CN116196065A

CN116196065A - Continuous hair planting device and hair planting robot

Info

Publication number: CN116196065A
Application number: CN202310150567.6A
Authority: CN
Inventors: 王迎智; 袁平; 周毅
Original assignee: Jixian Artificial Intelligence Co Ltd
Current assignee: Jixian Artificial Intelligence Co Ltd
Priority date: 2023-02-22
Filing date: 2023-02-22
Publication date: 2023-06-02
Anticipated expiration: 2043-02-22
Also published as: CN116196065B

Abstract

The invention relates to the technical field of mechanical automation, and discloses a continuous hair planting device and a hair planting robot, wherein the continuous hair planting device comprises a needle cylinder mechanism and a push rod mechanism; the needle cylinder mechanism comprises a plurality of through holes which are circumferentially arranged, and each through hole is used for placing one hair planting needle head; the push rod mechanism is coincident with one axis of the through holes; the push rod mechanism is connected with the push rod driving device and is used for driving the push rod mechanism to drive the hair planting needle head in the front end through hole to move forwards and reset; the through holes are connected with the needle head driving device and used for driving the through holes to move circumferentially and switching the through holes which are coincident with the axis of the push rod mechanism. The invention realizes continuous planting of a plurality of hair follicles and reduces the tool changing times of medical staff.

Description

Continuous hair planting device and hair planting robot

Technical Field

The invention belongs to the technical field of mechanical automation, and particularly relates to a continuous hair planting device and a hair planting robot.

Background

The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.

The existing hair implantation mode has the artificial hair implantation mode and the robot hair implantation mode, the artificial hair implantation mode mainly adopts hair implantation pens, however, the number of hair follicles implanted by one hair implantation operation is thousands or tens of thousands, and the hair implantation pens can only be implanted into one hair follicle at a time, so that a hair implantation doctor needs to replace the hair implantation pens which are equal to or more than the implanted hair follicle by one operation, and the process is tedious and the efficiency is not high.

In order to solve the above problems, devices capable of continuous hair implantation have been developed, which comprise a hair follicle magazine for storing hair follicles and a needle cartridge, and in which hair implantation is performed by pushing hair follicles in the hair follicle magazine through a needle to the scalp of a patient by means of a push rod or the like, however, such devices currently have the following problems: (1) After all hair follicles in the hair implanter are planted, new hair follicles are inconvenient to put in; (2) In the process of pushing the needle head carrying hair follicles, the direction of the needle head is ensured to be relatively fixed in the pushing process by observing the direction of the needle point slit through human eyes; (3) Such devices typically place hair follicles directly into a hair follicle magazine, and only one needle is used to rotate the hair follicle magazine during the implantation process, so that the hair follicles in the magazine reach the scalp via the needle, which results in the hair follicles being pushed too far and passing through the seam between the junction surface of the hair follicle magazine and the needle cylinder, thereby adversely affecting the survival rate of hair follicles and reducing the implantation survival rate.

Disclosure of Invention

In order to overcome the defects in the prior art, the invention provides a continuous hair planting device and a hair planting robot. The continuous planting of a plurality of hair follicles is realized, and the tool replacement times of medical staff are reduced.

To achieve the above object, one or more embodiments of the present invention provide the following technical solutions:

a continuous hair planting device, which comprises a needle cylinder mechanism and a push rod mechanism; the needle cylinder mechanism comprises a plurality of through holes which are circumferentially arranged, and each through hole is used for placing one hair planting needle head; the push rod mechanism is coincident with one axis of the through holes; the push rod mechanism is connected with the push rod driving device and is used for driving the push rod mechanism to drive the hair planting needle head in the front end through hole to move forwards and reset; the through holes are connected with the needle head driving device and used for driving the through holes to move circumferentially and switching the through holes which are coincident with the axis of the push rod mechanism.

Further, the needle cylinder mechanism comprises a supporting mechanism, wherein the supporting mechanism comprises a supporting frame for supporting the push rod mechanism, and the end part of the supporting frame is connected with a needle cylinder bracket for supporting the needle cylinder mechanism.

Further, a central shaft is arranged in the needle cylinder bracket, one end of the central shaft is connected to the end face of the needle cylinder bracket, and the other end of the central shaft is connected to the supporting frame; the needle cylinder mechanism comprises a needle cylinder body and a needle cylinder seat which are detachably connected, the whole needle cylinder mechanism is cylindrical, and the needle cylinder mechanism can rotate around the central shaft under the drive of the needle head driving device.

