  • Figure 8 is a flowchart of a method for generating vertical coordinate data according to an embodiment
  • Figure 9 is a flow chart illustrating a hair transplant guide method according to an embodiment
  • Figure 10 is a flowchart of a method for setting a hair transplant area according to an embodiment
  • FIG. 11 is a diagram schematically showing a captured image of a patient's scalp according to an embodiment
  • Figure 12 is a flowchart of a method for setting a guide point according to an embodiment
  • Figure 13 is a diagram illustrating a method of setting a transplant guide point in the hair transplant area
  • Figure 15 is a diagram explaining a method of setting an offset in the hair transplant area
  • Figure 16 is a flowchart of a method for setting the direction and angle of hair transplantation according to one embodiment
  • Figure 17 is a diagram explaining hair transplant direction and angle settings according to an embodiment
  • Figure 18 is a flowchart of an exemplary method of performing a hair transplant operation using coordinate data generated according to an embodiment.
  • expressions such as 'top', 'bottom', 'left', 'right', 'front', 'rear', etc. used to describe the positional relationship between the first and second components in this specification refer to the first component. It may be an expression for explaining the relative position of the second component with respect to the element.
  • Figure 1 is a diagram explaining an automatic hair transplant system according to an embodiment of the present invention
  • Figure 2 is a diagram explaining an exemplary configuration of the hair transplanter mounting module 10.
  • the automatic hair transplant system includes a robot arm 30 and a hair transplanter mounting module 10 (hereinafter simply referred to as "") attached to the end 31 of the robot arm 30. It may include a “mounting module”), a hair transplanter 20 detachably mounted on the mounting module 10, and a computer device 40.
  • the robot arm 30 may be a device that consists of a plurality of joints, a motor that moves each joint, and an encoder that detects movement, and can precisely move the end 31 of the robot arm with 6 degrees of freedom or more. It is known in the industry.
  • the hair transplanter mounting module 10 may be detachably coupled to the end 31 of the robot arm 30.
  • the hair transplanter mounting module 10 can detachably mount the hair transplanter 20, and also includes at least one camera 15 and at least one distance sensor 17.
  • the mounting module 10 is shown as having one camera 15 and two distance sensors 17, but this is an example and the number of cameras 15 and/or distance sensors 17 mounted is Of course, may vary.
  • the hair transplant device 20 may be, for example, a multi-channel hair transplant device disclosed in Korean Patent Publication No. 2019-0109321, but is not limited thereto, and may be mounted on the robot arm 30 to automatically perform one or more hair transplant operations. You can use a hair transplanter of any configuration.
  • the camera 15 is an image sensor capable of photographing the patient's scalp at a certain viewing angle toward the vertical downward direction of the hair transplant device 20.
  • the camera 15 may be implemented as a real image (visible light) camera or a thermal (infrared) camera, but is not limited thereto.
  • the distance sensor 17 is a sensor that measures the distance between the hair transplanter 20 and the patient's scalp and may be implemented as, for example, a laser sensor. In the illustrated embodiment, two distance sensors 17 were installed to increase the accuracy of distance measurement. In this case, for example, the distance measured by the first distance sensor can be used as the actual measurement data, but if a predetermined error difference occurs compared to the data measured by the second distance sensor, the distance sensor can be designed to initialize or alert the user. there is.
  • the mounting module 10 includes a driving part that moves the upper cap of the hair transplanter 20 in the upward and/or downward direction, and the needle 25 is moved by the operation of the driving part.
  • a hair transplant operation can be performed by lowering the needle and transplanting the hair root inside the tip of the needle to the patient's scalp.
  • the computer device 40 is implemented with, for example, an operating system such as Windows, Mac, or Linux, a computer processor, memory, application programs, and a storage device (e.g., HDD, SSD) to run a specific application program. It is a known device.
  • the computer device 40 may be, for example, a server device, a desktop computer, a laptop, etc., but this is illustrative and not limited thereto.
  • the computer device 40 includes a coordinate data generating unit 41 and a control unit 42.
  • the coordinate data generation unit 41 is a functional unit that receives data from the camera 15 and the distance sensor 17 and generates three-dimensional coordinate data of the transplantation area based on this.
  • the coordinate data generator 41 may perform steps (eg, steps S20 to S50) described later with reference to FIG. 3. Additionally, the coordinate data generator 41 can transmit 3D coordinate data to the control unit 42.
