CN116407174A - Hair picking system and hair picking method - Google Patents

Abstract

The invention relates to the technical field of medical equipment, and provides a hair picking and sending system and a hair picking and sending method, wherein the hair picking and sending method comprises the following steps: the hair fixing module and the hair taking module are used for fixing hair; the hair fixing module is used for fixing hair and exposing hair follicles to be taken out; the hair taking module comprises a hair taking needle and a first driving piece, wherein a hollow hair taking cavity is formed in the far end of the hair taking needle, an accommodating groove is formed in the inner wall of the hair taking cavity, and the first driving piece is used for driving the hair taking needle to move along the axial direction of the hair taking needle so as to cut hair follicles to be taken out, so that tissues around the hair follicles to be taken out can be synchronously cut, and the hair follicles to be taken out can be synchronously cut. So configured, the hair harvesting system of this structure satisfies the demand of higher hair harvesting efficiency and not shaving hair harvesting simultaneously, and has improved the phenomenon of getting the in-process of sending out, to peripheral hair follicle and waiting to get the hair follicle damage.

Description

Hair picking system and hair picking method

Technical Field

The invention relates to the technical field of medical equipment, in particular to a hair picking and sending system and a hair picking and sending method.

Background

Hair implantation is a common means of treating alopecia at present. The hair implantation process generally requires three steps of hair removal, hair follicle separation and hair implantation. The existing hair taking mode generally comprises two modes of manual hair taking and mechanical hair taking.

The hair taking device is manually held to operate, and the hair taking mode is not influenced by the length of hair, so that the hair can be taken without shaving, but the hair taking mode is low in efficiency. Mechanical hair removal is typically accomplished by rotating the ring cutting device around the hair follicle, cutting the tissue surrounding the hair follicle through an annular cutting track to loosen the hair follicle, and then removing the hair follicle by forceps and loading it into the hair implanter. The annular cutting mode needs to shave and pick up hairs, the radial size of the annular cutting track is large, adjacent hair follicles are easily affected in the cutting process, and the tissue stress around the hair follicles is unevenly deformed in the annular cutting process of the annular cutting mode, so that the hair follicles are easily cut off in the annular cutting process, and the hair follicles are damaged.

The above hair picking up method cannot meet the requirements of hair picking up efficiency and hair picking up without shaving.

Therefore, there is a need for a hair removal system and method that simultaneously satisfies the requirements of hair removal efficiency and no shaving hair removal.

Disclosure of Invention

The invention provides a hair taking system and a hair taking method, which can realize hair taking on the premise of not shaving, and have higher hair taking efficiency and can not damage hair follicles.

The hair removing system comprises: the hair fixing module and the hair taking module are used for fixing hair;

the hair fixing module is used for fixing hair and exposing hair follicles to be taken out;

the hair taking module comprises a hair taking needle and a first driving piece, wherein the hair taking needle is provided with a hollow hair taking cavity, the inner wall of the hair taking needle is provided with a containing groove, and the containing groove is used for enabling a fat layer of a hair follicle to be taken to creep into the containing groove when the hair taking needle cuts the hair follicle to be taken; the first driving piece is used for driving the hair taking needle to move along the axial direction of the hair taking needle so as to synchronously cut tissues around hair follicles to be taken out and take out the hair follicles to be taken out.

Optionally, the hair taking needle is provided with a first notch, the first notch penetrates from the outer wall of the hair taking needle to the inner wall of the hair taking cavity, and the first notch is communicated to the distal end of the hair taking needle.

Optionally, the distal end of the hair taking needle is provided with a plurality of cutting edges protruding along the axial direction of the hair taking needle, each cutting edge is arranged at intervals along the circumferential direction of the hair taking needle, and the first notch is communicated between two adjacent cutting edges.

Optionally, the hair removal module further comprises a positive pressure device, wherein the positive pressure device is provided with a fluid outlet, and the fluid outlet is communicated with the hair removal cavity and used for increasing the pressure in the hair removal cavity.

Optionally, the hair taking module further comprises a second driving piece and a tube sealing, wherein the tube sealing is sleeved on the hair taking needle in a sleeved mode, the tube sealing is in sliding sealing fit with the hair taking needle along the axial direction of the hair taking needle, and the second driving piece is used for driving the tube sealing to move along the axial direction of the hair taking needle.

Optionally, the hair taking module further comprises a base and a guide rod, the hair taking needle is fixed at the distal end of the guide rod, the guide rod extends along the axial direction of the hair taking needle, the guide rod is arranged on the base along the axial direction of the hair taking needle in a moving way, and the first driving piece is used for driving the guide rod to move along the axial direction of the hair taking needle; the guide rod is internally provided with a channel, one end of the channel is communicated with the hair taking cavity, and the other end of the channel is used for introducing fluid to increase the pressure in the hair taking cavity.

Optionally, the hair picking module further comprises a third driving piece, wherein the third driving piece is used for driving the base to move so as to finely adjust the position of the hair picking needle.

Optionally, the hair taking module further comprises an illumination device, and the illumination device is arranged on the base and used for illuminating a position to be taken; and/or, the hair taking module further comprises an image acquisition device, the image acquisition device is arranged on the base, and the image acquisition device is used for carrying out image acquisition on the position to be taken so as to identify hair follicles and determine the position of the hair follicles to be taken.

