CN117159157A - A manipulator and control module for not shaving send out and plant hair - Google Patents
A manipulator and control module for not shaving send out and plant hair Download PDFInfo
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- CN117159157A CN117159157A CN202311255757.0A CN202311255757A CN117159157A CN 117159157 A CN117159157 A CN 117159157A CN 202311255757 A CN202311255757 A CN 202311255757A CN 117159157 A CN117159157 A CN 117159157A
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- 210000004209 hair Anatomy 0.000 title claims abstract description 148
- 238000011156 evaluation Methods 0.000 claims abstract description 139
- 238000002513 implantation Methods 0.000 claims abstract description 109
- 230000003741 hair volume Effects 0.000 claims abstract description 34
- 230000003803 hair density Effects 0.000 claims abstract description 25
- 230000033001 locomotion Effects 0.000 claims abstract description 9
- 238000000034 method Methods 0.000 claims description 41
- 210000003128 head Anatomy 0.000 claims description 35
- 230000005484 gravity Effects 0.000 claims description 16
- 210000004761 scalp Anatomy 0.000 claims description 15
- 210000003625 skull Anatomy 0.000 claims description 15
- 238000003780 insertion Methods 0.000 claims description 14
- 230000037431 insertion Effects 0.000 claims description 14
- 230000003648 hair appearance Effects 0.000 claims description 13
- 238000012545 processing Methods 0.000 claims description 11
- 230000010354 integration Effects 0.000 claims description 7
- 239000007943 implant Substances 0.000 claims description 6
- 239000000523 sample Substances 0.000 claims description 5
- 230000000694 effects Effects 0.000 claims description 4
- 238000007781 pre-processing Methods 0.000 claims description 4
- 230000037308 hair color Effects 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 claims description 3
- 230000037394 skin elasticity Effects 0.000 claims description 3
- 238000012937 correction Methods 0.000 description 6
- 230000002123 temporal effect Effects 0.000 description 6
- 230000001276 controlling effect Effects 0.000 description 3
- 101100012983 Arabidopsis thaliana FLA1 gene Proteins 0.000 description 2
- 101100227198 Campylobacter jejuni flaA gene Proteins 0.000 description 2
- 101100321440 Drosophila melanogaster zfh1 gene Proteins 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 210000003491 skin Anatomy 0.000 description 2
- 210000001519 tissue Anatomy 0.000 description 2
- 238000002054 transplantation Methods 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000003780 hair follicle Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The application discloses a mechanical arm and a control module for non-shaving hair-planting, and particularly relates to the technical field of non-shaving hair-planting; according to the application, the head image information of the target patient is analyzed to obtain the total hair volume evaluation index and the total hair area evaluation index of the target patient, and the two indexes are integrated to obtain the hair implantation environment evaluation index of the target patient, so that the overall situation of the head hair volume of the target patient can be reflected, meanwhile, the accuracy of data is improved, meanwhile, the hair density data of the target patient is analyzed to obtain the hair implantation density value, and the hair implantation adjustment index of the target patient is obtained by integrating the hair implantation density value on the hair implantation environment evaluation index of the target patient, so that the hair implantation adjustment index is substituted into an operation model matched with the database, the hair implantation adjustment index is converted into specific movement of the manipulator, and the intelligence is improved.
Description
Technical Field
The application relates to the technical field of hair-planting without shaving, in particular to a manipulator and a control module for hair-planting without shaving.
Background
The hair of human body can be transplanted like other tissues of human body, and the hair transplantation is to cut the tissues around hair follicles completely through special instruments, separate from the scalp, and then transplant the hair to a position which needs the hair to be prepared and has the condition of receiving the hair, namely the hair transplantation.