  • the control unit 42 recognizes the patient's scalp shape and/or hair transplant position based on this coordinate data, and controls the operation of the mounting module 10 and the robot arm 30 based on this information to automatically perform hair transplant operation. can do.
  • coordinate data generation unit 41 and the control unit 42 may be implemented as computer algorithms, programs, and/or software that are stored and executed in the computer device 40.
  • Figure 3 is a flowchart of an exemplary method of generating coordinate data of a hair transplant area by the coordinate data generating unit 41 according to an embodiment.
  • the coordinate data generation method includes the step of attaching a marker 70 to the patient's scalp and photographing it with a camera 15 (S10), and generating three-dimensional coordinate data of the patient's scalp from the captured image. It may include a step of generating (S20), a step of generating transplantation guide information for hair transplantation (S30), and a step of converting 3D coordinate data into coordinate data based on the robot coordinate system (S40). In addition, a step (S50) of transplanting hair to the patient's scalp by controlling the hair transplant device mounting module 10 and the robot arm 30 based on the converted 3D coordinate data may be further included.
  • the step of generating 3D coordinate data uses the step of acquiring horizontal (i.e., X-Y axis plane) coordinate data within the captured image (S210) and the distance sensor 17 installed on the mounting module 10. This may include calculating the distance from the scalp to the mounting module 10 and obtaining vertical (i.e., Z-axis) coordinate data (S220).
  • a marker is attached or marked on the hair transplant area of the patient's scalp.
  • the marker is a member having a reference line and at least one reference point indicating at least one of the It may be one of the rectangular frame members having a penetrating area of length.
  • Figure 4 schematically shows a marker 70 for generating coordinate data according to an embodiment.
  • the marker 70 is a square frame-shaped member having a penetrating area (S).
  • the penetrating area S may have a rectangular shape with a predetermined width and length.
  • the size of the marker 70 is not particularly limited, and for example, the width and length may each be several centimeters in size.
  • grids 71 may be formed at regular intervals along at least one side of the marker 70.
  • the graduations may be formed at intervals of, for example, 1 mm. In alternative embodiments there may be no graduations 71.
  • a reference point 72 is formed on at least one of the four corners of the marker 70.
  • the reference point 72 may be formed or printed in a negative groove or positive protrusion structure on the surface of the square frame, and may be, for example, a '+' shape, an ' ⁇ ' shape, or a dot as shown, but this is an example. It is an enemy.
  • the marker 70 can be made of a flexible material such as flexible plastic or rubber and can be firmly attached to the scalp. Additionally, the marker 70 can be temporarily fixed by attaching it to the scalp using adhesive tape or adhesive.
  • Figure 5 schematically shows an image taken with the camera 15 after attaching the marker 70 to the patient's scalp. As shown in Figure 5, the area where hair transplantation is to be performed on the patient's scalp, that is, around the hair transplant area, is shown. The image taken after attaching the marker 70 in the shape of a square frame is schematically shown.
  • step S10 by attaching and fixing the marker 70 to the patient's scalp in step S10, three-dimensional coordinate data for the hair transplant area can be obtained and transplant guide information can be generated in subsequent steps S20 and S30. .
  • the marker 70 in the shape of a square frame shown in Figure 4 is an example, and in an alternative embodiment, a straight line or a ' ⁇ ', ' ⁇ ', or ' ⁇ ' shape is drawn directly on the patient's scalp with a pen and a marker ( 70) It can also take over the role.
  • the marker 70 can be marked by drawing it on the patient's scalp with a black marker pen, and in this case, the reference point 72 can be marked by drawing it on the corner of the marker 70 with a marker pen of a different color than the marker 70. You can. Therefore, in this specification, 'attaching' the marker 70 to the patient's scalp not only means physically attaching the marker 70 to the scalp, but also includes drawing and marking the marker 70 on the patient's scalp with a pen. do.
  • the reference point 72 may not be separately displayed on the marker 70, and in this case, a corner point where two sides of the marker 70 meet may be recognized as the reference point 72.
  • an image taken by the camera 15 installed on the hair transplanter mounting module 10 (e.g., an image taken of the patient's scalp including the marker 70 as shown in Figure 5) Generate 3D coordinate data of the hair transplant area from .
  • the image captured by the camera 15 is transmitted to the coordinate data generator 41 of the computer device 40, and the coordinate data generator 41 refers to the marker 70 in the captured image to perform hair transplantation. Coordinate data for the area can be obtained.