Optionally, the hair picking module further comprises a mechanical arm, the hair picking needle is arranged on the mechanical arm, and the mechanical arm is used for driving the hair picking needle to change the azimuth so as to align the position to be picked.

Optionally, the hair fixing module comprises a first hair clip and a second hair clip, wherein the first hair clip is used for fixing the hair at the hair taking position along the forward direction of the first direction, and the second hair clip is used for fixing the hair at the hair taking position along the reverse direction of the first direction, so that the hair follicle at the hair taking position is exposed between the first hair clip and the second hair clip.

Optionally, the hair fixing module further comprises a first hair fixing frame, the first hair fixing frame is connected with the first hair clip, a hair fixing groove is formed in the first hair fixing frame, and the hair fixing groove is used for placing hair wires of hair follicles to be taken.

Optionally, the hair fixing module further comprises a second hair fixing frame, and the second hair fixing frame is used for being attached to the first hair fixing frame and covering the hair fixing groove, so that the hair placed in the hair fixing groove is limited in the hair fixing groove.

Optionally, the hair taking system further comprises a hair storage module, the hair storage module comprises a hair storage seat, a hair storage hole is formed in the hair storage seat, and the hair storage hole is used for inserting the hair taking needle after hair taking so as to place the obtained hair follicle in the hair storage hole.

Optionally, the second notch has been seted up to the inner wall of storing up the hair holder, the second notch is by the inner wall of storing up the hair holder link up to the outer wall of storing up the hair holder, just the second notch communicates to the one end of storing up the hair hole.

Optionally, the hair storage module further includes a blocking object, the hair storage hole is a through hole formed in the hair storage seat, one end of the hair storage hole is open, the blocking object is blocked at the other end of the hair storage hole, and meshes are formed in the blocking object so that air at the other end of the hair storage hole circulates.

The invention also provides a hair picking method, which comprises the following steps:

fixing hair: fixing hair, exposing hair follicle to be taken;

and (3) hair picking: driving a hair taking needle to feed along the axial direction of the hair taking needle, so that the hair taking needle penetrates into tissues around the hair follicle to be taken, and the hair follicle to be taken is positioned in a hair taking cavity; after the hair taking needle penetrates into a set depth range of the tissue, the fat layer of the hair follicle to be taken is made to creep into the accommodating groove, feeding is stopped, and the hair taking needle is driven to retract to take out the hair follicle to be taken;

hair follicle removal: increasing the pressure in the hair taking cavity so that hair follicles in the hair taking cavity are separated from the hair taking cavity.

The hair taking system with the structure can take hair on the premise of not shaving, in the hair taking process, through the arrangement of the hair taking cavity, the hair taking needle can realize the cutting of hair follicles to be taken by feeding and directly puncturing along the axial direction, the whole hair follicle to be taken is positioned in the hair taking cavity, annular cutting is not needed to be carried out around the hair follicle to be taken, the cutting mode does not influence peripheral hair follicles, and the phenomenon that the hair follicle to be taken is damaged due to uneven deformation of tissues around the hair follicle to be taken in the annular cutting process is also improved; through the arrangement of the accommodating groove, when the hair taking needle is fed to directly pierce in the tissue, the adipose tissue at the root of the hair follicle to be taken can creep and fill the accommodating groove so as to anchor the hair follicle to be taken in the hair taking cavity, and at the moment, the hair taking needle is retracted to take out the hair follicle to be taken out; the hair picking efficiency is effectively improved, and the hair picking cost is further reduced. In summary, the hair removing system with the structure meets the requirements of higher hair removing efficiency and no hair removing by shaving, and improves the damage phenomenon to peripheral hair follicles and hair follicles to be removed in the hair removing process.

Drawings

FIG. 1 is a schematic view of an application scenario according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a local structure of an application scenario according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a hair fixing module according to an embodiment of the present invention;

fig. 4 is a schematic application structure of a hair fixing module according to an embodiment of the invention;

FIG. 5 is a schematic diagram of a hair picking module according to an embodiment of the invention;

fig. 6 is a schematic structural view 1 of a dispensing needle according to an embodiment of the present invention;

fig. 7 is a schematic view of a structure of a dispensing needle according to an embodiment of the present invention 2;

fig. 8 is a schematic structural view of a dispensing needle according to another embodiment of the present invention;

FIG. 9 is a schematic diagram of a partial structure of a hair picking module according to an embodiment of the invention;

FIG. 10 is a schematic view of a partial cross-sectional structure of a hair removal module according to an embodiment of the present invention;

FIG. 11 is a schematic diagram of a hair storage module according to an embodiment of the invention;

fig. 12 is a schematic cross-sectional structure of a hair storage module according to an embodiment of the present invention;

FIG. 13 is a flow chart of a method for fetching according to an embodiment of the invention;

FIG. 14 is a flow chart of a hair fixing step according to an embodiment of the present invention;

FIG. 15 is a flow chart illustrating the steps of the sending method according to an embodiment of the present invention;

fig. 16 is a schematic diagram of a fetch path according to an embodiment of the invention.