Further, a central shaft is arranged in the needle cylinder bracket, one end of the central shaft is connected to the end face of the needle cylinder bracket, and the other end of the central shaft is connected to the supporting frame; the needle cylinder mechanism comprises a soft chain needle sleeve and a soft chain seat which are detachably connected, the soft chain needle sleeve is meshed with a soft chain shifting wheel, and the soft chain shifting wheel is connected with the needle head driving device and can rotate around the central shaft under the driving of the needle head driving device.

Further, the through hole on the syringe seat or the soft chain seat is a conical through hole; the hair planting needle is characterized in that the tail end of the hair planting needle is provided with a needle seat, the needle seat is conical, the end face with a larger area is fixed with the tail end of the hair planting needle, the end face with a smaller area is provided with a conical hole, and a plurality of elastic seams are formed around the conical hole along the vertical direction.

Further, one side of the outer surface of the needle seat is provided with a positioning plane; and a directional ring is further arranged between the syringe barrel and the syringe seat, a plurality of grooves corresponding to the through holes are circumferentially arranged on the inner surface of the directional ring, and a plane which is adaptive to the positioning plane is arranged on the inner surface of the groove and used for limiting the installation direction of the needle seat.

Further, one side of the outer surface of the needle seat is provided with a positioning plane; a plurality of directional ring assemblies are further arranged between the soft chain needle sleeve and the soft chain seat, the number of the directional ring assemblies is consistent with that of the through holes, and the inner surface of each directional ring assembly is provided with a plane which is matched with the locating plane and used for limiting the installation direction of the needle seat.

Further, the push rod mechanism includes a tapered head shaped and sized to conform to the tapered bore of the hub.

Further, a clamp is circumferentially arranged on the inner surface of the opening of the conical hole; and the tail end circumference of the conical head part is provided with a clamping groove which is matched with the clamp.

Further, the push rod mechanism comprises a hollow rod barrel, and two ends of the hollow rod barrel are fixed on the supporting frame; one end of the hollow rod cylinder is provided with a plugging block, and the center of the plugging block is provided with a through hole;

a conical push rod is arranged through a through hole in the center of the plugging block, the conical push rod comprises a conical head part, and a central cavity is arranged in the conical push rod along the length direction; a hair follicle push rod is arranged extending into the central cavity, and the tail end of the hair follicle push rod is connected with a push rod driving device;

the conical push rod is positioned at the inner part of the hollow rod barrel, and a thin spring is sleeved outside the conical push rod;

the hair follicle push rod is positioned at the outer part of the central cavity, and a thick spring is sleeved outside the hair follicle push rod;

the thin spring and the thick spring are arranged outside the hollow pole barrel when the thin spring and the thick spring are in a natural state.

Further, the tail ends of the conical push rod and the hair follicle push rod are respectively provided with a first guide mechanism and a second guide mechanism;

the first guide mechanism is disc-shaped, and two opposite sides in the diameter direction are respectively provided with a directional pin; the hollow pole barrel is provided with a guide groove, and the orientation pin can slide along the guide groove.

Further, an opening is arranged on the end face of the needle cylinder bracket and coincides with the central axis of the push rod mechanism; the opening outwards extends and is equipped with the uide bushing, and the size can supply the needle file to pass through, the uide bushing terminal surface is equipped with the hole, supplies planting hair pin head to pass.

Further, the other end part of the supporting frame is connected with a base, and the base is used for being connected with a mechanical arm of the hair planting robot.

Further, a handle is detachably connected below the support frame.

One or more embodiments provide a hair planting robot, including a mechanical arm, the mechanical arm end-to-end connection the continuous hair planting ware.

The one or more of the above technical solutions have the following beneficial effects:

through the needle cylinder mechanism that contains a plurality of through-holes for place a plurality of planting syringe needles that carry the hair follicle, and through driving its rotation, switch the through-hole that aligns with push rod mechanism, promote by push rod mechanism and plant the syringe needle to appointed position, realized the continuous planting of a plurality of hair follicles, compare in single hair follicle planting, the efficiency is higher, and reduced medical personnel and change the instrument number of times, and, structural complexity is low, only be equipped with a push rod mechanism can, improved the lightweight degree of equipment, even manual operation also can not bring too big burden.

The detachable needle cylinder mechanism is designed, and before each hair planting operation, a plurality of hair follicles can be hung in the needle head through the needle head needle cylinder seat and the similar structure of the hair planting needle head, so that the efficiency is improved.

