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

• US 9,743,988 B2
• Filed: 11/11/2014
• Issued: 08/29/2017
• 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): SZPIRA, JULIE ANN
• Application Number:
  US14/538,362
• Publication Number:
  US 20150066054A1
• Time in Patent Office: 1,022 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 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 system for directing movement of a tool to perform a medical procedure, the system comprising:

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

a processor comprising a set of instructions for executing operations, the set of instructions including instructions for;

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;

selecting a new medical procedure site based at least in part on the determined offset and a location of a previous procedure site; and

instructing the tool to move to the selected new medical procedure site.

2. The system of claim 1, wherein the set of instructions comprises instructions for determining a boundary of an area for performing the medical procedure based on the first locations of the plurality of fiducials, and wherein selecting the new medical procedure site comprises selecting a new site within the boundary.

3. The system of claim 1, wherein selecting the new medical procedure site comprises taking into account an exclusion zone and/or a reserved regions.

4. The system of claim 3, wherein the exclusion zone comprises any closed polygon-shaped feature.

5. The system of claim 3, wherein the exclusion zone has a pre-determined size, and the size of the exclusion zone may be automatically generated, adjusted by a user, or both.

6. The system of claim 1, wherein selecting the new medical procedure site takes into account portions of limited access of the tool or does not comprise a location of any previous procedure site.

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

8. The system 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.

9. The system of claim 1, wherein the set of instructions comprises instructions for operating the tool to perform medical procedure at the selected new procedure site.

10. The system of claim 9, wherein the set of instructions comprises instructions for recording a location of the performed medical procedure.

11. The system of claim 9, wherein the set of instructions comprises instructions for creating a visual representation of the selected procedure site after procedure has been performed, and the system further comprises a monitor configured to display the visual representation.

12. The system of claim 1, wherein the set of instructions comprises instructions for identifying a direction of travel of the tool based on previous procedure sites and operating the tool to perform new procedures by substantially automatically changing a direction of travel of the tool based on the locations of the fiducials.

13. The system of claim 1, wherein selecting the new medical procedure site comprises computations to minimize interference from fluids on the body surface.

14. The system of claim 1, further comprising an image acquisition device.

15. The system of claim 1, wherein the system is a robotic system and it further comprises a robotic arm and the tool is operatively connected to the robotic arm.

16. The system of claim 1, wherein the system comprises a hair harvesting tool and/or a hair implantation tool.

17. The system of claim 2, further comprising selecting an initial medical procedure site in a bottom corner of the boundary and wherein the set of instructions comprises instructing the tool to move in an upward direction within the boundary to increment to a next procedure row.

18. The system of claim 1, wherein the set of instructions comprises instructions for generating an exclusion zone around existing procedure sites.

19. The system of claim 1, wherein the system is configured to allow a user to override the selected new medical procedure site or the automatically instructed movement of the tool to the selected new medical procedure site.

20. A system for controlling a direction of travel of a tool relative to a body surface during a medical procedure, the system comprising:

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

a processor comprising a set of instructions for executing operations, the set of instructions including instructions for;

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 perform a procedure at a first location;

identifying a direction of travel of the tool relative to a body surface based on the first location, previous procedure 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 perform a second procedure at a second location on the body surface in the direction of travel.

21. The system of claim 20, wherein the set of instructions comprises instructions for changing the direction of travel when another distinctive fiducial is within a predetermined distance from the tool and wherein the changed direction of travel is substantially opposite or substantially orthogonal to the direction of travel.

22. The system of claim 20, wherein the set of instructions comprises instructions for defining a boundary and controlling the direction of travel of the tool within the boundary.

23. The system of claim 20, wherein the set of instructions comprises instructions for defining an exclusion zone and/or a reserved region within which it is not desirable to perform the procedure or the second procedure.

24. The system of claim 23, wherein the exclusion zone or the reserved region comprises any closed polygon-shaped feature and has a pre-determined size, and wherein the size of the exclusion zone or the reserved region may be automatically generated, adjusted by a user, or both.

25. The system of claim 20, wherein the set of instructions comprises instructions for directing movement of the tool based on one or more selection criterion or criteria.

26. The system of claim 21, wherein the system is configured to allow a user to override any automatically identified direction of travel or automatically changed direction of travel.

27. The system of claim 20, wherein the tool is a hair harvesting or hair transplantation tool.

28. The system of claim 20, wherein the tool comprises a needle, a scalpel, a punch, a blade, an ablation tool, forceps, a surgical instrument, a suturing device, a laser, a cannula, a drill, a tattoo placement, or tattoo removal tool.

29. The system of claim 20, wherein the system is a robotic system and it further comprises a robotic arm and the tool is operatively connected to the robotic arm.

30. The system of claim 20, wherein the set of instructions comprises instructions for creating a visual representation of the first location and/or the second location after the procedure and/or the second procedure has been performed, and the system further comprises a monitor configured to display the visual representation.