Wherein, the reference numerals are as follows:

100-fixing the hair module; 110-a first hairpin; 120-a second hairpin; 130-a first hair fixing frame; 131-a hair fixing groove; 140-a second hair fixing frame;

200-a hair taking module; 210-taking a hair pin; 211-taking out the hair cavity; 212-a receiving groove; 213-a first notch; 214-cutting edges; 220-a first driver; 230-positive pressure device; 231-fluid outlet; 240-base; 250-guiding rod; 251-pass; 260-lighting means; 270-an image acquisition device; 280-a mechanical arm; 291-second driver; 292-sealing the tube; 293-linear bearings; 294-third driver;

300-a hair storage module; 310-hair storage seat; 311-hair storage holes; 312-a second notch; 320-plugs;

400-target object;

500-working table;

600-display screen.

a-a first direction; b-region; c-linear path.

Detailed Description

The hair removal system according to the present invention will be described in further detail with reference to the accompanying drawings and specific examples. The advantages and features of the present invention will become more apparent from the following description. It should be noted that the drawings are in a very simplified form and are all to a non-precise scale, merely for convenience and clarity in aiding in the description of embodiments of the invention.

In the present invention, "proximal" and "distal" are relative orientations, relative positions, directions of elements or actions relative to each other from the perspective of a physician using the product, and "proximal" and "distal" generally refer to the end that first enters the patient, while "proximal" and "distal" generally refer to the opposite end of "distal" are not limiting.

In the invention, the outer diameter and the inner diameter correspond to the diameter size for a circular structure, the inner diameter refers to the diameter of an inscribed circle of the circular structure for a non-circular structure, and the outer diameter refers to the diameter of an circumscribed circle of the circular structure; the axial direction corresponds to the direction in which the axis is located for cylindrical rods, and corresponds to the length direction of rods for non-cylindrical rods.

As used in this disclosure, the singular forms "a," "an," and "the" include plural referents, the term "or" are generally used in the sense of comprising "and/or" and the term "several" are generally used in the sense of comprising "at least one," the term "at least two" are generally used in the sense of comprising "two or more," and the term "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying any relative importance or number of features indicated. Thus, a feature defining "a first", "a second", "a third" may include one or at least two such features, either explicitly or implicitly. Furthermore, as used in this disclosure, "mounted," "connected," and "disposed" with respect to another element should be construed broadly to mean generally only that there is a connection, coupling, mating or transmitting relationship between the two elements, and that there may be a direct connection, coupling, mating or transmitting relationship between the two elements or indirectly through intervening elements, and that no spatial relationship between the two elements is to be understood or implied, i.e., that an element may be in any orientation, such as internal, external, above, below, or to one side, of the other element unless the context clearly dictates otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances. Furthermore, directional terms, such as above, below, upper, lower, upward, downward, left, right, etc., are used with respect to the exemplary embodiments as they are shown in the drawings, upward or upward toward the top of the corresponding drawing, downward or downward toward the bottom of the corresponding drawing.

The embodiment provides a hair picking system, which comprises: the hair fixing module 100, the hair taking module 200 and the hair storing module 300.

Referring to fig. 1 and 2, in which a target object 400 is seated at a designated position and a head is fixed, a hair fixing module 100 fixes hair at a position where the head is to be extracted and exposes hair follicles to be extracted, and a hair extracting module 200 is used to extract the hair follicles to be extracted and place the extracted hair follicles in a hair storing module 300. The hair taking module 200 can be installed on the workbench 500, rollers are installed at the bottom of the workbench 500 to facilitate movement of the hair taking module 200, and a display screen 600 is further arranged on the workbench 500 to display images.

The structure and use of the hair fixing module 100 are shown in fig. 3 and 4.

The hair fixing module 100 includes a first hair clip 110, a second hair clip 120, a first hair fixing frame 130, and a second hair fixing frame 140;

referring to fig. 3, the first hair clip 110, the second hair clip 120, the first hair fixing frame 130 and the second hair fixing frame 140 are all arc structures, and the first hair clip 110 and the second hair clip 120 are clipped at the head position, wherein the first hair clip 110 and the second hair clip 120 are provided with comb teeth to fix hair conveniently; the two ends of the first hair fixing frame 130 are rotatably engaged with the two ends of the first hair clip 110, and the two ends of the second hair fixing frame 140 are rotatably engaged with the two ends of the first hair fixing frame 130.

As shown in fig. 4, the first hair clip 110 is used for fixing the hair at the position to be extracted along the forward direction of the first direction a, the second hair clip 120 is used for fixing the hair at the position to be extracted along the reverse direction of the first direction a, the first hair clip 110 and the second hair clip 120 comb the hair at the positions to be extracted along the two sides of the first direction a, and the hair is combined with the scalp by pressing down the hair, so that the region b between the first hair clip 110 and the second hair clip 120 at the position to be extracted is exposed, and the hair follicle to be extracted in the region b is exposed without blocking the camera and the needle inserting direction. The first direction a may be determined based on actual use requirements, and the forward direction and the reverse direction of the first direction a are two directions along the first direction a.

With continued reference to fig. 3 and 4, the first hair fixing frame 130 is provided with a hair fixing slot 131, and the hair fixing slot 131 is used for placing hair of a hair follicle to be removed. When the first hair clip 110, the second hair clip 120 and the first hair fixing frame 130 are in a hair fixing state, the comb teeth and the hair fixing groove 131 on the first hair clip 110 and the second hair clip 120 are elongated in the first direction a. The second hair fixing frame 140 can rotate relative to the first hair fixing frame 130, and in the rotation process of the second hair fixing frame 140, the second hair fixing frame 140 can be away from the hair fixing groove 131 to open the hair fixing groove 131, or can be close to the hair fixing groove 131 and attached to the upper cover of the first hair fixing frame 130 on the hair fixing groove 131.