Conventional hair implantation procedures typically require shaving of the patient's hair, which affects the patient's image and confidence to some extent, and controlling the robotic arm to implant hair without shaving also suffers from the following disadvantages:
1. the intelligent control degree of the manipulator in the planting process is low, a set of planting schemes can be designed only by taking the patient requirement before planting and the planting questionnaire as references, so that the manipulator is controlled to plant the patient, after comprehensive analysis on various information of the patient cannot be performed intelligently, the planting process is further optimized based on the requirement of a user, and the planting effect of the user is general to experience;
2. the contact pressure between the probe and the scalp cannot be adjusted to an optimal pressure range suitable for the patient by the mechanical arm according to various parameters of the patient in the planting process, and discomfort of the patient is easily caused in the planting process.
For this purpose, a manipulator and a control module for non-shaving hair-planting are proposed.
Disclosure of Invention
Aiming at the general problems that the planting effect and experience sense of a user are generally caused by further optimizing the planting process based on the requirement of the user after the control module of the prior manipulator cannot intelligently comprehensively analyze various information of a patient, the application provides the manipulator and the control module for the non-shaving hair planting.
The aim of the application can be achieved by the following technical scheme: a manipulator and control module for not shaving and plant hair, including manipulator body and control module, control module includes:
the patient state analysis module is used for acquiring various basic parameters of the body of the patient, and comprehensively processing the basic parameters to obtain the hair-planting reference evaluation index ST of the patient, and specifically comprises the following steps:
obtaining the age and the hair quality grade of the target patient through a personal information table filled in by the target patient before hair implantation; extracting a parameter value corresponding to the age and the hair quality grade of a target patient from a database, wherein the parameter value corresponds to the age influence index S1 and the hair quality influence index S2;
measuring the head skin elasticity of the target patient by using a skin tensiometer to obtain a scalp relaxation index S3; acquiring skull structure information of a target patient through head CT of the target patient, and extracting skull structures matched with the target patient from a database to obtain a skull state index S4 of the target patient;
the age influence index S1, the hair quality influence index S2, the scalp relaxation index S3, and the skull state index S4 of the target patient are integrated to obtain a hair implantation reference evaluation index ST, which specifically comprises:
according to the formula of the formula,and calculating to obtain a hair implantation reference evaluation index ST of the target patient, wherein b1, b2, b3 and b4 are influence weight factors corresponding to the age influence index S1, the hair influence index S2, the scalp relaxation index S3 and the skull state index S4 of the target patient respectively.
In some embodiments, the image processing module is configured to acquire and process image information of a head of a patient in real time, and analyze the processed image to obtain an evaluation index of a hair implantation environment of the head of the patient, specifically:
s1: acquiring head image information of a target patient by using high-definition camera equipment, dividing the head image information of the patient according to preset dividing regions in a database, preprocessing the head image information of each dividing region of the patient, wherein the preprocessing comprises denoising and contrast increase, and integrating the head image information of each dividing region to obtain a hair planting environment assessment index of the target patient;
s1-101: converting the image information of each divided region of a target patient into an HSV color space, extracting color thresholds corresponding to the hair colors of each divided region of the patient from a database, and dividing the color thresholds to obtain hair regions and background regions corresponding to the divided regions;
the head portrait image of the target patient is divided, and the image is mainly divided according to three areas of the head top, the hairline and the side temporal part.
