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

• US 9,498,289 B2
• Filed: 03/12/2013
• Issued: 11/22/2016
• 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 ANN
• Application Number:
  US13/796,159
• Publication Number:
  US 20130190776A1
• Time in Patent Office: 1,351 Days
• US Class Current: 1/1
• 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 by marking A61B2090/395
• 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. 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 operating a tool to harvest or implant hair grafts, the method comprising:

selecting, using at least one processing unit, 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 triangular pattern priority method, a lowest and closest method, or a combination thereof in order to closely pack follicular unit harvesting or implanting sites; and

instructing the tool, using the at least one processing unit or at least one different processing unit, to harvest a follicular unit from the selected harvesting site or to implant a follicular unit into the selected implanting site.

2. The method of claim 1, further comprising:

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

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

determining an offset of the updated locations relative to the first locations of the fiducials for which updated locations were recorded;

wherein selecting the follicular unit harvesting or implanting site comprises selecting the site based at least in part on the determined offset.

3. The method of claim 1, wherein the overlap priority method comprises:

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

4. The method of claim 3, wherein the overlap priority method comprises using the lowest and closest method when the at least one exclusion zone does not overlap the at least one potential exclusion zone.

5. The method of claim 3, wherein the at least one candidate follicular unit harvesting or implanting site comprises multiple candidate follicular unit harvesting or implanting sites, the at least one potential exclusion zone comprises multiple potential exclusion zones, and selecting the follicular unit harvesting or implanting site further comprises selecting one of the candidate follicular unit harvesting or implanting sites that corresponds to one of the potential exclusion zones with the greatest amount of overlap.

6. The method of claim 3, wherein the at least one candidate follicular unit harvesting or implanting site comprises multiple candidate follicular unit harvesting or implanting sites, the at least one potential exclusion zone comprises multiple potential exclusion zones, and selecting the follicular unit harvesting or implanting site further comprises selecting one of the candidate follicular unit harvesting or implanting sites that corresponds to one of the potential exclusion zones using the lowest and closest method.

7. A method of operating a tool to harvest or implant hair grafts, the method comprising:

selecting, using at least one processing unit, a follicular unit harvesting or implanting site using a position priority method or a combination of the position priority method with at least one of an overlap priority method, a pattern priority method, or a lowest and closest method, in order to closely pack follicular unit harvesting or implanting sites, and

instructing the tool, using the at least one processing unit or at least one different processing unit, to harvest a follicular unit from the selected harvesting site or to implant a follicular unit into the selected implanting site,

wherein the position priority method comprises;

identifying at least one proximity band around at least one previous follicular unit harvesting or implanting site, wherein the at least one proximity band is defined by an area starting from a boundary of an exclusion zone corresponding to the at least one previous follicular unit harvesting or implanting site and extending a predetermined distance beyond the exclusion zone; and

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

8. The method of claim 7, wherein the position priority method further comprises using the lowest and closest method when no candidate follicular unit harvesting or implanting sites are located within the at least one proximity band.

9. A method of operating a tool to harvest or implant hair grafts, the method comprising:

selecting, using at least one processing unit, a follicular unit harvesting or implanting site using a pattern priority method or a combination of the pattern priority method with at least one of an overlap priority method, a position priority method, or a lowest and closest method, in order to closely pack follicular unit harvesting or implanting sites, and

instructing the tool, using the at least one processing unit or at least one different processing unit, to harvest a follicular unit from the selected harvesting site or to implant a follicular unit into the selected implanting site,

wherein the pattern priority method comprises;

identifying multiple triangles between previous follicular unit harvesting or implanting sites and one of a plurality of candidate follicular unit harvesting or implanting sites; and

selecting the follicular unit harvesting or implanting site based on which of the triangles is closest in shape to an equilateral triangle.

10. The method of claim 9, wherein the triangular pattern priority method further comprises using the lowest and closest method when no triangle can be identified between the previous follicular unit harvesting or implanting sites and the one of the plurality of candidate follicular unit harvesting or implanting sites.

11. A method of operating a tool to harvest or implant hair grafts, the method comprising:

selecting, using at least one processing unit, a follicular unit harvesting or implanting site using an overlap priority method,

wherein the overlap priority method is based on analysis of an overlap between at least one existing exclusion zone and at least one proposed exclusion zone, and selected from the group consisting of an overlap priority lowest and closest method, a maximum overlap priority method, a position priority overlap method, an overlap priority position method, a triangular pattern priority overlap method, a triangular pattern priority position method, a triangular pattern priority overlap position method, and a triangular pattern priority position overlap method, and

instructing the tool, using the at least one processing unit or at least one different processing unit, to harvest a follicular unit from the selected harvesting site or to implant a follicular unit into the selected implanting site.

12. The method of claim 11, wherein the position priority overlap method comprises:

identifying multiple candidate follicular unit harvesting or implanting sites using the position priority method; and

selecting from the candidate follicular unit harvesting or implanting sites using the overlap priority method.

13. The method of claim 11, wherein the overlap priority position method comprises:

identifying multiple candidate follicular unit harvesting or implanting sites using the overlap priority method; and

selecting from the candidate follicular unit harvesting or implanting sites using a position priority method.