The conical hole and the elastic seam are arranged on the needle seat, so that the needle seat and the needle cylinder seat of the hair planting needle head, and the conical heads of the needle seat and the push rod mechanism can be in clamping connection through friction force and elastic force; in addition, the conical push rod is matched with the conical needle seat, so that the automatic alignment of the axes of the two workpieces is realized.

The secondary propulsion mechanism is designed, through the combination of the thick spring and the thin spring, in the driven process of the push rod mechanism, based on the characteristic that the thin spring firstly compresses the thick spring and then compresses the thin spring, the conical push rod is driven to reach the target position, the hair follicle push rod is driven to enter the hair implantation needle to push out hair follicles, the needle is taken as a protective shell, the hair follicle implantation stroke is only one hair follicle length, and the survival rate of hair follicles is guaranteed.

Through the matching of the positioning plane on the needle seat and the plane on the inner surface of the directional ring, the needle seat is ensured to be installed in only one initial direction of the needle cylinder seat; the cooperation of directional round pin and guide way for the syringe needle is fixed throughout in the direction of motion in-process, through clamp and draw-in groove matched with mode, has realized that the relative position of toper push rod and planting hair syringe needle is fixed, promotes the hair follicle push rod on this basis, has realized planting the accurate control of hair follicle in hair syringe needle and the syringe needle when sending out the operation.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.

FIG. 1 is a schematic view of the whole structure of a continuous hair planter according to a first embodiment of the present invention;

fig. 2 is a schematic view of a syringe mechanism according to a first embodiment of the present invention;

fig. 3 is a schematic view of a hair planting needle and a needle stand according to a first embodiment of the present invention;

FIG. 4 is a schematic cross-sectional view of a syringe base according to an embodiment of the present invention;

FIG. 5 is a schematic view of a push rod mechanism according to a first embodiment of the present invention;

FIG. 6 is an enlarged view of a portion of a tapered pushrod according to an embodiment of the invention;

FIG. 7 is a schematic cross-sectional view of a push rod mechanism according to a first embodiment of the present invention;

FIG. 8 is a schematic diagram of a process in which a conical push rod is pushed to a final mechanical position and a hair follicle push rod pushes hair follicles out according to the first embodiment of the present invention;

FIG. 9 is a schematic view of a continuous hair planter mounted on a robotic arm according to a first embodiment of the present invention;

FIG. 10 is a schematic view of the overall structure of a continuous hair planter according to a second embodiment of the present invention;

fig. 11 is a schematic structural view of a syringe mechanism according to a second embodiment of the present invention

Fig. 12 is a schematic structural diagram of a hair follicle picking device based on a syringe holder according to a third embodiment of the present invention;

fig. 13 is a schematic structural diagram of a hair follicle picking device based on a soft chain holder according to a third embodiment of the present invention.

In the figure, 1-needle cylinder mechanism, 2-hair planting needle, 3-push rod mechanism, 4-needle driving device, 5-push rod driving device, 6-through hole, 7-needle cylinder bracket, 8-supporting frame, 9-base, 10-handle, 11-needle seat, 12-needle cylinder body, 13-needle cylinder seat, 14-conical through hole, 15-hair follicle, 16-conical hole, 17-elastic slot, 18-positioning plane, 19-first clamp, 20-hollow rod cylinder, 21-conical push rod, 22-conical head, 23-driving connection mechanism, 24-guiding slot, 25-first clamping slot, 26-blocking block, 27-first guiding mechanism, 28-oriented pin, 29-fine spring, 30-central cavity, 31-hair follicle push rod, 32-second guiding mechanism, 33-coarse spring, 34-guiding sleeve, 35-soft chain needle sleeve, 36-oriented ring assembly, 37-soft chain seat, 38-soft chain dial wheel, 39-cross rod, 40-adjusting bracket, 41-control mechanism, 42-speed regulation button, 43-knob, 44-bottom cover, 45-oriented ring, 46-second guiding slot, 48-round hole, 52-bead, 53-positioning slot, 50-bead, and the like.

Detailed Description

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.

Embodiments of the invention and features of the embodiments may be combined with each other without conflict.