After the hair is fixed by the first hair clip 110 and the second hair clip 120, the hair of the hair follicle to be taken at the hair taking position is placed in the hair fixing groove 131 and covered on the hair fixing groove 131 by the second hair fixing frame 140, so that the hair stored in the hair fixing groove 131 is limited and fixed in the hair fixing groove 131, and the fixing of the hair is limited in the hair fixing groove 131 to limit the freedom of movement of the hair instead of the fixing of the hair. After the hair of the hair follicle to be removed is limited in the hair fixing groove 131, the hair between the hair fixing groove 131 and the hair follicle to be removed has a height allowance, and after the hair follicle to be removed is removed, the corresponding hair of the hair follicle to be removed can be pulled out of the hair fixing groove 131. The first hair fixing frame 130 is rotatable relative to the first hair clip 110, so that the hair fixed in the hair fixing groove 131 can be adjusted, and the hair can be in a straightened state, thereby facilitating subsequent hair taking.

In other alternative embodiments, the second hair holding frame 140 may not be provided, and an elastic material, such as a rubber filled material, is provided in the hair holding groove 131, so that the hair placed in the hair holding groove 131 is elastically pressed by the elastic material to restrain the hair in the hair holding groove 131, and the hair may be pulled out of the hair holding groove 131 by a tensile force without being damaged.

In this embodiment, the first hair clip 110, the first hair fixing frame 130 and the second hair fixing frame 140 are provided as one body, and the second hair clip 120 is of a separate structure, and in other alternative embodiments, the second hair clip 120 may be connected to the first hair clip 110 to form one body. Also in other alternative embodiments, the first hair clip 110, the second hair clip 120, the first hair fixing frame 130 and the second hair fixing frame 140 may be configured in other structures, for example, may be configured as a similar clamping structure as tweezers, and will not be described in detail herein.

The structure of the hair taking module 200 is shown in fig. 5 to 10.

The hair removal module 200 includes a hair removal needle 210, a first driver 220, and a robotic arm 280; the pick-up pin 210 is disposed on a mechanical arm 280, and the mechanical arm 280 is used for driving the pick-up pin 210 to change the direction to align the position to be picked up. The specific structure of the mechanical arm 280 is not limited in this embodiment, and the existing three-degree-of-freedom, four-degree-of-freedom or more-degree-of-freedom mechanical arm can be adaptively selected based on the requirement of the actual use condition on the degree of freedom of the direction and the position conversion of the pick-up needle 210. By the orientation adjustment of the robotic arm 280, the needle tip of the retrieval needle 210 is aligned with the hair follicle to be retrieved.

Referring to fig. 6 to 8, the hair taking needle 210 has a hollow hair taking cavity 211, and an accommodating groove 212 is formed on an inner wall of the hair taking needle 210, wherein the accommodating groove 212 is used for allowing a fat layer of a hair follicle to be taken to creep into the accommodating groove 212 when the hair taking needle 210 cuts the hair follicle to be taken; the first driving member 220 is used for driving the picking needle 210 to move along the axial direction of the picking needle 210; the hair removal needle 210 has a feeding motion in which the hair removal needle 210 penetrates into the tissue around the hair follicle to be removed and the hair follicle to be removed is anchored in the hair removal cavity 211, and a retracting motion in which the hair removal needle 210 is retracted.

The extracting pin 210 has a first notch 213, the first notch 213 penetrates from an outer wall of the extracting pin 210 to an inner wall of the extracting cavity 211, and the first notch 213 is connected to a distal end of the extracting pin 210. In this embodiment, the first notch 213 extends along the axial direction of the hair removal needle 210 to facilitate penetration of the hair follicle to be removed. In other alternative embodiments, the first notch 213 may be disposed at an angle with respect to the axial direction of the dispensing needle 210 based on the requirement of use, which will not be described herein.

When the hair removal needle 210 is aligned with the hair follicle to be removed, the hair to be removed is ready to be fed into the tissue, and the hair of the hair follicle to be removed is already fixed in the hair fixing groove 131. The first notch 213 of the hair taking needle 210 should be aligned with the hair of the hair follicle to be taken, so that the hair is threaded into the first notch 213 from the distal end of the hair taking needle 210 during the penetrating process of the hair taking needle 210, so as to ensure that the hair corresponding to the hair follicle to be taken is not damaged during the penetrating process of the hair taking needle 210. The first driving member 220 drives the hair taking needle 210 to feed, so that the hair taking needle 210 penetrates into the tissue around the hair follicle to be taken, the whole hair follicle to be taken is positioned in the hair taking cavity 211, and adipose tissue at the root of the hair follicle to be taken can peristaltic fill into the accommodating groove 212 so as to anchor the hair follicle to be taken in the hair taking cavity 211, and at the moment, the hair taking needle 210 is retracted to take out the hair follicle to be taken.