S1-102: analyzing the binary image in each divided area of the target patient, extracting the connected areas of the binary image of each divided area of the patient, marking each connected component in the corresponding divided area as different labels by using a tool function, obtaining the hair volume evaluation index FLi of each divided area of the target patient by obtaining the number of the different labels in the corresponding divided area and counting, wherein i=1, 2 or 3, extracting the normal hair volume evaluation index FBi of each divided area corresponding to the implant hair reference evaluation index ST of the target patient from a database, and integrating with the hair volume evaluation index FLi of each divided area to obtain the total hair volume evaluation index FLP of the target patient;
the method comprises the following steps: according to the formulaCalculating to obtain a total hair volume evaluation index FLA of a target patient, wherein FB1, FB2 and FB3 respectively represent normal hair volume evaluation indexes of different divided areas of the head of the patient, and sn1, sn2 and sn3 respectively represent influence weight factors of a head hair volume evaluation index FL1, a hairline hair volume evaluation index FL2 and a sidewise temporal hair volume evaluation index FL 3;
s1-103: analyzing hair areas in each divided area of a target patient, calculating each hair area of the target patient by utilizing pixel statistics to obtain an area evaluation index MJi in each divided area of the target patient, wherein i=1, 2 or 3, extracting a normal area evaluation index MAi of each divided area corresponding to a target patient planting reference evaluation index ST from a database, and integrating the normal area evaluation index MAi with the area evaluation index MAi of each divided area to obtain an area evaluation total index MJP of the target patient;
the method comprises the following steps: according to the formulaCalculating to obtain an area evaluation total index MJP of the target patient, wherein MA1, MA2 and MA3 are respectively expressed as normal area evaluation indexes in each divided area of the patient, and uy1, uy2 and uy3 are respectively influence weight factors of an overhead area evaluation index FL1, an hairline area evaluation index FL2 and a sidewise temporal area evaluation index FL 3;
s1-104: extracting a normal hair volume evaluation total index FLA1 and a normal area evaluation total index MJP1 corresponding to a target patient hair implantation reference evaluation index ST from a database, and carrying out integration treatment on the hair volume evaluation total index FLA and the area evaluation total index MJP of the target patient and the normal indexes corresponding to the two to obtain a hair implantation environment evaluation index ZFH of the target patient;
the method comprises the following steps: according to the formulaCalculating to obtain a hair implantation environment evaluation index ZFH of the target patient, wherein kj1 and kj2 are respectively the influence weight factors corresponding to the total hair volume evaluation index FLA and the total area evaluation index MJP of the target patient, and the weight factors are respectively>Is a preset correction factor.
In some embodiments, the density analysis module is configured to measure the hair density of each divided area of the patient, perform analysis to obtain a hair implantation density value QLK of the patient, and perform comprehensive treatment with the hair implantation density value QLK based on the hair implantation environment evaluation index ZFH to obtain a hair implantation adjustment index TJZ of the patient, specifically:
extracting a hair implantation area selected by a target patient in advance from the data, dividing the hair implantation area into a plurality of specific gravity areas according to the distribution positions of the hair implantation areas selected by the patient, measuring a hair density value MDx of each specific gravity area of the target patient by utilizing an optical sensor, wherein x=1, 2,3 or 4, and extracting a normal hair density value MEx of each specific gravity area corresponding to a hair implantation reference evaluation index ST of the target patient from a database;
the hair density value MDx of each specific gravity area and the corresponding normal hair density value MEx are integrated to obtain a hair implantation density value QLK of the target patient, specifically:
according to the formulaWherein ME1, ME2, ME3 and ME4 are respectively the normal hair density values of the specific gravity areas corresponding to the target patient, and up1, up2, up3 and up4 are respectively the influence weight factors of the hair density values of the specific gravity areas of the target patient;
extracting a reference hair implantation environment evaluation index ZFH1 and a reference hair implantation density value QLK1 corresponding to a target patient hair implantation reference evaluation index ST from data, and performing integration treatment to obtain a hair implantation adjustment index TJZ of the target patient, wherein the hair implantation adjustment index TJZ specifically comprises:
according to the formula of the formula,calculating to obtain a hair implantation regulation index TJZ of the target patient, wherein vc1 and vc2 are respectively the target patient hair implantation density value QLK and the hair implantation environment evaluation index ZFH influence weight factors, ">Is a preset correction factor;