Example 1

The embodiment discloses a continuous hair planting device, which comprises a needle cylinder mechanism 1, a hair planting needle head 2, a push rod mechanism 3, a needle head driving device 4 and a push rod driving device 5 as shown in fig. 1 and 2. Wherein, the needle cylinder mechanism 1 comprises a plurality of through holes 6 which are circumferentially arranged, and each through hole 6 is used for placing one hair planting needle head 2; the push rod mechanism 3 coincides with one axis of the plurality of through holes 6; the push rod mechanism 3 is connected with the push rod driving device 5 and is used for driving the push rod mechanism 3 to drive the hair planting needle head 2 in the front end through hole 6 to move forwards and reset; the through holes 6 are connected with the needle head driving device 4 and used for driving the through holes 6 to move circumferentially and switching the through holes 6 which are coincident with the axis of the push rod mechanism 3.

The push rod driving device 5 and the needle driving device 4 are connected with a control mechanism 41.

The continuous hair planting device also comprises a supporting mechanism for supporting the structure. Comprises a needle cylinder bracket 7 and a supporting frame 8 which are connected in sequence. The syringe bracket 7 is used for fixing a syringe mechanism 1, the syringe mechanism 1 is used for penetrating through the hair planting needle head 2 and the push rod mechanism 3, and the supporting frame 8 is used for supporting the push rod mechanism 3; the end part of the supporting frame 8 is connected with the push rod mechanism 3 and provided with a push rod driving device 5 for driving the push rod mechanism 3 to stretch so as to realize the stretching of the front needle head.

The hair planting needle head 2 is arranged in the needle cylinder mechanism 1 through a needle seat 11. And, when the hair planting operation is performed, the push rod driving device 5 is connected with the push rod mechanism 3 through the needle seat 11.

As shown in fig. 2 to 4, the needle seat 11 is conical, the end face with larger area is fixed with the end of the needle, the end face with smaller area is provided with a conical hole 16, and the cross-sectional area of the opening of the conical hole 16 is the largest. A plurality of slits, namely elastic slits 17, are formed around the tapered hole 16 along the vertical direction, and in this embodiment, the four elastic slits 17 are opposite to each other. The inner surface of the opening of the conical hole 16 is also provided with a first clamping hoop 19 in the circumferential direction, and the first clamping hoop protrudes out of the inner surface of the conical hole 16.

The syringe mechanism 1 comprises a syringe barrel 12 and a syringe seat 13 which are detachably connected, wherein the syringe barrel 12 and the syringe seat 13 are cylindrical and can rotate around a central shaft fixed on the syringe bracket 7. The syringe barrel 12 and the syringe seat 13 are provided with a plurality of through holes in the circumferential direction, and the through holes 6 on the syringe barrel 12 and the through holes on the syringe seat 13 are in one-to-one correspondence. The through holes 6 on the syringe barrel 12 are cylindrical, the cross-sectional areas of the through holes 6 are consistent, the through holes are used for accommodating the hair planting needle heads 2 before hair planting operation, and the through holes are used for guiding the hair planting needle heads 2 and the push rod mechanism 3 to pass through in the hair planting process; the through hole on the needle cylinder seat 13 is a conical through hole 14 and is used for being connected with the needle seat 11, and the overall shape and the size of the through hole are corresponding to those of the needle seat 11. Before the hair planting operation, the hair planting needle 2 with the needle holder 11 is installed into the syringe mechanism 1, specifically, the needle holder 11 is inserted into the tapered through hole 14.

In order to accurately control the direction of the needle, one side of the outer surface of the needle seat 11 is provided with a plane, which is denoted as a positioning plane 18, between the needle cylinder body 12 and the needle cylinder seat 13, an orientation ring 45 is further provided, the inner surface of the orientation ring is provided with a plurality of grooves in circumferential direction, the grooves are matched with a plurality of through holes on the needle cylinder body 12 and the needle cylinder seat 13, and the inner surface of each groove is provided with a plane matched with the positioning plane 18 on the needle seat 11. The arrangement of the axial grooves in the orientation ring, and the arrangement of the locating plane 18 on the hub, ensures that the hub is initially loaded into the syringe mount, and is only loaded into hub 11 when the locating plane 18 is parallel to the plane of the inner surface of the grooves.