The hair taking system with the structure can take hair on the premise of not shaving hair, and the setting of the first notch 213 is used for avoiding hair corresponding to hair follicles to be taken without damaging the hair in the hair taking process. By arranging the hair taking cavity 211, the hair taking needle 210 can cut hair follicles to be taken by feeding and directly puncturing along the axial direction, the whole hair follicles to be taken are positioned in the hair taking cavity 211, annular cutting is not needed to be carried out around the hair follicles to be taken, the cutting mode does not influence peripheral hair follicles, and the phenomenon that the hair follicles to be taken are damaged due to uneven deformation of tissues around the hair follicles to be taken in the annular cutting process is also improved; through the arrangement of the accommodating groove 212, when the hair taking needle 210 is fed and directly pricked in the tissue, the adipose tissue at the root of the hair follicle to be taken can creep and fill into the accommodating groove 212 so as to anchor the hair follicle to be taken in the hair taking cavity 211, and at the moment, the hair taking needle 210 is retracted to take out the hair follicle to be taken out; the hair picking efficiency is effectively improved, and the hair picking cost is further reduced. In summary, the hair removing system with the structure meets the requirements of higher hair removing efficiency and no hair removing by shaving, and improves the damage phenomenon to peripheral hair follicles and hair follicles to be removed in the hair removing process.

Further, in order to ensure that more peristalsis of adipose tissue at the root of the hair follicle to be taken fills the accommodating groove 212 to form a stable anchoring effect on the hair follicle to be taken, in this embodiment, the accommodating groove 212 is penetrated from the inner wall of the hair taking cavity 211 to the outer wall of the hair taking needle 210, the accommodating groove 212 is in a waist-shaped hole structure as a whole, and the length direction of the accommodating groove 212 is consistent with the axial direction of the hair taking needle 210. In the actual use process, a part of tissues can be filled in the accommodating groove 212 and overflowed out of the hair taking cavity 211, so that the anchoring effect on the hair follicle is improved, and the hair follicle is taken out conveniently. In other alternative embodiments, the receiving slot 212 may not extend through to the outer wall of the hair removal needle 210, and then the air pressure in the hair removal lumen 211 is increased to facilitate the removal of fat from the receiving slot 212, which may creep into the receiving slot 212, as the hair follicle is removed. In addition, in the present embodiment, two receiving grooves 212 are provided opposite to each other along one radial direction of the dispensing needle 210. In other alternative embodiments, a plurality of receiving grooves 212 may be provided, each receiving groove 212 being distributed along the circumference of the picker 210 to ensure a better anchoring effect.

Further, the distal end of the pick-up pin 210 has a plurality of cutting edges 214 protruding in the axial direction of the pick-up pin 210, and the cutting edges 214 are spaced apart in the circumferential direction of the pick-up pin 210.

Referring to fig. 6 and 7, in an embodiment of the cutting edge 214, the distal outer wall of the hair pick-up needle 210 is cut to form a sharp cutting edge 214, two cutting edges 214 are provided, the two cutting edges 214 are approximately semicircular, a V-shaped groove is formed between two adjacent cutting edges 214, and the first notch 213 is connected to the V-shaped groove between the two cutting edges 214. The cutting edge 214 of this construction facilitates penetration on the one hand and guiding through the V-shaped groove on the other hand to guide the hair of the hair follicle to be removed into the first notch 213.

Referring to fig. 8, in another embodiment of the cutting edges 214, four cutting edges 214 are provided, and the cutting edges 214 are substantially triangular and uniformly distributed along the circumference of the pick-up pin 210.

In other alternative embodiments, the number and shape of the cutting edges 214 may be adapted based on the needs of the actual use.

Referring to fig. 9 and 10, further, the hair removing module 200 further includes a positive pressure device 230, wherein the positive pressure device 230 has a fluid outlet, and the fluid outlet is in communication with the hair removing cavity 211 for increasing the pressure in the hair removing cavity 211. The pressure in the hair taking cavity 211 may be air pressure or hydraulic pressure, for example, when the positive pressure device 230 charges the hair taking cavity 211 with a gas medium, the air pressure in the hair taking cavity 211 is increased; when the positive pressure device 230 fills the hair removal chamber 211 with liquid medium, the hydraulic pressure in the hair removal chamber 211 is increased.

In this embodiment, the positive pressure device 230 includes a connector and a cylinder, wherein only the connector of the positive pressure device is shown in fig. 9 and 10, and the connector is used as a fluid outlet to connect the cylinder to increase the air pressure for inflating the hair taking cavity 211, so that the hair follicle can be separated from the hair taking cavity 211 and placed at a designated position. In other alternative embodiments, the positive pressure device 230 may also hydraulically increase the pressure in the hair taking cavity 211, which will not be described herein. By the arrangement of the positive pressure device 230, hair follicles can be automatically removed conveniently, and the hair follicles can be detached on the premise of no contact, so that the hair follicles can be protected.

Further, the hair removing module 200 further includes a base 240 and a guide rod 250, the hair removing needle 210 is fixed at a distal end of the guide rod 250, the guide rod 250 extends along an axial direction of the hair removing needle 210, the guide rod 250 is disposed on the base 240 along the axial direction of the hair removing needle 210, and the first driving member 220 is used for driving the guide rod 250 to move along the axial direction of the hair removing needle 210.