  • the step of generating three-dimensional coordinate data (S20) includes the step of generating horizontal coordinate (X-Y axis coordinate) data (S210) and the step of generating vertical coordinate (Z-axis coordinate) data (S220).
  • Figure 6 is a specific flowchart of the horizontal coordinate data generation step (S210) according to one embodiment.
  • step S211 the patient's scalp area including the marker 70 is photographed with the camera 15.
  • the captured image is transmitted to the coordinate data generator 41 of the computer device 40, and the coordinate data generator 41 identifies the reference point by referring to the marker 70 in step S212.
  • the reference point 72 of any one of the four corners of the square frame marker 70 can be identified within the captured image.
  • the hair transplant area is set with reference to the reference point 72.
  • the reference point 72 as the origin within the captured image
  • one side of the square frame of the marker 70 can be identified as the X-axis, and the other side perpendicular to it can be identified as the Y-axis, and the marker 70 Set the area inside the square frame as the hair transplant area.
  • the coordinate data generator 41 identifies the reference point and the direction of at least one of the X-axis or Y-axis in the captured image. Therefore, the axis perpendicular to the identified axis can also be confirmed, and thus a hair transplant area of a predetermined area can be set.
  • step S214 X, Y coordinate data (coordinate values) of an arbitrary point in the hair transplant area can be obtained.
  • the coordinate data generator 41 sets virtual grid points spaced apart at predetermined intervals with the reference point 72 as the origin within the hair transplant area of the captured image. That is, if virtual straight lines parallel to each axis are generated along the You can obtain coordinate values in the X-Y plane for grid points. Therefore, for example, for any grid point P shown in Figure 5, the horizontal coordinate value of this grid point P can be known.
  • the scalp may not be completely horizontal (flat), but the region of interest that is the target for performing step (S213) is small enough that the hair transplant area can be considered flat, and even if there is a slight curve, it can be considered flat. There are cases where it is okay.
  • the operation of capturing images by the camera 15 and transmitting the captured images to the coordinate data generator 41 may continue in real time.
  • the position of the reference point (72) changes in the captured image. Therefore, if the coordinate data generator 41 detects such a change in the reference point (S215), the steps of identifying the reference point (S212), setting the hair transplant area (S213), and acquiring the horizontal coordinate data (S214) are performed again to ensure that the latest Can be updated with coordinate data.
  • the step of generating vertical coordinates is to calculate the distance from the scalp to the hair transplanter mounting module 10 using the distance sensor 17 installed in the hair transplanter mounting module 10. This is the step of acquiring vertical coordinate data.
  • the vertical coordinate data may be coordinate data indicating the distance from the scalp to the hair transplanter mounting module 10 at each of at least some grid points, and more preferably, the equation from the scalp at each grid point It may be coordinate data indicating the distance to the tip of the needle 25 of the mosquito 20.
  • Figure 7 shows an exemplary method of measuring the scalp-needle distance according to one embodiment.
  • Figure 7(a) shows a state in which the hair transplanter needle 25 is at the most desirable distance (H) from the scalp before starting the automatic hair transplant operation by the hair transplanter mounting module 10 and the robot arm 30 (hereinafter referred to as "hair transplanter”). (also referred to as “operation start position"), and at this time, the distance (H) is the distance from the scalp to the tip of the needle 25, and this distance (H) refers to the distance that the needle 25 descends for the hair transplant operation, etc. It is a value that is set in advance taking into account.
  • the distance sensor 17 installed on the hair transplanter mounting module 10 is a virtual target point that is vertically downward from the end of the hair transplanter needle 25 by a preset distance (H). It is arranged to measure the distance in the direction facing (T).
  • the distance sensor (17) and the hair transplanter (20) are fixed to the hair transplanter mounting module (10)
  • (L) has a constant value. That is, in Figure 7(a), the distance (H) from the tip of the needle 25 to the target point (T) and the height difference (L) between the tip of the distance sensor 17 and the needle 25 are constants, and Equation 1 below It is established.
  • Equation 1 D is the distance to the target point (T) measured by the distance sensor 17, and ⁇ is the angle between the vertical line and an imaginary line extending from the distance sensor 17 and the target point (T).
  • the hair transplant operation start position is suitable for starting the operation.