For the connection mode between the syringe barrel 12, the orientation ring 45 and the syringe seat 13, as a specific implementation mode, a cylinder 47 is arranged on the end face of the syringe barrel 12 facing the syringe seat 13, a circle of bead grooves 49 are circumferentially arranged on the cylinder 47, a hole 48 matched with the cylinder 47 is arranged in the center of the syringe seat 13, a plurality of through holes are circumferentially arranged on the outer surface of the syringe seat 13 and used for fixing the spring beads 50, the depth of the spring beads 50 is adjusted by inserting the cylinder 47 arranged on the syringe barrel 12 into the central hole 48 of the syringe seat 13, and the bead grooves 49 on the cylinder 47 are matched with the spring beads 50, so that the inserting and extracting force of the syringe barrel 12 and the syringe seat 13 can be adjusted. In order to prevent rotation between the syringe base 13 and the syringe barrel 12, a positioning pin 46 fixed on the syringe base 13 is matched with a pin hole on the syringe barrel 12, and a plurality of through holes on the syringe barrel 12 are controlled to always align with the directions of the plurality of through holes on the syringe base 13. It will be appreciated by those skilled in the art that the connection between the syringe mount 13 and the orientation ring 45 may be achieved by screws, glue or welding, etc., and that the syringe mount 13 and the orientation ring 45 are fixedly connected, i.e., non-detachably connected, as a whole to the syringe barrel 12 after the first orientation by the locating pins 46 during use of the hair planting device. The removability of the syringe barrel 12 facilitates the installation of the needle.

As shown in fig. 5 to 8, the push rod mechanism 3 includes a hollow barrel 20. The hollow barrel 20 is internally provided with a conical push rod 21 and a hair follicle push rod 31 which are respectively used for pushing the hair implantation needle 2 to a designated position and pushing hair follicle 15 in the hair implantation needle 2 into the scalp. An opening is arranged at the center of one end surface of the hollow pole barrel 20, and is used for connecting the conical push rod 21 and the hair follicle push rod 31 with the push rod driving device 5; the other end of the hollow rod barrel 20 is provided with a blocking block 26, and the center of the blocking block 26 is provided with a through hole 6 for the conical push rod 21 to pass through and guide. The two ends of the hollow pole barrel 20 are fixed on the supporting frame 8.

The conical push rod 21 is provided with a conical head 22, the shape and the size of which correspond to those of the conical hole 16 of the needle seat 11. The end of the conical head 22, i.e. the point of greatest cross-sectional area, is provided with a first clamping groove 25 in the circumferential direction, corresponding to the first clamping band 19 at the opening of the conical bore 16. The other end of the conical push rod 21 is provided with a first guiding mechanism 27. The diameter of the first guiding mechanism 27 is slightly smaller than the diameter of the inner cavity of the hollow pole barrel 20, so that the first guiding mechanism 27 can slide along the inner cavity of the hollow pole barrel 20, the first guiding mechanism 27 is disc-shaped, two opposite sides of the disc in the diameter direction are respectively provided with a guiding pin 28, and correspondingly, the hollow pole barrel 20 is provided with a guiding groove 24 with a certain length, so that the guiding pins 28 can slide along the guiding groove 24. A thin spring 29 is sleeved outside the conical push rod 21 and between the blocking block 26 and the guide mechanism 27, and the thin spring 29 and the axis of the conical push rod 21 are on the same straight line, and it is noted that two ends of the thin spring 29 are not required to be connected with the blocking block 26 and the guide mechanism 27. The conical push rod 21 is provided with a central cavity 30 along the central axis.

One end of the hair follicle push rod 31 extends into the central cavity 30, the other end is connected with a second guiding mechanism 32, and the diameter of the second guiding mechanism 32 is slightly smaller than the diameter of the inner cavity of the hollow rod barrel 20, so that the second guiding mechanism 32 can slide along the inner cavity of the hollow rod barrel 20. The other end of the second guiding mechanism 32 is provided with a driving connection mechanism 23, and the driving connection mechanism 23 penetrates through an opening on the end face of the hollow pole barrel 20 and is used for being connected with the push rod driving device 5. The hair follicle push rod 31 is externally sleeved with a thick spring 33, one end of the thick spring 33 is connected to the second guiding mechanism 32, and the other end is connected to the first guiding mechanism 27. In this embodiment, the first guide mechanism 27, the second guide mechanism 32 and the thick spring 33 are all connected by welding.

The thick spring 33 and the thin spring 29 are in a natural state, and the conical push rod 21 only has the conical head 22 outside the hollow barrel 20.

The needle cylinder bracket 7 is provided with an opening, and the central axes of the opening, one of the through holes 6 in the plurality of through holes 6 and the push rod mechanism 3 are all coincident. After each movement of the plurality of through holes 6, one of the through holes 6 is always kept coincident with the central axis of the opening and the push rod mechanism 3. The opening is outwards extended and is also provided with a guide sleeve 34 for guiding the extended hair planting needle head 2, and the end part of the guide sleeve 34 is provided with a hole for only the hair planting needle head 2 to pass through. The diameter of the guide sleeve 34 is slightly larger than the maximum diameter of the section of the needle seat 11, so that the needle seat 11 can carry the hair planting needle head 2 to pass through.