the method comprises the steps of sending the hair implantation adjustment index TJZ to a motion control module, matching the hair implantation adjustment index TJZ with a corresponding operation model in a database to obtain a hair implantation operation model corresponding to a target patient, and adjusting the implantation depth and the implantation interval once based on the obtained hair implantation operation model;
comparing the obtained hair planting adjustment index TJZ with a scheme adjustment index TJB corresponding to a preset hair planting scheme, calculating the difference value between the two values when the hair planting adjustment index TJZ is larger than the scheme adjustment index TJB, substituting the difference value between the two groups into a value range corresponding to the database to obtain a secondary adjustment index, further carrying out secondary adjustment on the insertion depth and the insertion spacing in the target patient planting area according to the secondary adjustment index, and calculating the difference value between the two values and taking an absolute value when the hair planting adjustment index TJZ is smaller than the scheme adjustment index TJB, and substituting the difference value into the value range corresponding to the database to carry out secondary adjustment on the insertion depth and the insertion spacing in the target patient planting area;
in some embodiments, the operation interface module is used for displaying the whole hair-planting operation process on the operation screen in real time and providing the whole hair-planting operation process for medical staff to use, and parameters of the hair-planting process and the motion state of the manipulator can be adjusted according to the needs and actual conditions of a patient through the operation screen;
the database is used for acquiring relevant parameters and state information in each hair-planting operation process, recording and analyzing, simultaneously establishing a manipulator operation model, and updating the manipulator model in real time according to the later hair-planting operation process; and storing the reference values and parameter values corresponding to the parameters.
In some embodiments, the pressure feedback module further analyzes the implant pressure evaluation index YLZ based on the patient's implant reference evaluation index ST, specifically: matching a planting scheme of a target patient with a corresponding similar planting scheme in a database to obtain an estimated total planting time TIM of the target patient, and integrating the estimated total planting time TIM, the planting regulating index TJZ and the planting reference evaluating index ST of the target patient to obtain a planting pressure evaluating index YLZ;
according to the formula of the formula,calculating to obtain a planting pressure evaluation index YLZ of the target patient in the planting process, wherein g1, g2 and g3 are respectively influence weight factors of the total planting time TIM, the planting regulation index TJZ and the planting reference evaluation index ST of the target patient estimated planting time TIM, the planting regulation index TJZ and the planting reference evaluation index ST of the target patient>Is a preset correction factor;
and matching the planting pressure evaluation index YLZ of the target patient with a preset value of a database to obtain the optimal pressure range of the patient and adjust the parameters of the manipulator, simultaneously collecting and monitoring the contact pressure of the probe and the scalp in real time through a pressure sensor in the whole planting process, comparing the monitored contact pressure value with the highest value of the optimal pressure range of the target, calculating the difference value between the contact pressure value and the highest value, and sending out early warning and controlling the pressing force of the manipulator when the difference value between the contact pressure value and the highest value is smaller than the preset threshold value.
Compared with the prior art, the application has the beneficial effects that:
according to the application, the head image information of the target patient is analyzed to obtain the total hair volume evaluation index and the total area evaluation index of the target patient, and the two indexes are integrated to obtain the hair implantation environment evaluation index of the target patient, so that the overall situation of the head hair volume of the target patient can be reflected, meanwhile, the accuracy of data is improved, meanwhile, the hair density data of the target patient is analyzed to obtain the hair implantation density value, on the basis of the hair implantation environment evaluation index of the target patient, the hair implantation adjustment index of the target patient is obtained by integrating the hair implantation density value, and then the hair implantation adjustment index is substituted into an operation model matched with a database, the hair implantation adjustment index is converted into the specific movement of the manipulator, the intellectualization is improved, meanwhile, the obtained hair implantation adjustment index is compared with the scheme adjustment index corresponding to the preset hair implantation scheme, and the manipulator is further optimized on the basis of one-time adjustment according to the comparison result, and the overall hair implantation effect is further achieved.
