Automated system and method for harvesting or implanting follicular units

Patent metadata

Field	Value
Publication number	US-10327850-B2
Application number	US-201615350972-A
Country	US
Kind code	B2
Filing date	Nov 14, 2016
Priority date	Sep 30, 2005
Publication date	Jun 25, 2019
Grant date	Jun 25, 2019

Abstract

Automated systems and methods for creating a plan for performing a procedure (for example, hair transplantation) are provided. In some embodiments, the plan is generated automatically by a processor. A user interface may be configured to allow a user to input one or more of the parameters of the plan. In certain embodiments, the hair transplantation plan takes into consideration existing hair.

First claim

What is claimed:

1. An apparatus for creating a plan for hair transplantation, the apparatus comprising:
a user interface; and
a processor configured to:
identify existing hair in an image of a body surface;
create a hair transplantation treatment plan including one or more parameters; and
generate a proposed curve having hair implantation locations and hair orientations, the hair implantation locations of the proposed curve and the hair orientations of the proposed curve automatically generated based on specified control points and orientations at the specified control points,
wherein the hair implantation locations and hair orientations are automatically planned taking into consideration and avoiding the existing hair.

2. The apparatus of claim 1 , wherein the processor is further configured to identify one or more global landmarks in the image of the body surface and wherein the hair implantation locations and hair orientations are automatically planned with respect to the one or more global landmarks.

3. The apparatus of claim 2 , wherein the apparatus is configured for use in association with an automated system for hair transplantation and the apparatus is further configured to guide movements of the automated system for hair transplantation based on the one or more global landmarks and the created plan for hair transplantation.

4. The apparatus of claim 1 , wherein the processor is further configured to select a hair graft from a harvest region and repeat a selection process until: 1) a prescribed number of hair grafts has been reached; 2) a prescribed density has been reached, or 3) until there are no more available hair grafts in the harvest region.

5. The apparatus of claim 1 , wherein the user interface is configured to allow a user to input at least one of the one or more parameters of the treatment plan.

6. The apparatus of claim 1 , wherein the one or more parameters comprises a number of hair follicles to be removed/implanted, a location of a harvest region, a location of an implant region, a degree of randomness associated with implant locations, a spacing between adjacent implant locations, a depth of implant, a patient identification, a geometric profile of a harvest region, a geometric profile of an implant region, marker location(s), or a density of implant locations.

7. The apparatus of claim 1 , wherein the one or more parameters of the treatment plan may be determined in real time.

8. The apparatus of claim 1 , wherein the processor is configured to receive and process images acquired by an image acquisition device.

9. The apparatus of claim 1 , wherein the hair implantation locations and orientations are generated from the control points using interpolation techniques.

10. The apparatus of claim 9 , wherein the interpolation technique comprises a cubic b-spline.

11. The apparatus of claim 1 , wherein the hair implantation locations are randomized, and an amount of randomization is user-specified or processor-generated.

12. The apparatus of claim 1 , wherein the processor is configured to create the implantation locations in a natural-looking pattern.

13. The apparatus of claim 1 , wherein the user interface comprises a display.

14. The apparatus of claim 1 , wherein the processor is configured to register the treatment plan with a patient.

15. The apparatus of claim 14 , wherein the processor is configured to identify a location of a harvest region on the patient and a target hair in the harvest region.

16. An apparatus for creating a plan for hair transplantation, the apparatus comprising:
a user interface; and
a processor configured to:
identify existing hair in an image of a body surface; and
create a hair transplantation treatment plan including a harvesting region and an implantation region, wherein the implantation region comprises proposed hair implantation locations and hair orientations at the proposed hair implantation locations;
identify one or more global landmarks in the image of the body surface, and wherein the hair implantation locations and hair orientations are automatically planned with respect to the one or more global landmarks taking into consideration and avoiding existing hair.

17. The apparatus of claim 16 , wherein the processor is further configured to determine one or more parameters of the hair transplantation treatment plan in real time as a hair transplantation procedure is being performed based on the analysis of the images of the procedure taken by an image acquisition device.

18. A method for creating a plan for hair transplantation, the method comprising:
processing, by a processor, an image of a body surface to identify existing hair; and
creating a hair transplantation treatment plan including one or more parameters,
wherein the creating step comprises generating a proposed curve having hair implantation locations and hair orientations, the hair implantation locations of the proposed curve and the hair orientations of the proposed curve automatically generated based on specified control points and orientations at the specified control points; and
wherein the hair implantation locations and hair orientations are automatically planned taking into consideration and avoiding the existing hair.

19. The method of claim 18 , further comprising identifying one or more global landmarks in the image of the body surface and automatically planning the hair implantation locations and the hair orientations with respect to the one or more global landmarks.

20. The method of claim 19 , wherein the method is used in association with an automated system for hair transplantation and the method further comprises guiding movements of the automated system for hair transplantation based on the one or more global landmarks and the created plan for hair transplantation.

21. The method of claim 20 , wherein the method further comprises using an air jet to direct an air stream at a body surface during hair transplantation procedure.

22. The method of claim 18 , comprising selecting a hair graft from a harvest region and repeating a selection process until: 1) a prescribed number of hair grafts has been reached; 2) a prescribed density has been reached, or 3) until there are no more available hair grafts in the harvest region.

23. The method of claim 18 , comprising allowing a user to input or modify at least one of the one or more parameters of the treatment plan.

24. The method of claim 23 , wherein the one or more parameters may be input or modified in real time.

25. The method of claim 18 , wherein the hair implantation locations are randomized, and an amount of randomization is user-specified or processor-generated.

26. The method of claim 18 , further comprising registering the treatment plan with a patient.

Assignees

• Restoration Robotics Inc

Inventors

• Bodduluri Mohan
• Gildenberg Philip L
• Caddes Donald E

Classifications

• A61B34/32

  operating autonomously · CPC title

• A61B2090/363

  Use of fiducial points · CPC title

• A61B34/10 Primary

  Computer-aided planning, simulation or modelling of surgical operations · CPC title

• A61B90/36

  Image-producing devices or illumination devices not otherwise provided for · CPC title

• A61B34/70

  Manipulators specially adapted for use in surgery · CPC title