Referring to fig. 10, in the layout of the convenient overall structure, a channel 251 is disposed in the guide rod 250, the channel 251 is axially connected to two ends of the guide rod 250, the hair taking cavity 211 of the hair taking needle 210 is connected from the distal end of the hair taking needle 210 to the proximal end thereof, the proximal end of the hair taking needle 210 is connected to the distal end of the guide rod 250, and the proximal end of the hair taking cavity 211 is connected to the distal end of the channel 251. The air outlet end of the positive pressure device 230 is connected with the proximal end of the channel 251, and the fluid medium introduced by the positive pressure device 230 enters the hair taking cavity 211 through the channel 251 so as to increase the pressure in the hair taking cavity 211, so that hair follicles are removed. Through the setting of guide bar 250, do benefit to the overall structure overall arrangement of getting the system of sending out.

In addition, the middle part of the base 240 is provided with a hollow installation cavity, and the guide rod 250 is slidably installed in the installation cavity of the base 240 along the axial direction of the delivery needle 210 through the linear bearing 293; the first driving member 220 is disposed on the base 240 and connected to the guide rod 250 to drive the guide rod 250 to move along the axial direction of the dispensing needle 210. Further, as shown in fig. 10, the hair removing module 200 further includes a second driving member 291 and a sealing tube 292, wherein the sealing tube 292 is sleeved on the hair removing needle 210 and is in sliding sealing fit with the hair removing needle 210 along the axial direction of the hair removing needle 210, and the second driving member 291 is used for driving the sealing tube 292 to move along the axial direction of the hair removing needle 210.

Due to the through structure of the accommodating groove 212 and the arrangement of the first notch 213, when the positive pressure device 230 inflates the hair taking chamber 211, gas leaks from the accommodating groove 212 and the first notch 213. Therefore, in this embodiment, by adding the sealing tube 292 to open or close a portion of the accommodating groove 212 and the first notch 213, when the sealing tube 292 slides along the axial direction of the dispensing needle 210 towards the distal end thereof, a portion of the accommodating groove 212 and the first notch 213 is sealed, and the positive pressure device 230 can increase the pressure in the dispensing cavity 211 to remove the hair follicle; when the lock tube 292 is slid axially toward the proximal end thereof along the retrieval needle 210, the receiving groove 212 and the first notch 213 are opened, and the retrieval needle 210 is caused to pierce the retrieval. In this embodiment, the first driving member 220 and the second driving member 291 use air cylinders, and in other alternative embodiments, the first driving member 220 and the second driving member 291 may use linear motors or other known linear driving structures.

Further, referring to fig. 9, the picking module 200 further includes a third driving member 294, the base 240 is movably mounted at the end of the mechanical arm 280, and the third driving member 294 is used for driving the base 240 to move relative to the mechanical arm 280 to fine-tune the position of the picking needle 210. The third driving member 294 may be a linear driving module to drive the base 240 to move linearly, for example, the third driving member 294 may be a linear motor, a hydraulic cylinder, a driving structure formed by a screw-nut pair, or other known linear driving structure, and before the needle 210 punctures, the position of the needle 210 may be finely adjusted by the third driving member 294, so that the needle 210 is kept at a suitable distance from the position to be retracted.

Further, as shown in fig. 10, the pick-up module 200 further includes a lighting device 260, where the lighting device 260 may be an LED, and the lighting device 260 is disposed on the base 240 for lighting a position to be picked up; and the hair taking module 200 further comprises an image acquisition device 270, the image acquisition device 270 can adopt a binocular camera, the image acquisition device 270 is arranged on the base 240, and the image acquisition device 270 is used for carrying out image acquisition on the position to be taken so as to identify hair follicles and determine the position of the hair follicles to be taken. The image acquisition device 270 uploads the acquired image to the image recognition system for recognizing and positioning the hair follicle, so that the mechanical arm can be driven to change the direction to enable the hair taking needle 210 to be aligned with the hair follicle to be taken, and the distance between the hair taking needle and the hair follicle to be taken can be finely adjusted, so that the hair taking precision is improved, and automatic hair taking is realized. At the same time, the image acquisition device 270 can also identify the position of the hair taking needle 210, so as to ensure that the first notch 213 is on the same straight line with the hair of the hair follicle to be taken, so that the hair enters the first notch 213 in the puncturing process.

In other alternative embodiments, the illumination device 260 and the image capture device 270 may be alternatively configured based on the needs of the user.

Please refer to fig. 11 and 12 for the structure of the hair storage module 300;

the hair storage module 300 may be placed on the work bench 500. The hair storage module 300 comprises a hair storage seat 310, wherein a hair storage hole 311 is arranged on the hair storage seat 310, and the hair storage hole 311 is used for inserting the hair taking needle 210 after hair taking so as to place the hair follicle taken in the hair storage hole 311. The hair storage seat 310 is rectangular, is provided with a plurality of hair storage holes 311 along the length direction arrangement of hair storage seat 310, and each hair storage hole 311 communicates to the up end of hair storage seat 310, gets after the hair 210 gets out, then drives to get out the hair 210 through arm 280 and inserts in the hair storage hole 311 of up end of hair storage seat 310, then increases through positive pressure device 230 and gets out the internal pressure of hair cavity 211 for the hair follicle breaks away from gets out the hair cavity 211 and gets into the storage of hair storage hole 311 and store.

