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

• US 8,911,453 B2
• Filed: 06/30/2011
• Issued: 12/16/2014
• Est. Priority Date: 12/21/2010
• Status: Active Grant

• Current Assignee: Venus Concept, Inc.
• Original Assignee: Restoration Robotics, Inc. (Venus Concept, Inc.)
• Inventors: Tenney, John A., Bodduluri, Mohan, Zhang, Hui
• Primary Examiner(s): McEvoy, Thomas
• Assistant Examiner(s): SZPIRA, JULIE ANN
• Application Number:
  US13/174,721
• Publication Number:
  US 20120158019A1
• Time in Patent Office: 1,265 Days
• Field of Search: 606/133, 606/187, 600/615, 335/12, 700/245
• US Class Current: 606/133
• 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 2017/00752 Hair removal or transplantation
• CPC Class Codes: A61B 2034/101 Computer-aided simulation of surgical operations
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• 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 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 90/37 Surgical systems with images on a monitor during operation
• CPC Class Codes: B25J 9/1697 Vision controlled systems

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 a tool, such as a hair harvesting or a hair implantation tool, to proceed at least under a partial computer control in a selected direction of travel along a donor or recipient area of the patient, as well as changing direction of travel based on desired harvesting and/or implantation criteria.

Claims

1. A method of directing movement of a tool to harvest or implant hair grafts, the method comprising:

recording first locations of a plurality of fiducials appearing in one or more images of a body surface;

updating and recording the updated locations of at least some of the plurality of the fiducials in an updated one or more images of the body surface;

determining an offset of the updated locations of the at least some of the plurality of the fiducials relative to their first locations;

automatically selecting a new follicular unit harvesting or implanting site based at least in part on the determined offset and a location of a previous procedure site; and

automatically instructing the tool to move to the selected new harvesting site or the selected new implanting site.

2. The method of claim 1, further comprising determining a boundary of an area for harvesting or implanting follicular units based on the first location of the plurality of fiducials, and wherein selecting the new follicular unit harvesting or implanting site comprises selecting the new harvesting or implanting site within the boundary.

3. The method of claim 1, wherein selecting the new follicular unit harvesting or implanting site takes into account portions of limited access of the tool.

4. The method of claim 2, wherein determining the boundary comprises adjusting the boundary to eliminate portions within the boundary of limited access of the tool.

5. The method of claim 1, wherein the plurality of fiducials are located on a skin tensioning device, and selecting the new follicular unit harvesting or implanting site comprises taking into account at least one dimension of the skin tensioning device and/or at least one dimension of the tool.

6. The method of claim 1, wherein the plurality of fiducials comprises any one or more of follicular unit, hair follicle, mole, scar, freckle, wrinkle, bump, depression, distinctive shape, eyeball, ear canal, or marking.

7. The method of claim 1, further comprising identifying a direction of travel of the tool based on previous procedure sites and operating the tool to harvest selected follicular units or implant selected implanting sites by substantially automatically changing a direction of travel of the tool based on the locations of the fiducials.

8. The method of claim 1, wherein the plurality of fiducials comprises a set of distinctive fiducials.

9. The method of claim 1, further comprising identifying a selection region based on the locations of the plurality of fiducials, and harvesting or implanting one or more follicular units located within the selection region based on one or more criteria.

10. The method of claim 1, wherein a first follicular unit harvesting or implantation site based on the locations of the plurality of fiducials is computed automatically to minimize interference from fluids on the body surface.

11. The method of claim 1, wherein the selected new harvesting site or the selected new implanting site does not comprise a location of any previously harvested or implanted follicular units.

12. The method of claim 1, wherein instructing the tool to move comprises automatically moving a robotic arm that carries the tool.

13. The method of claim 2, further comprising selecting an initial follicular unit harvesting or implanting site in a bottom corner of the boundary.

14. The method of claim 13, further instructing the tool to move in an upward direction within the boundary to increment to a next harvesting or implanting row.

15. The method of claim 1, comprising generating an exclusion zone around existing harvesting or implantation sites.

16. The method of claim 2, further comprising revising the boundary by selecting a defined virtual selection region.

17. The method of claim 15, wherein the exclusion zone comprises any closed polygon-shaped feature.

18. The method of claim 17, wherein the generated exclusion zone has a pre-determined size, and the size of the generated exclusion zone may be adjusted by a user or automatically generated.

19. The method of claim 1, further comprising operating the tool to harvest a follicular unit from the selected new harvesting site or to implant a follicular unit into the selected new implanting site.

20. The method of claim 15, further comprising creating a visual representation of the harvested or implanted follicular unit.

21. The method of claim 15, further comprising recording a location of the harvested or implanted follicular unit.

22. The method of claim 21, further comprising repeating steps of updating, determining the offset, selecting, instructing, operating and recording until all desired follicular units are harvesting from or implanted into.

23. A method of directing movement of a tool to perform a medical procedure, the method comprising:

recording first locations of a plurality of fiducials appearing in one or more images;

updating and recording the updated locations of at least some of the plurality of the fiducials in an updated one or more images;

determining an offset of the updated locations of the at least some of the plurality of the fiducials relative to their first locations;

automatically selecting a site on which to perform the medical procedure based at least in part on the determined offset; and

instructing the tool to move to the selected medical procedure site taking into account an exclusion zone and/or a reserved region.

24. A method of controlling a direction of travel of a tool relative to a body surface during a follicular unit transplantation procedure, the method comprising:

processing one or more images of a body surface to determine locations of a plurality of distinctive fiducials appearing in the one or more images;

operating a tool to harvest or implant a first follicular unit at a first location;

identifying a direction of travel of the tool relative to a body surface based on the first location, previous harvesting or implanting location and on the locations of at least some of the plurality of the distinctive fiducials;

causing the tool to travel in the identified direction of travel; and

operating the tool to harvest or implant a second follicular unit at a second location on the body surface in the direction of travel.

25. The method of claim 24, further comprising changing the direction of travel when another distinctive fiducial is within a predetermined distance from the tool.

26. The method of claim 25, wherein the changed direction of travel is substantially opposite or substantially orthogonal to the direction of travel.

27. The method of claim 24, further comprising operating the tool to harvest selected follicular units or implant at selected locations by substantially automatically incrementing to a next harvesting or implanting row based on the locations of the distinctive fiducials.

28. The method of claim 24, wherein the tool is a hair harvesting or a hair implantation tool, the operation of the tool being computer controlled.

29. The method of claim 24, further comprising determining updated locations of the distinctive fiducials, determining an offset between the updated locations and the locations of the fiducials, updating the first harvest/ implant location information based on the offset, and causing the tool to travel in an updated direction based at least in part on the updated first harvest/implant location information.

30. The method of claim 24, wherein the plurality of the fiducials is disposed on a skin tensioning device.

31. The method of claim 24, wherein the plurality of the fiducials is disposed on a skin tensioning device, the method further comprising determining a boundary taking into consideration parameters of the skin tensioning device.

32. The method of claim 24, wherein causing the tool to travel comprises automatically moving a robotic arm that carries the tool.

33. The method of claim 24, wherein the second location is based on at least one selection criteria.

34. The method of claim 33, wherein the at least one selection criteria comprises selecting the second location to be a location that is closest to the location of the first location, and in the direction of travel.