Set up the bell mouth 16 structure on through needle file 11 to and be equipped with the elastic seam 17 around bell mouth 16, make the needle file 11 and the cylinder seat 13 of planting hair pin head 2, and the conical head 22 of needle file 11 and push rod mechanism 3 all can be through frictional force and elastic force realization clamp connection, and, through first clamp 19 and first draw-in groove 25 matched with mode, realized the screens effect, through setting up of locating plane 18, make the orientation of syringe needle can be fixed, guaranteed the accurate control to the syringe needle when following planting hair operation.

The two-stage pushing mechanism is designed, and through the combination of the thick spring 33 and the thin spring 29, in the process of driving the push rod mechanism 3, based on the characteristic that the thin spring 29 firstly compresses the thick spring 33 and then compresses, the conical push rod 21 is firstly driven to reach the target position, and then the hair follicle push rod 31 is driven to enter the hair implantation needle head 2 to push out the hair follicle 15.

The working principle of the continuous hair planting device is as follows:

(1) When the hair planting operation is performed, the push rod mechanism 3 is controlled to move forwards in a straight line, firstly, the conical head 22 is inserted into the conical hole 16 of the needle holder 11 until the first clamp 19 in the conical hole 16 slides into the first clamping groove 25 on the push rod mechanism 3, in the process, the needle holder 11 of the hair planting needle head 2 is gradually separated from the needle cylinder seat 13 to enter the needle cylinder inner through hole 6 against friction force, the hair planting needle head enters the guide sleeve 34 arranged on the needle cylinder support 7 under the guide action of the through hole 6, and the end face of the guide sleeve 34 is finally mechanically limited.

(2) The needle head is pushed to reach the scalp for punching by the first-stage pushing of the push rod mechanism 3; the hair follicle 15 is pushed into the punched hole on the scalp by the secondary pushing, and the hair planting operation is completed. The method comprises the following steps: the hair follicle pushing rod 31 is driven to move forwards by the pushing rod driving device 5, the hair follicle pushing rod 31 pushes the conical pushing rod 21 to move forwards by the elastic force of the thick spring 33 (the elastic coefficient of the thick spring 33 is larger than that of the thin spring 29, the linear movement of the conical pushing rod 21 is mainly shown at the moment, the hair follicle pushing rod 31 moves slightly) and the hair planting needle head 2 reaches the target position; the hair follicle pushing rod 31 compresses the thick spring 33, the hair follicle pushing rod 31 passes through the conical pushing rod 21 and enters the hair planting needle head 2, and the hair follicle 15 is pushed out from the inner hole of the hair planting needle head 2.

In the hair planting process, the hair follicle is replaced by the planting needle head to slide for a long distance, so that the hair follicle is protected, and the planting survival rate is improved.

(3) After the hair planting operation is finished, the push rod driving device 5 drives the hair follicle push rod 31 to reset, the coarse spring 33 is restored to a pre-compression state, the push rod driving device 5 continues to drive the conical push rod 21 to retract, the needle seat 11 and the conical through hole 14 on the needle cylinder seat 13 are gradually clamped, the clamping force between the needle seat 11 and the needle cylinder seat 13 is gradually increased, the first clamping groove 25 of the conical head 22 of the conical push rod 21 is separated from the first clamping hoop 19 on the conical hole 16 of the needle seat 11, and the fine spring 29 is restored to the pre-compression state, so that the hair planting needle head 2 and the push rod mechanism 3 are reset.

Therefore, the automatic recovery of the planting needle is realized, no additional collection is needed, and the positions of the planting needle are the same before and after the hair planting operation is performed, so that the hair follicle can be conveniently placed again or the needle can be conveniently replaced.

(4) After the hair planting needle head 2 and the push rod mechanism 3 are reset, the needle head driving device 4 is controlled to switch the next hair planting needle head 2 with hair follicle 15 to be aligned with the push rod mechanism 3, and the next hair planting operation is executed. The continuous planting of a plurality of hair follicles is realized, and the tool replacement times of medical staff are reduced.