  • the distance from the needle 25 of the hair transplanter to the scalp is at a height of h as shown in Figure 7 (b)
  • the distance from the scalp to the tip of the needle 25 of the hair transplanter 20 (h ) is calculated according to Equation 2 below.
  • Equation 2 above d is the distance measurement value to the scalp when the distance sensor 17 measures the distance toward the virtual target point (T), and ⁇ is the distance measured from the distance sensor 17 to the target point (T). It is the angle between an imaginary line and a vertical line. Therefore, if the value measured by the distance sensor 17 toward the target point (T) is d (however, d ⁇ D), the state as shown in Figure 7(b), that is, the distance from the scalp to the tip of the needle is H. This means that it has a random height (h).
  • the distance (h) from the scalp to the tip of the hair transplanter needle 25 can be calculated. Therefore, for example, the hair transplanter mounting module 10 is horizontal. By calculating the distance (h) value for each grid point while scanning the hair transplant area at a certain height with respect to the coordinates, a three-dimensional shape of the scalp can be obtained.
  • the scalp-needle distance (h) is the distance from the vertical downward of the needle 25 to the scalp. It is not a distance, but the distance from a slightly horizontal point (T_offset) below the vertical to the height of the tip of the needle.
  • T_offset slightly horizontal point
  • the scalp-needle distance (h) calculated as above It will be understood that can be regarded as the scalp-needle distance vertically downward of the needle tip.
  • Figure 8 shows an example flowchart of a step (S220) of generating vertical coordinate data at each grid point according to an embodiment.
  • the hair transplanter mounting module 10 moves to a grid point for acquiring vertical coordinate data. For example, when horizontal coordinate data of each grid point is acquired in step S20, the transplanter mounting module 10 may move to the corresponding grid point based on the horizontal coordinate data of the grid point.
  • the distance d to the scalp is measured using the distance sensor 17 (step S222), and the scalp-needle distance h is calculated based on the distance measurement value (step S223).
  • Measurement of the distance (d) by the distance sensor 17 and calculation of the resulting scalp-needle distance (h) can be performed by the method described above with reference to Figure 7, and the scalp-needle distance (h) calculated in this way can be It can be used as vertical coordinate data of the corresponding grid point (step S224).
  • the transplanter mounting module 10 moves to the next grid point and performs steps (S221 to S224) to obtain the vertical coordinate value of the grid point, and these By repeating the operation, the entire vertical coordinate data for certain grid points within the hair transplant area can be obtained (step S226).
  • transplantation guide information is generated in step S30 based on the horizontal coordinate data obtained in step S20.
  • 'transplant guide information' (hereinafter simply referred to as "guide information") is information to guide the hair transplant operation of a user (e.g., a doctor), for example, the point where the hair transplant is performed among the hair transplant area of the patient's scalp (e.g.
  • information such as a “guide point” 120, which will be described later with reference to FIG. 13, and the direction and angle of transplantation of the hair to be transplanted at each guide point 120 may be included.
  • FIG. 9 is a flowchart illustrating an exemplary embodiment of the implantation guide information generating step (S30) according to an embodiment.
  • the steps of FIG. 9 may be performed in the implantation guide data processing unit 41.
  • some steps may be executed by other functions.
  • the transplant guide information generation step (S30) includes setting a hair transplant area in a captured image (S310) and setting a hair transplant guide point within the hair transplant area (S320). , and setting the transplant direction and angle of the hair to be transplanted to the guide point (S330).
  • a step (S340) of the user confirming and modifying the transplantation guide data obtained through the above steps may be further included.
  • step S310 the hair transplant area is recognized and set on the captured image.
  • Figure 10 is a detailed flowchart of the step (S310) of setting a hair transplant area according to an embodiment, and may be performed, for example, in the transplant guide data processing unit 41.
  • step S311 the marker 70 and hair are recognized in the captured image.
  • Recognition of the marker 70 and hair in the captured image can be performed using, for example, a known image recognition algorithm or a machine learning algorithm. Accordingly, for example, the marker 70 and the reference point 72 of the marker 70 can be recognized in the captured image shown in FIG. 5, and hairs in the image can be recognized.
  • the follicle portion of the hair and the tip of the hair are not distinguished, preferably, the follicle portion and the tip of the hair can be identified.
  • the boundary line of the hair transplant area is set based on the recognized marker 70 and the hair.
  • Figure 11 schematically shows a captured image indicating the boundary line 100 of the hair transplant area.