14. The method of claim 11, wherein the triangular pattern priority overlap method comprises:

identifying multiple candidate follicular unit harvesting or implanting sites using the triangular pattern priority method; and

selecting from the candidate follicular unit harvesting or implanting sites using the overlap priority method.

15. The method of claim 11, wherein the triangular pattern priority position method comprises:

identifying multiple candidate follicular unit harvesting or implanting sites using the triangular pattern priority method; and

selecting from the candidate follicular unit harvesting or implanting sites using a position priority method.

16. The method of claim 11, wherein the triangular pattern priority overlap position method comprises:

identifying multiple candidate follicular unit harvesting or implanting sites using the triangular pattern priority method;

selecting a group of the candidate follicular unit harvesting or implanting sites using the overlap priority method; and

picking from the group using a position priority method.

17. The method of claim 11, wherein the triangular pattern priority position overlap method comprises:

identifying multiple candidate follicular unit harvesting or implanting sites using the triangular pattern priority method;

selecting a group of the candidate follicular unit harvesting or implanting sites using a position priority method; and

picking from the group using the overlap priority method.

18. A system for hair transplantation, comprising:

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

at least one processor that executes the instructions 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 triangular pattern priority method, a lowest and closest method, or a combination thereof in order to closely pack follicular unit harvesting or implanting sites; and

instruct a tool to harvest a follicular unit from the selected harvesting site or to implant a follicular unit into the selected implanting site.

19. The system of claim 18, further comprising:

an interface adapted to receive image data comprising images of a body surface;

wherein the at least one processor further executes the instructions to;

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

record updated locations of at least some of the fiducials in one or more updated images of the body surface; and

determine the offset of the updated locations relative to the first locations of the fiducials for which updated locations were recorded;

wherein the at least one processing unit selects the follicular unit harvesting or implanting site based at least in part on the determined offset.

20. A method of operating a tool to harvest or implant hair grafts, the method comprising:

processing at least one image of a body surface, using at least one processing unit, to divide the at least one image into multiple rows;

operating a tool to harvest or implant at least one follicular unit in a first row;

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

moving the tool 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, moving 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, continue harvesting or implanting at least one additional follicular unit in the first row.

21. The method of claim 20, 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.

22. The method of claim 20, wherein the lower threshold value of the range equals the desired number of harvested or implanted follicular units for the first row.

23. The method of claim 20, 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.

24. The method of claim 20, 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.

25. The method of claim 24, the method combining the overlap-based and position-based methods and assigning a weight to each of the above methods based on a distance from a candidate site to a previous follicular unit harvesting or implanting site.

26. The method of claim 20, wherein at least one of the step of operating the tool or the step of moving the tool is computer controlled.

27. The method of claim 20, 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.

28. The method of claim 20, wherein the operating step comprises harvesting or implanting 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.

29. The method of claim 20, the method comprising operating the tool to minimize tool movement from a current tool position to a position of a next harvest or implant.

30. The method of claim 20, 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.

31. The method of claim 20, 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.

32. A system for hair transplantation, comprising:

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

at least one processor that executes the instructions to;

process at least one image of a body surface to divide the at least one image into multiple rows;

operate a tool to harvest or implant at least one follicular unit in a first row;

determine whether a 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;

moving the tool 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, moving the tool to a subsequent row; and

b) if the number of harvested or implanted follicular units in the first row is below a lower threshold of the range of the desired number of harvested or implanted follicular units for the first row, operate the tool to harvest or implant at least one additional follicular unit in the first row.

33. The system of claim 32, wherein the at least one processor operates the tool to harvest or implant the at least one follicular unit in the first row by 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.

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

identifying multiple candidate follicular unit harvesting or implanting sites using a triangular pattern priority method; and

selecting, using at least one processing unit, a follicular unit harvesting or implanting site from the multiple candidate follicular unit harvesting or implanting sites using one of an overlap priority method or a position priority method.

35. A method of selecting a follicular unit harvesting or implanting site using a triangular pattern priority overlap position method, the method comprising:

identifying multiple candidate follicular unit harvesting or implanting sites using a triangular pattern priority method;

selecting from the multiple candidate follicular unit harvesting or implanting sites, using at least one processing unit, a group of the candidate follicular unit harvesting or implanting sites using an overlap priority method; and

picking from the group using a position priority method.

36. A method of selecting a follicular unit harvesting or implanting site using a triangular pattern priority position overlap method, the method comprising:

identifying multiple candidate follicular unit harvesting or implanting sites using a triangular pattern priority method;

selecting from the multiple candidate follicular unit harvesting or implanting sites, using at least one processing unit, a group of the candidate follicular unit harvesting or implanting sites using a position priority method; and

picking from the group using an overlap priority method.

37. A method of operating a tool to harvest or implant hair grafts, the method comprising:

processing at least one image of a body surface, using at least one processing unit, to divide the image into multiple rows;

operating a tool to harvest or implant at least one follicular unit in a first row;

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

moving the tool 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, moving 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, continue harvesting or implanting at least one additional follicular unit in the first row,

wherein the at least one additional follicular unit is selected by a method comprising combining an overlap-based and a position-based method, and assigning a weight to each of the above methods based on a distance from a candidate site to a previous follicular unit harvesting or implanting site.