Further, the inner wall of the hair storage base 310 is provided with a second notch 312, the second notch 312 is communicated with the outer wall of the hair storage base 310 from the inner wall of the hair storage base 310, and the second notch 312 is communicated with one end of the hair storage hole 311.

The second notch 312 extends along the axial direction of the hair storage hole 311, when the hair taking needle 210 is inserted into the hair storage hole 311, the image acquisition device 270 can acquire the assembly image of the hair taking needle 210, so as to ensure that the second notch 312 and the first notch 213 are aligned along the radial direction of the hair storage hole 311, as shown in fig. 12, when the hair follicle 700 is placed in the hair storage hole 311, the hair strand 710 of the hair follicle 700 enters the second notch 312, so that the long hair follicle can be stored conveniently.

With continued reference to fig. 12, the hair storage module 300 further includes a plug 320, the hair storage hole 311 is a cylindrical through hole formed in the hair storage base 310, one end of the hair storage hole 311 is open, the plug 320 is plugged at the other end of the hair storage hole 311, and a mesh is provided on the plug 320 to enable the other end of the hair storage hole 311 to communicate with air. The plug 320 can be of a sponge, a silk screen and other structures, the effective storage of the hair follicle is guaranteed due to the plug 320, air circulation is guaranteed, detachment of the hair follicle is facilitated, and the hair follicle can be effectively protected from being damaged by air flow.

The embodiment also provides a hair removing method, please refer to fig. 13, which specifically includes steps of fixing hair, removing hair and removing hair sacs:

fixing hair: referring to fig. 14, the hair at the hair-taking position is fixed in the forward direction along the first direction, the hair at the hair-taking position is fixed in the reverse direction along the first direction, and the hair of the hair follicle is taken out by the fixing belt. Fixing hair in the forward direction and the reverse direction along the first direction to expose hair follicles to be extracted at the hair extraction position; the hair to be taken out is fixed, and the specific hair fixing manner is shown in fig. 4, and the hair to be taken out is fixed by the first hair clip 110, the second hair clip 120, the first hair fixing frame 130 and the second hair fixing frame 140 in a matched manner, which is not described herein.

And (3) hair picking: referring to fig. 15, the system is first started, the lighting device 260 is turned on to illuminate, and the camera of the image acquisition device 270 is started to acquire images so as to identify hair follicles and determine the positions of hair follicles to be taken. The robotic arm 280 is then driven into position to adjust the position of the pick-up pin 210, and finally the position of the pick-up pin 210 is fine-tuned by the third driving member 294 so that the pick-up pin 210 is maintained at a suitable distance from the position to be picked up. At this time, the camera of the image acquisition device 270 further acquires information to confirm the position of the hair follicle to be extracted, and drives the extraction needle 210 to feed along the axial direction of the extraction needle 210, so that the extraction needle 210 penetrates into the tissue around the hair follicle to be extracted, and the hair follicle to be extracted is located in the extraction cavity 211, and simultaneously when the extraction needle 210 penetrates into the tissue, the hair of the hair follicle to be extracted extends out of the extraction cavity 211 through the first notch 213; the hair pick-up needle 210 penetrates into the tissue within a set depth range, which can be determined according to actual conditions, and it should be ensured that the hair pick-up needle 210 is located in the accommodating groove 212 and penetrates into the fat layer of the hair follicle to be picked up, so that the fat layer of the hair follicle to be picked up moves into the accommodating groove 212, feeding is stopped, and the hair pick-up needle is driven to retract to take out the hair follicle to be picked up.

Hair follicle removal: the receiving groove 212 and at least a portion of the first notch 213 are sealed first, and the receiving groove 212 and the first notch 213 may be sealed against air leakage by moving the sealing tube 292. The hair taking needle 210 is inserted into the hair storage position, in this embodiment, the hair taking needle 210 is inserted into the hair storage hole 311 of the hair storage module 300, then the positive pressure device 230 is used for ventilating the hair taking cavity 211, and the pressure in the hair taking cavity 211 is increased, so that the hair follicle in the hair taking cavity 211 is separated from the hair taking cavity 211 and enters the hair storage hole 311 to be stored.

Referring to fig. 16, in the picking-up step, the picking-up path can be planned by the image acquired by the image acquisition device 270, and each picking-up path in this embodiment is a linear path c, and after picking up hair according to the linear path c, the picking-up is performed again, the next path is planned, and a plurality of linear picking-up paths are sequentially generated.

Through the hair taking step, hair can be taken on the premise of not shaving, and hair can not be damaged in the hair taking process. Moreover, through the setting of getting the hair cavity 211 for get the hair pin 210 along the cutting of axial straight thorn can be realized to the hair follicle, and need not carry out annular cutting around the hair follicle, this cutting method can not influence peripheral hair follicle, has also improved and has waited to get the phenomenon that the hair follicle was damaged because waiting to get the deformation of the surrounding tissue of hair follicle uneven in the annular cutting process, simultaneously, also does benefit to and improves and gets the hair efficiency, and then reduces and get the hair cost. Comprehensively, the requirements of hair taking efficiency and no hair shaving are met, and the phenomenon of damage to peripheral hair follicles and hair follicles to be taken in the hair taking process is improved.