According to the application, through analyzing various body basic parameters of the target patient, including age, hair quality grade, scalp elasticity and skull structure information of the target patient, the hair implantation reference evaluation index of the target patient is obtained, so that a plurality of preset values preset in a database can be substituted according to the hair implantation reference evaluation index of the target patient, the reference value of each parameter of the target patient when being substituted into a formula for calculation is obtained, an optimal hair implantation scheme can be given according to each parameter of the target patient, and the accuracy of data is further improved.
According to the application, the estimated total planting time is obtained by matching the planting scheme generated by the target patient with the similar planting scheme corresponding to the database, the estimated total planting time, the planting adjustment index and the planting reference evaluation index of the target patient are integrated on the basis of the planting reference evaluation index of the target patient to obtain the planting pressure evaluation index, the planting pressure evaluation index of the target patient is matched with the preset value of the database, the optimal pressure range of the patient is obtained, the contact pressure of the manipulator is adjusted, discomfort of the patient in the planting process is avoided, meanwhile, the contact pressure between the probe and the scalp is monitored in real time, and the safety is further improved.
Drawings
Further details, features and advantages of the application are disclosed in the following description of exemplary embodiments with reference to the following drawings, in which:
FIG. 1 is a block diagram of a manipulator according to the present application;
fig. 2 is a functional block diagram of the present application.
1. A manipulator body.
Detailed Description
In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The application is described in further detail below with reference to fig. 1:
first embodiment
Referring to fig. 1, a manipulator and a control module for non-shaving hair-planting, including a manipulator body 1 and a control module, the control module includes:
the patient state analysis module is used for acquiring various basic parameters of the body of the patient, and comprehensively processing the basic parameters to obtain the hair-planting reference evaluation index ST of the patient, and specifically comprises the following steps:
obtaining the age and the hair quality grade of the target patient through a personal information table filled in by the target patient before hair implantation; extracting a parameter value corresponding to the age and the hair quality grade of a target patient from a database, wherein the parameter value corresponds to the age influence index S1 and the hair quality influence index S2;
measuring the head skin elasticity of the target patient by using a skin tensiometer to obtain a scalp relaxation index S3; acquiring skull structure information of a target patient through head CT of the target patient, and extracting skull structures matched with the target patient from a database to obtain a skull state index S4 of the target patient;
the age influence index S1, the hair quality influence index S2, the scalp relaxation index S3, and the skull state index S4 of the target patient are integrated to obtain a hair implantation reference evaluation index ST, which specifically comprises:
according to the formula of the formula,calculating to obtain a hair implantation reference evaluation index ST of the target patient, wherein b1, b2, b3 and b4 are respectively the age influence index S1, the hair quality influence index S2, the scalp relaxation index S3 and the skull state index S4 of the target patientA corresponding impact weight factor;
the image processing module is used for acquiring and processing image information of the head of the patient in real time, analyzing the processed image to obtain an evaluation index of the hair planting environment of the head of the patient, and specifically comprises the following steps:
s1: acquiring head image information of a target patient by using high-definition camera equipment, dividing the head image information of the patient according to preset dividing regions in a database, preprocessing the head image information of each dividing region of the patient, and integrating the head image information of each dividing region to obtain a hair planting environment evaluation index of the target patient;
s1-101: converting the image information of each divided region of a target patient into an HSV color space, extracting color thresholds corresponding to the hair colors of each divided region of the patient from a database, and dividing the color thresholds to obtain hair regions and background regions corresponding to the divided regions;
the head portrait image of the target patient is divided, and the image is mainly divided according to three areas of the head top, the hairline and the side temporal part.