  • the method of setting the border 100 is not particularly limited, and for example, an area without hair among the areas inside the marker identified by the marker 70 is identified as a hair transplant area and a border 100 is formed along the hair surrounding this area. can be set.
  • a user eg, a physician
  • UI user interface
  • a user may set a boundary line 100 by inputting a boundary line into the captured image using an input means such as a mouse.
  • step S313 coordinate data of the boundary line 100 is obtained and stored.
  • the coordinate data may be coordinate data in horizontal coordinates with the reference point 72 of the marker 70 as the origin. For example, assuming a plane centered on the reference point 72 with one side of the marker 70 as the X-axis and the other side perpendicular to it as the Y-axis, Coordinate data can be obtained.
  • a transplant guide point is set in step (S320) of FIG. 9.
  • the "transplant guide point” is a point that indicates the exact transplant location when a user (e.g., a doctor) transplants hair (hair follicles) into the patient's hair transplant area.
  • the transplant location is displayed on the scalp image displayed on the monitor. This may be the point.
  • FIG. 12 is a detailed flowchart of the step (S320) of setting an implantation guide point according to an embodiment, and may be performed, for example, in the implantation guide data processing unit 41.
  • step S321 an arbitrary reference point is set within the hair transplant area.
  • the 'reference point' is a separate reference point that is distinct from the reference point 72 of the marker 70, and means a point arbitrarily set within the boundary line 100 of the hair transplant area on the captured image.
  • Figure 13(a) schematically shows only the boundary line 100 on the captured image for convenience of explanation, and shows a reference point 110 arbitrarily set within the boundary line 100.
  • Reference point 110 may be determined in any manner.
  • the transplant guide data processing unit 41 may automatically set a random point within the hair transplant area (S) as the reference point 110, and the user may set a point within the hair transplant area (S) on the UI of the computer device 40. A random point may be selected and set as the reference point 110.
  • step S322 pattern variables for creating an implantation guide point (hereinafter simply referred to as “guide point”) are set.
  • guide point the user can set the pattern variable by entering the value of the pattern variable on the UI of the computer device 40.
  • the processing unit 41 creates a guide point in the hair transplant area S based on the set pattern variable value. For example, as shown in FIG. 13(b), a plurality of guide points 120 arranged at predetermined intervals or according to an arrangement rule can be created in the area covering the hair transplant area S.
  • the pattern variable may include at least one of point spacing (d1), line spacing (d2), line angle ( ⁇ ), and line pattern (p).
  • the point spacing (d1) refers to the spacing between neighboring guide points 120 in the direction of the first reference axis (e.g., Thus, a guide point 120 can be created in the X-axis direction according to this interval d1.
  • the line spacing d2 refers to the spacing in the direction of the second reference axis (eg, Y axis) between one guide point row consisting of a plurality of guide points and the neighboring guide point row.
  • the string angle ( ⁇ ) refers to the angle of the guide point column with respect to the reference axis, where the reference axis can be, for example, the X-axis or the Y-axis. In Figure 14, the string angle ( ⁇ ) based on the
  • the line pattern (p) refers to the arrangement pattern between neighboring guide point rows, and can be either “orthogonal” or “diagonal,” for example.
  • the orthogonal pattern means that neighboring guide points 120 in the Y-axis direction are arranged parallel to the Y-axis
  • the diagonal pattern means that neighboring guide points 120 in the Y-axis direction are not parallel to the Y-axis. It can mean an array that is not an array.
  • the computer device 40 creates a guide point ( 120) can be created and guide points 120 can be displayed on the captured image as shown in FIG. 8(b).
  • guide points 120 are displayed even in areas outside the hair transplant area (S), but in reality, guide points 120 outside the hair transplant area (S) are excluded and guide points within the area (S) are used. Only the data about the point 120 can be transmitted to the control unit 42 and used as guide information for the automatic hair transplant operation.
  • a step (S324 and S325) of additionally excluding the guide point 120 close to the boundary line 100 among the guide points 120 in the hair transplant area S may be further included. That is, in this case, after setting the offset (step S324) and removing the guide points 120 in the area within the offset from the boundary line 100 (S325), the remaining guide points 120 are used as final guide information by the control unit 42. ) can be transmitted.
  • the user can set the offset by entering an arbitrary offset value, and in this case, the offset is inside the boundary line 100 of the hair transplant area as shown in FIG. 15(a).