The above description is only illustrative of the preferred embodiments of the present invention and is not intended to limit the scope of the present invention, and any changes and modifications made by those skilled in the art based on the above disclosure are intended to fall within the scope of the appended claims.

Claims (16)

1. A hair removal system, comprising: the hair fixing module and the hair taking module are used for fixing hair;

the hair fixing module is used for fixing hair and exposing hair follicles to be taken out;

the hair taking module comprises a hair taking needle and a first driving piece, wherein the hair taking needle is provided with a hollow hair taking cavity, the inner wall of the hair taking needle is provided with a containing groove, and the containing groove is used for enabling a fat layer of a hair follicle to be taken to creep into the containing groove when the hair taking needle cuts the hair follicle to be taken; the first driving piece is used for driving the hair taking needle to move along the axial direction of the hair taking needle so as to synchronously cut tissues around hair follicles to be taken out and take out the hair follicles to be taken out.

2. The hair removal system of claim 1, wherein said hair removal needle has a first notch therein, said first notch extending from an outer wall of said hair removal needle to an inner wall of said hair removal cavity, and said first notch communicating to a distal end of said hair removal needle.

3. The hair removal system of claim 2, wherein said distal end of said hair removal needle has a plurality of axially projecting cutting edges, each of said cutting edges being circumferentially spaced about said hair removal needle, said first notch being connected between adjacent ones of said cutting edges.

4. The hair removal system of claim 1, wherein said hair removal module further comprises a positive pressure device having a fluid outlet in communication with said hair removal chamber for increasing the pressure within said hair removal chamber.

5. The hair removal system of claim 4, wherein said hair removal module further comprises a second drive member and a tube seal, said tube seal being over said hair removal needle and in sliding sealing engagement with said hair removal needle in an axial direction of said hair removal needle, said second drive member for driving said tube seal in an axial direction of said hair removal needle.

6. The hair removal system of claim 1, wherein said hair removal module further comprises a base and a guide bar, said hair removal needle being secured to said guide bar distal end, said guide bar extending axially of said hair removal needle, said guide bar being disposed on said base for axial movement of said hair removal needle, said first drive for driving axial movement of said guide bar along said hair removal needle; the guide rod is internally provided with a channel, one end of the channel is communicated with the hair taking cavity, and the other end of the channel is used for introducing fluid to increase the pressure in the hair taking cavity.

7. The hair removal system of claim 6, wherein said hair removal module further comprises a third drive for driving movement of said base to fine-tune the position of said hair removal needle.

8. The hair removal system of claim 6, wherein the hair removal module further comprises an illumination device disposed on the base for illuminating a location to be removed; and/or, the hair taking module further comprises an image acquisition device, the image acquisition device is arranged on the base, and the image acquisition device is used for carrying out image acquisition on the position to be taken so as to identify hair follicles and determine the position of the hair follicles to be taken.

9. The hair removal system of claim 1, wherein the hair removal module further comprises a robotic arm on which the hair removal needle is disposed, the robotic arm for driving the hair removal needle to change orientation to align a location to be removed.

10. The hair harvesting system of claim 1, wherein the hair securing module comprises a first hair clip for securing hair in a hair harvesting position in a forward direction of the first direction and a second hair clip for securing hair in the hair harvesting position in a reverse direction of the first direction such that the hair follicle in the hair harvesting position is exposed between the first hair clip and the second hair clip.

11. The hair harvesting system of claim 10, wherein the hair-securing module further comprises a first hair-securing frame, the first hair-securing frame being coupled to the first hair clip, the first hair-securing frame having a hair-securing slot disposed thereon for placement of hair strands of the hair follicle to be harvested.

12. The hair removal system of claim 11, wherein said hair holding module further comprises a second hair holding frame for fitting over said first hair holding frame and over said hair holding channel such that hair placed in said hair holding channel is confined within said hair holding channel.

13. The hair removal system of claim 1, further comprising a hair storage module, said hair storage module comprising a hair storage base, said hair storage base having a hair storage aperture therein for insertion of said hair removal needle after hair removal for placement of said removed hair follicle within said hair storage aperture.

14. The hair removal system of claim 13, wherein a second slot is formed in the inner wall of the hair storage base, the second slot extends from the inner wall of the hair storage base to the outer wall of the hair storage base, and the second slot is connected to one end of the hair storage hole.

15. The hair removal system of claim 13, wherein the hair storage module further comprises a plug, the hair storage hole is a through hole formed in the hair storage seat, one end of the hair storage hole is open, the plug is plugged at the other end of the hair storage hole, and a mesh is arranged on the plug to enable air at the other end of the hair storage hole to circulate.

16. A method of dispensing comprising the steps of:

fixing hair: fixing hair, exposing hair follicle to be taken;

and (3) hair picking: driving a hair taking needle to feed along the axial direction of the hair taking needle, so that the hair taking needle penetrates into tissues around the hair follicle to be taken, and the hair follicle to be taken is positioned in a hair taking cavity; after the hair taking needle penetrates into a set depth range of the tissue, the fat layer of the hair follicle to be taken is made to creep into the accommodating groove, feeding is stopped, and the hair taking needle is driven to retract to take out the hair follicle to be taken;

hair follicle removal: increasing the pressure in the hair taking cavity so that hair follicles in the hair taking cavity are separated from the hair taking cavity.

Images