Methods and systems for directing movement of a tool in hair transplantation procedures

• US 10,188,466 B2
• Filed: 10/07/2016
• Issued: 01/29/2019
• Est. Priority Date: 12/21/2010
• Status: Active Grant

• Current Assignee: Venus Concept, Inc.
• Original Assignee: Restoration Robotics, Inc. (Venus Concept, Inc.)
• Inventors: Zhang, Hui, Bodduluri, Mohan
• Primary Examiner(s): Szpira, Julie A
• Application Number:
  US15/288,065
• Publication Number:
  US 20170071674A1
• Time in Patent Office: 844 Days
• CPC Class Codes: A61B 17/32053 Punch like cutting instruments, e.g. using a cylindrical or oval knife A61B17/326 takes precedence; trepans A61B17/1695; for use on the cornea A61F9/007
• CPC Class Codes: A61B 17/3468 for implanting or removing devices, e.g. prostheses, implants, seeds, wires devices for implanting seeds A61M37/0069
• CPC Class Codes: A61B 2017/00057 Light
• CPC Class Codes: A61B 2017/00752 Hair removal or transplantation
• CPC Class Codes: A61B 2017/320052 Guides for cutting instruments
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2090/3904 specially adapted for marking specified tissue
• CPC Class Codes: A61B 2090/3937 Visible markers
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61B 90/37 Surgical systems with images on a monitor during operation

Abstract

Methods and systems are provided useful in various procedures, including hair harvesting and implantation, and further including computer-implemented and/or robotic hair transplantation. Methodologies are provided which enable selection of follicular unit harvesting or implanting sites within the same row in a direction of travel of the tool, or by incrementing to another row. In various cases, such selection may be made using a lowest and closest method, overlap-based methods, position-based methods, pattern-based methods, and/or a combination of these methods. In various combinations of the methods, the output selection from one of the methods may be used as an input for one of the other methods.

Claims

1. A method of selecting a follicular unit harvesting or implanting site, the method comprising:

processing at least one image of a body surface containing follicular units, using at least one processing unit, to identify multiple rows;

determining, using the at least one processing unit or at least one different processing unit, whether a number of harvested or implanted follicular units in a first row is within a range of a desired number of harvested or implanted follicular units for the first row;

automatically suggesting a direction of movement of a tool for harvesting or implantation follicular units based on the results of the determining step as follows;

a) if the number of harvested or implanted follicular units in the first row is within the range of the desired number of harvested or implanted follicular units for the first row, indicating movement of the tool to a subsequent row; and

b) if the number of harvested or implanted follicular units in the first row is less than a lower threshold value of the range of the desired number of harvested or implanted follicular units for the first row, indicating continuance of harvesting or implanting the at least one additional follicular unit in the first row.

2. The method of claim 1, wherein the determining step is performed either when an end of the first row is reached or whenever a follicular unit is harvested or implanted.

3. The method of claim 1, wherein the lower threshold value of the range equals the desired number of harvested or implanted follicular units for the first row.

4. The method of claim 1, wherein the desired number of harvested or implanted follicular units for the first row is calculated based at least upon a desired harvesting or implanting percentage for an area of the body surface corresponding to the at least one image.

5. The method of claim 1, comprising selecting a follicular unit harvesting or implanting site using at least one of an overlap priority method based on analysis of an overlap between at least one existing exclusion zone and at least one proposed exclusion zone, a position priority method based on at least one proximity band starting from a boundary of an exclusion zone and extending a predetermined distance beyond the exclusion zone, a triangular pattern priority method, a lowest and closest method, or a combination thereof.

6. The method of claim 1, further comprising operating the tool to harvest or implant follicular units.

7. The method of claim 6, wherein operating the tool is computer controlled.

8. The method of claim 1, the method comprising defining a boundary and starting harvesting or implanting from an edge of the boundary with a lowest height and close to a corner of the boundary.

9. The method of claim 1, the method comprising selecting the follicular unit harvesting or implanting site within a virtual selection region, wherein the virtual selection region is located just in front of the tool along a direction of travel of the tool from one harvest or implantation site to a next harvest or implantation site.

10. The method of claim 1, the method comprising directing operation of the tool to minimize tool movement from a current tool position to a position of a next harvest or implant site.

11. The method of claim 1, further comprising identifying at least one exclusion zone around at least one previous follicular unit harvesting or implanting site and at least one potential exclusion zone around at least one candidate follicular unit harvesting or implanting site;

and

selecting a follicular unit harvesting or implanting site based on overlap between the at least one exclusion zone and the at least one potential exclusion zone.

12. The method of claim 1, further comprising identifying at least one proximity band around at least one previous follicular unit harvesting or implanting site;

and

selecting a follicular unit harvesting or implanting site that is located within the at least one proximity band.

13. The method of claim 5, the method comprising assigning a weight to methods for selecting follicular unit harvesting or implantation sites based on a distance from a candidate site to a previous follicular unit harvesting or implanting site.

14. A system for selecting a follicular unit harvesting or implanting site, the system comprising:

at least one non-transitory storage medium storing instructions, and

at least one processor that executes instructions for;

processing at least one image of a body surface containing follicular units to identify multiple rows;

determining whether a number of harvested or implanted follicular units in a first row is within a range of a desired number of harvested or implanted follicular units for the first row;

suggesting a direction of the movement of a tool for harvesting or implantation follicular units based on the results of the determining step as follows;

a) if the number of harvested or implanted follicular units in the first row is within the range of the desired number of harvested or implanted follicular units for the first row, indicating movement of the tool to a subsequent row; and

b) if the number of harvested or implanted follicular units in the first row is less than a lower threshold value of the range of the desired number of harvested or implanted follicular units for the first row, indicating continuance of harvesting or implanting the at least one additional follicular unit in the first row.

15. The system of claim 14, wherein the at least one processor determines whether the number of harvested or implanted follicular units in the first row is within a range of a desired number of harvested or implanted follicular units for the first row when at least one of an end of the first row is reached or whenever a follicular unit is harvested or implanted.

16. The system of claim 14, wherein the system is a part of a robotic device, having a robotic arm and the tool is operatively attached to the robotic arm.

17. The system of claim 14, wherein the at least one processor calculates the desired number of harvested or implanted follicular units for the first row based at least upon a desired harvesting or implanting percentage for an area of the body surface corresponding to the at least one image.

18. The system of claim 17, wherein the area of the body surface is a hair harvesting area, and the desired harvesting percentage for the area is up to 50%.

19. The system of claim 14, wherein the at least one processor is configured to select a follicular unit harvesting or implanting site using at least one of an overlap priority method based on analysis of an overlap between at least one existing exclusion zone and at least one proposed exclusion zone, a position priority method based on at least one proximity band starting from a boundary of an exclusion zone and extending a predetermined distance beyond the exclusion zone, a triangular pattern priority method, a lowest and closest method, or a combination thereof.

20. The system of claim 14, comprising an image acquisition device.