  • a new boundary line 130 (hereinafter referred to as “offset application boundary line”) is created, spaced apart by the value.
  • step S325 among the guide points 120 shown in FIG. 13(b), only the guide points 120 within the offset application boundary line 130 are left and all remaining guide points 120 are excluded, and accordingly, in FIG. Even if only the guide points 120 shown in 15(b) remain, the rest are removed. At this time, the light gray guide points 140 around the boundary line 100 in FIG. 15(b) represent guide points controlled by applying an offset.
  • Figure 16 shows an example flowchart of a step (S330) of setting the hair transplant direction and angle according to an embodiment.
  • S330 the direction of the hairs adjacent to the hair transplant area (S) is recognized from the captured image (S331), the average direction of the recognized hair is calculated (S332), and based on the calculated average direction, the user
  • S333 The implantation direction in the horizontal direction (X-Y plane) is set (S333), and then the user can additionally set the implantation angle in the vertical direction (S334).
  • the transplant guide data processing unit 41 identifies the direction of hair adjacent to the hair transplant area (S). Recognizing the direction of hair in a captured image can be performed using, for example, a known image recognition algorithm or a machine learning algorithm. Accordingly, the hair follicles and hair ends of each hair adjacent to the area S are identified and X-Y The direction of hair can be recognized on a plane.
  • the transplant guide data processing unit 41 can then calculate the average direction of the adjacent hair and display this on the screen of the user interface (UI), for example (S332).
  • UI user interface
  • Figure 17(a) shows an example screen displaying the average direction of hair on a monitor. That is, as shown in FIG. 17(a), the image of the actual hair 210 can be displayed on the monitor screen and at the same time, the average direction of the hair 220 can be displayed with a dotted line overlapping.
  • Figure 17(a) is an exemplary screen configuration, and of course, in alternative embodiments, the actual hairs 210 and their average directions 220 may be displayed on the monitor in a different manner.
  • the user can set the transplantation direction in the horizontal direction (X-Y plane) based on the calculated average direction.
  • the user can set the transplant direction by inputting the transplant direction in the X-Y axis plane of the actual hair to be transplanted using an input means such as a mouse on the monitor screen as shown in Figure 17(a).
  • the transplantation direction input by the user may be the average direction calculated in step S332, but the user can refer to this and input the transplantation direction according to his or her experience and know-how.
  • the user can additionally set the implantation angle in the vertical direction (Z-axis direction).
  • a hair transplant icon 230 may be displayed on the scalp on the monitor, and when the user inputs the transplant angle ( ⁇ ) using an input means such as a mouse, the hair transplant icon 230 may be displayed on the monitor.
  • the icon 230 can be tilted at a corresponding angle to assist the user in intuitively and easily setting the implantation angle ⁇ .
  • data regarding the hair transplant area (S) and transplant guide point (120) set in steps (S310 and S320) and the transplant direction and angle set in step (S330) are transplanted. It becomes guide information, and allows the user to check and modify the transplant guide information in step S50.
  • the transplant guide data processing unit 41 may store this data in a storage device.
  • the transplant guide data may be transmitted to the control unit 42 and the control unit 42 may transmit the transplant guide data to the control unit 42.
  • a hair transplant operation can be performed by driving the robot arm 30 and the hair transplanter module 10 based on the guide data.
  • the 3D coordinate data generated and used through the above-described steps (S20 and S30) may be a camera coordinate system based on the image captured by the camera 15. Therefore, the task of converting the 3D coordinate data into coordinate data based on the robot coordinate system may be added in step S40.
  • the robot coordinate system is, for example, a coordinate system whose reference point (origin) is the point at which the hair transplanter mounting module 10 is mounted on the robot arm 30, that is, the center point of the end 31 of the robot arm 30. may, but is not limited to this.
  • Figure 18 is a flowchart of an exemplary method of performing a hair transplant operation using three-dimensional coordinate data.
  • transplantation point for transplanting hair within the patient's hair transplantation area is automatically and/or manually set.
  • the implantation point may mean, for example, the guide point 120 described with reference to FIGS. 9 to 15 .
  • the hair transplanter mounting module 10 in order to transplant hair to one of the transplant points set as above, the hair transplanter mounting module 10 is moved to the corresponding transplant point (S510). Thereafter, the hair transplanter mounting module 10 is moved to the height of the hair transplant operation start position. That is, the hair transplanter mounting module 10 can be moved so that the distance (h) between the tip of the hair transplanter needle 25 and the scalp becomes the preset distance (H) described with reference to FIG. 7 .