The continuous hair planting device further comprises a base 9, wherein the base 9 is used for being connected with the tail end of a mechanical arm of the robot. Specifically, the base 9 is clamped by a clamp arranged at the tail end of the mechanical arm to realize connection, as shown in fig. 9. In addition, the supporting frame 8 is further provided with a speed adjusting knob 43 and an interface terminal, the handle 10 comprises a detachable bottom cover 44, a battery is installed in the detachable bottom cover, and the speed adjusting knob 43, the interface terminal and the battery are all connected with the control mechanism 41. The interface terminal is used for being connected with the robot control mechanism, so that automatic hair planting operation can be performed through the hair planting robot.

As shown in fig. 1, a handle 10 is also detachably connected below the support frame 8, and a doctor can manually operate the continuous hair implanter through the handle 10. The handle 10 is provided with a control button which is connected with a control mechanism 41.

The continuous hair planting device can be operated manually or automatically by clamping with a mechanical arm, and has high universality.

Compared with the prior art that a hair follicle magazine and a needle fixing mode are adopted, the disposable needle is adopted to replace the needle fixing mode, the disposable needle is used as a protective shell of the hair follicle to be arranged in a needle seat, so that the pushing distance of the hair follicle is not more than one needle, damage to the hair follicle is avoided to the greatest extent, and the survival rate of the hair follicle is improved; in addition, in order to ensure the fixation of the needle direction, an orientation structure is designed, and the automation from punching to hair follicle implantation is realized.

Example two

On the basis of the first embodiment, which discloses a continuous hair planting device, the present embodiment provides an alternative scheme for the needle cylinder mechanism 1.

As shown in fig. 10, the syringe mechanism 1 includes a soft chain needle hub 35, a plurality of orientation ring assemblies 36, and a soft chain seat 37, which are detachably connected in this order, and is rotatable about a central axis fixed to the syringe holder 7. The soft chain needle sleeve 35 is meshed with a soft chain thumb wheel 38, the soft chain thumb wheel 38 is connected with a needle head driving device 4, and the needle head driving device 4 is arranged in the supporting frame 8.

The soft chain needle sleeve 35 comprises a plurality of through holes, and conical through holes are arranged in the soft chain seat 37 at positions corresponding to the through holes, and the size and the shape of the conical through holes correspond to those of the needle seat 11. The needle seat and the needle head can be positioned through the conical through hole on the soft chain seat.

The specific structure of the needle holder 11 is as described in the first embodiment. A positioning plane is arranged on one side of the outer surface of the needle seat 11. The number of the plurality of orientation ring assemblies 36 is consistent with the number of through holes, and the inner surface of each orientation ring assembly is provided with a plane corresponding to the positioning plane. The initial orientation of the hair planting needle 2 can be achieved by the cooperation of the positioning plane and the plane of the inner surface of the orientation ring.

For the connection mode among the soft chain needle sleeve 35, the plurality of directional ring assemblies 36 and the soft chain seat 37, as a specific implementation mode, the inner side wall of the opening of each through hole of the soft chain seat 37 is provided with a groove 52, one end of the directional ring assembly 36 is provided with a matched flange 51, and the directional ring assembly 36 and each through hole of the soft chain seat 37 are connected in a mode of being matched with the groove 52 through the flange 51. The hair planter is connected to the soft chain needle hub 35 as a unit with a soft chain seat 37 and a plurality of orientation ring assemblies 36 during use. The inner surface of each through hole opening of the soft chain seat 37 is circumferentially provided with a second clamping hoop 54, correspondingly, the outer surface of the end part of the soft chain needle sleeve 35, which faces the soft chain seat 37, is circumferentially provided with a second clamping groove 53, and the soft chain needle sleeve 35 and the soft chain seat 37 are connected through the second clamping groove 53 and the second clamping hoop 54.

Example III

The present embodiment provides a hair follicle picking device and method based on the syringe mechanism provided in the first or second embodiment, specifically, based on the syringe mount 13 of the syringe mechanism in the first embodiment and the soft chain mount in the second embodiment.

Specifically, firstly, the hair planting needle head with the needle seat is pre-installed in the needle cylinder seat 13 or the soft chain seat, then the bottom of the needle cylinder seat 13 or the soft chain seat is connected to a cross rod 39, and a doctor can hold the cross rod 39 to hang a plurality of hair follicles in the hair planting needle head.

Of course, an adjusting bracket 40 may be provided, the cross bar 39 is disposed on the adjusting bracket 40, and forms an included angle with the adjusting bracket, and the included angle can be adjusted so that the needle cylinder seat 13 or the soft chain seat can perform hair follicle picking operation.

