Methods and systems for modifying a parameter of an automated procedure

Patent metadata

Field	Value
Publication number	US-9707045-B2
Application number	US-201414581503-A
Country	US
Kind code	B2
Filing date	Dec 23, 2014
Priority date	Jan 7, 2011
Publication date	Jul 18, 2017
Grant date	Jul 18, 2017

Abstract

A variety of systems and methods are described which enable quantitative information to be extracted regarding automated procedures, including those performed at a high speed that may require a user input, without having to interrupt the procedure. In addition, these systems and methods serve to provide information on one or more parameters of the automated procedure, whereby they may be modified, if required, to improve the automated procedure or the results from such a procedure. The systems and methods provided are especially useful in automated hair transplantation procedures.

First claim

What is claimed is:

1. A system for modifying a parameter of operation of a tool for use in an automated procedure, the system comprising:
a modification interface; and
a computing system configured to control, at least partially, modification of one or more parameters of operation of a tool that performs a plurality of repetitive events, the plurality of repetitive events occurring at a rate that is too fast for a user to accurately discern whether the one or more parameters of operation of the tool should be modified;
wherein the computing system includes one or more modules comprising instructions for:
processing at least one snapshot of a body surface to identify if a criterion associated with the automated procedure is met, wherein the criterion relates to at least one of the following: 1) whether an object of the automated procedure was damaged during the procedure, 2) a force which is applied to the tool, or 3) elevation of an object from the body surface during the procedure; and
modifying and/or allowing modification of the one or more parameters of operation of the tool if the criterion is not met, modification of the one or more parameters of operation of the tool influencing the criterion.

2. The system of claim 1 , wherein the modification interface is configured to allow the user to provide input and/or override a modification suggested by the computing system.

3. The system of claim 1 , wherein the modification interface comprises one or more of the following: a keyboard, a mouse, a voice or speech recognition device, a clickable icon, a selection button, a laser pointer, touch screen, a stylus, dialog box, a roll-down window, tablet computer, personal digital assistant (PDA), a remote user input device, or programmable instructions.

4. The system of claim 1 , comprising an interface configured to receive the at least one snapshot of the body surface.

5. The system of claim 1 , comprising instructions for determining and/or displaying a value associated with the criterion.

6. The system of claim 1 , wherein the one or more modules comprises instructions for registering a value of the criterion and comparing the registered value to a predetermined value, and if a difference between the registered value and the predetermined value is outside an acceptable range, determining the one or more parameters to modify.

7. The system of claim 6 , comprising instructions for determining an adjustment to be automatically applied.

8. The system of claim 1 , wherein instructions for modifying the one or more parameters of operation comprises selecting another tool.

9. The system of claim 1 , further comprising the tool, wherein movement of the tool is controlled at least in part by a mechanical system, electromechanical system, a pneumatic system, hydraulic system, or a magnetic system.

10. The system of claim 1 , wherein the automated procedure is a tattoo placement or removal procedure.

11. The system of claim 10 , wherein the modification interface allows the user to modify an intensity or wavelength of a light source.

12. The system of claim 1 , wherein the automated procedure is a hair transplantation procedure or a hair removal procedure.

13. The system of claim 1 , further comprising an imaging device and wherein the computing system controls a timing of snapshots acquisition by the imaging device.

14. The system of claim 1 , wherein the system is a robotic system.

15. A system for modifying a parameter of operation of a tool for use in an automated hair transplantation procedure, the system comprising:
a modification interface; and
a computing system configured to control, at least partially, modification of one or more parameters of operation of a tool that performs a plurality of repetitive hair transplantation events, the plurality of repetitive hair transplantation events occurring at a rate that is too fast for a user to accurately discern whether the one or more parameters of operation of the tool should be modified;
wherein the computing system includes one or more modules comprising instructions for:
processing at least one snapshot of a body surface to identify if a criterion associated with the automated hair transplantation procedure is met, wherein the criterion relates to at least one of the following: 1) whether a follicular unit was transected during hair transplantation, 2) a force which is applied to the tool, or 3) elevation of a follicular unit from the body surface during hair transplantation; and
modifying and/or allowing modification of the one or more parameters of operation of the tool if the criterion is not met, modification of the one or more parameters of operation of the tool influencing the criterion.

16. The system of claim 15 , comprising instructions for determining and/or displaying a value associated with the criterion on a display screen.

17. The system of claim 15 , wherein the criterion further relates to centering of the tool with respect to a follicular unit to be harvested or implanted.

18. The system of claim 15 , wherein the criterion further relates to an absence or presence of a follicular unit, or indicates a cavity in the body surface from which the follicular unit was removed.

19. The system of claim 15 , wherein the computing system is programmed to output a suggested parameter modification to the user and wherein the modification interface is configured to enable the user to accept or reject the parameter modification suggested by the computing system.

20. The system of claim 15 , wherein the at least one snapshot comprises at least two snapshots, and computing system further comprising instructions for acquiring a first of the at least two snapshots at a first instance during an automated hair transplantation event, and for acquiring a second of the at least two snapshots at a second instance during the automated hair transplantation event.

21. The system of claim 15 , further comprising instructions for registering a value of the criterion and comparing the registered value to a predetermined value, and if the difference between the registered value and the predetermined value is outside an acceptable range, determining the one or more parameters to modify, and automatically modifying the determined one or more parameters.

22. The system of claim 15 , wherein the at least one snapshot comprises a snapshot of a previous harvesting or implantation attempt.

23. The system of claim 15 , wherein the system comprises a storage device for storing multiple snapshots, and wherein the system is configured to display at least one previously taken snapshot together with a real time image.

24. The system of claim 15 , further comprising a hair harvesting or a hair implantation tool and an imaging device.

25. The system of claim 24 , wherein the system is a robotic system, and any of the imaging device, the hair harvesting tool, and/or the hair implantation tool are operatively connected to a movable arm of the robotic system.

Assignees

• Restoration Robotics Inc

Inventors

• Zingaretti Gabriele
• Bodduluri Mohan
• Canales Miguel G
• Tippett Brian E

Classifications

• A61B2017/00207

  with hand gesture control or hand gesture recognition · CPC title

• A61B34/30 Primary

  Surgical robots · CPC title

• A61F2/10 Primary

  Hair or skin implants · CPC title

• A61B34/20

  Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis · CPC title

• A61B2017/00752

  Hair removal or transplantation · CPC title