  • the distance d is measured with the distance sensor 17 to calculate the scalp-needle distance h at the current height, and this calculated distance h is the target distance H ) value, the hair transplanter mounting module 10 can be raised or lowered to position the hair transplant operation start position.
  • the needle of the hair transplanter 20 in step S540 ( 25) is lowered to start the hair transplant operation.
  • the upper cap of the hair transplanter 20 can be pressed and the needle 25 lowered using the drive motor or actuator of the hair transplanter mounting module 10 to automatically perform the hair transplant operation.
  • the transplanter mounting module 10 is moved to the next preset transplant point (S550), the above-described steps (S520 to S540) are performed, and these operations are repeated for each transplant point.
  • the hair transplant operation can be completed for all transplant points in the hair transplant area.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Molecular Biology (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Transplantation (AREA)
  • Dermatology (AREA)
  • Cardiology (AREA)
  • Vascular Medicine (AREA)
  • Robotics (AREA)
  • Surgical Instruments (AREA)

Abstract

La présente invention concerne un procédé de génération de données de coordonnées d'une zone de greffe de cheveux sur le cuir chevelu d'un patient pour une greffe de cheveux à l'aide d'un module de montage de dispositif de greffe de cheveux fixé à l'extrémité d'un bras de robot. Dans un mode de réalisation, la présente invention concerne le procédé de génération de données de coordonnées d'une zone de greffe de cheveux, comprenant les étapes consistant à : fixer un marqueur au cuir chevelu d'un patient et photographier le cuir chevelu ; obtenir des données de coordonnées horizontales en se référant au marqueur dans une image photographiée ; et obtenir des données de coordonnées verticales en calculant une distance du cuir chevelu au module de montage de dispositif de greffe de cheveux à l'aide d'un capteur de distance installé dans le module de montage de dispositif de greffe de cheveux.
PCT/KR2023/013487 2022-09-16 2023-09-08 Procédé et appareil pour générer des données de coordonnées d'une zone de greffe de cheveux Ceased WO2024058499A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR20220117241 2022-09-16
KR10-2022-0117241 2022-09-16
KR1020220117234A KR102598858B1 (ko) 2022-09-16 2022-09-16 모발이식 영역의 좌표 데이터 생성 방법 및 장치
KR10-2022-0117234 2022-09-16

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009279430A (ja) * 1999-04-23 2009-12-03 Restoration Robotics Inc 毛髪移植法および装置
KR20100063148A (ko) * 2005-09-30 2010-06-10 레스토레이션 로보틱스, 인코포레이티드 모낭 유닛들을 채취 및 이식하기 위한 장치 및 방법들
KR20130089272A (ko) * 2010-12-21 2013-08-09 레스토레이션 로보틱스, 인코포레이티드 헤어 이식 시술에서 도구의 이동을 지휘하는 방법들 및 시스템들
KR20140012771A (ko) * 2011-07-08 2014-02-03 레스토레이션 로보틱스, 인코포레이티드 카메라 시스템 좌표계의 측정 및 변환
KR20170018446A (ko) * 2014-07-31 2017-02-17 레스토레이션 로보틱스, 인코포레이티드 모발 이식 시술 부위를 생성하기 위한 시스템 및 방법

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009279430A (ja) * 1999-04-23 2009-12-03 Restoration Robotics Inc 毛髪移植法および装置
KR20100063148A (ko) * 2005-09-30 2010-06-10 레스토레이션 로보틱스, 인코포레이티드 모낭 유닛들을 채취 및 이식하기 위한 장치 및 방법들
KR20130089272A (ko) * 2010-12-21 2013-08-09 레스토레이션 로보틱스, 인코포레이티드 헤어 이식 시술에서 도구의 이동을 지휘하는 방법들 및 시스템들
KR20140012771A (ko) * 2011-07-08 2014-02-03 레스토레이션 로보틱스, 인코포레이티드 카메라 시스템 좌표계의 측정 및 변환
KR20170018446A (ko) * 2014-07-31 2017-02-17 레스토레이션 로보틱스, 인코포레이티드 모발 이식 시술 부위를 생성하기 위한 시스템 및 방법

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