While the foregoing description of the embodiments of the present invention has been presented in conjunction with the drawings, it should be understood that it is not intended to limit the scope of the invention, but rather, it is intended to cover all modifications or variations within the scope of the invention as defined by the claims of the present invention.

Claims

1. A continuous hair planting device is characterized by comprising a needle cylinder mechanism and a push rod mechanism; the needle cylinder mechanism comprises a plurality of through holes which are circumferentially arranged, and each through hole is used for placing one hair planting needle head; the push rod mechanism is coincident with one axis of the through holes; the push rod mechanism is connected with the push rod driving device and is used for driving the push rod mechanism to drive the hair planting needle head in the front end through hole to move forwards and reset; the through holes are connected with the needle head driving device and used for driving the through holes to move circumferentially and switching the through holes which are coincident with the axis of the push rod mechanism.

2. The continuous hair planter of claim 1 further comprising a support mechanism comprising a support frame for supporting the push rod mechanism, the support frame end being connected to a syringe mount for supporting the syringe mechanism.

3. The continuous hair planter according to claim 2 wherein a central shaft is provided in the syringe support, the central shaft being connected at one end to an end surface of the syringe support and at the other end to a support frame; the needle cylinder mechanism comprises a needle cylinder body and a needle cylinder seat which are detachably connected, the whole needle cylinder mechanism is cylindrical, and the needle cylinder mechanism can rotate around the central shaft under the drive of the needle head driving device.

4. The continuous hair planter according to claim 3 wherein a central shaft is provided in the syringe support, one end of the central shaft being connected to an end surface of the syringe support and the other end being connected to a support frame; the needle cylinder mechanism comprises a soft chain needle sleeve and a soft chain seat which are detachably connected, the soft chain needle sleeve is meshed with a soft chain shifting wheel, and the soft chain shifting wheel is connected with the needle head driving device and can rotate around the central shaft under the driving of the needle head driving device.

5. The continuous hair planter according to claim 3 or 4 wherein the through holes in the syringe base or the soft chain base are tapered through holes; the hair planting needle is characterized in that the tail end of the hair planting needle is provided with a needle seat, the needle seat is conical, the end face with a larger area is fixed with the tail end of the hair planting needle, the end face with a smaller area is provided with a conical hole, and a plurality of elastic seams are formed around the conical hole along the vertical direction.

6. The continuous hair planter according to claim 5 wherein a locating plane is provided on one side of the outer surface of the hub; and a directional ring is further arranged between the syringe barrel and the syringe seat, a plurality of grooves corresponding to the through holes are circumferentially arranged on the inner surface of the directional ring, and a plane which is adaptive to the positioning plane is arranged on the inner surface of the groove and used for limiting the installation direction of the needle seat.

7. The continuous hair planter according to claim 5 wherein a locating plane is provided on one side of the outer surface of the hub; a plurality of directional ring assemblies are further arranged between the soft chain needle sleeve and the soft chain seat, the number of the directional ring assemblies is consistent with that of the through holes, and the inner surface of each directional ring assembly is provided with a plane which is matched with the locating plane and used for limiting the installation direction of the needle seat.

8. The continuous hair planter of claim 5 wherein the pusher mechanism comprises a tapered head shaped and sized to conform to the tapered bore of the hub.

9. The continuous hair planter according to claim 8 wherein the tapered hole opening inner surface is further circumferentially provided with a collar; and the tail end circumference of the conical head part is provided with a clamping groove which is matched with the clamp.

10. The continuous hair planter according to any one of claims 6-9 wherein the push rod mechanism comprises a hollow barrel secured at both ends to a support frame; one end of the hollow rod cylinder is provided with a plugging block, and the center of the plugging block is provided with a through hole;

11. The continuous hair planter of claim 10 wherein the distal ends of the tapered push rod and the hair follicle push rod are provided with a first guide mechanism and a second guide mechanism, respectively;

12. The continuous hair planter according to claim 10 wherein the end surface of the syringe support is provided with an opening coincident with the central axis of the push rod mechanism; the opening outwards extends and is equipped with the uide bushing, and the size can supply the needle file to pass through, the uide bushing terminal surface is equipped with the hole, supplies planting hair pin head to pass.

13. The continuous hair planter of claim 2 wherein the other end of the support frame is connected to a base for connection to a robotic arm of a hair planting robot.

14. The continuous hair planter of claim 2 wherein the support frame is detachably connected to the handle.

15. A hair planting robot comprising a mechanical arm, wherein the end of the mechanical arm is connected to a continuous hair planter according to any one of claims 1-11.