S1-102: analyzing the binary image in each divided area of the target patient, extracting the connected areas of the binary image of each divided area of the patient, marking each connected component in the corresponding divided area as different labels by using a tool function, obtaining the hair volume evaluation index FLi of each divided area of the target patient by obtaining the number of the different labels in the corresponding divided area and counting, wherein i=1, 2 or 3, extracting the normal hair volume evaluation index FBi of each divided area corresponding to the implant hair reference evaluation index ST of the target patient from a database, and integrating with the hair volume evaluation index FLi of each divided area to obtain the total hair volume evaluation index FLP of the target patient;
the method comprises the following steps: according to the formulaCalculating to obtain total hair volume evaluation index FLA of target patient, wherein FB1, FB2 and FB3 respectively represent normal hair volume evaluation indexes of different divided regions of head of patient, and sn1, sn2 and sn3 respectively represent head top hair volume evaluation fingersNumber FL1, hairline volume estimation index FL2, and sidewise temporal volume estimation index FL 3;
s1-103: analyzing hair areas in each divided area of a target patient, calculating each hair area of the target patient by utilizing pixel statistics to obtain an area evaluation index MJi in each divided area of the target patient, wherein i=1, 2 or 3, extracting a normal area evaluation index MAi of each divided area corresponding to a target patient planting reference evaluation index ST from a database, and integrating the normal area evaluation index MAi with the area evaluation index MAi of each divided area to obtain an area evaluation total index MJP of the target patient;
the method comprises the following steps: according to the formulaCalculating to obtain an area evaluation total index MJP of the target patient, wherein MA1, MA2 and MA3 are respectively expressed as normal area evaluation indexes in each divided area of the patient, and uy1, uy2 and uy3 are respectively influence weight factors of an overhead area evaluation index FL1, an hairline area evaluation index FL2 and a sidewise temporal area evaluation index FL 3;
s1-104: extracting a normal hair volume evaluation total index FLA1 and a normal area evaluation total index MJP1 corresponding to a target patient hair implantation reference evaluation index ST from a database, and carrying out integration treatment on the hair volume evaluation total index FLA and the area evaluation total index MJP of the target patient and the normal indexes corresponding to the two to obtain a hair implantation environment evaluation index ZFH of the target patient;
the method comprises the following steps: according to the formula of the formula,calculating to obtain a hair implantation environment evaluation index ZFH of the target patient, wherein kj1 and kj2 are respectively the influence weight factors corresponding to the total hair volume evaluation index FLA and the total area evaluation index MJP of the target patient, and the weight factors are respectively>Is a preset correction factor;
the density analysis module is used for measuring the hair density of each divided area of the patient, analyzing the hair density to obtain a hair implantation density value QLK of the patient, and comprehensively processing the hair implantation density value QLK based on a hair implantation environment evaluation index ZFH to obtain a hair implantation adjustment index TJZ of the patient, specifically comprising:
extracting a hair implantation area selected by a target patient in advance from the data, dividing the hair implantation area into a plurality of specific gravity areas according to the distribution positions of the hair implantation areas selected by the patient, measuring a hair density value MDx of each specific gravity area of the target patient by utilizing an optical sensor, wherein x=1, 2,3 or 4, and extracting a normal hair density value MEx of each specific gravity area corresponding to a hair implantation reference evaluation index ST of the target patient from a database;
the hair density value MDx of each specific gravity area and the corresponding normal hair density value MEx are integrated to obtain a hair implantation density value QLK of the target patient, specifically:
according to the formulaWherein ME1, ME2, ME3 and ME4 are respectively the normal hair density values of the specific gravity areas corresponding to the target patient, and up1, up2, up3 and up4 are respectively the influence weight factors of the hair density values of the specific gravity areas of the target patient;
extracting a reference hair implantation environment evaluation index ZFH1 and a reference hair implantation density value QLK1 corresponding to a target patient hair implantation reference evaluation index ST from data, and performing integration treatment to obtain a hair implantation adjustment index TJZ of the target patient, wherein the hair implantation adjustment index TJZ specifically comprises:
according to the formula of the formula,calculating to obtain a hair implantation regulation index TJZ of the target patient, wherein vc1 and vc2 are respectively the target patient hair implantation density value QLK and the hair implantation environment evaluation index ZFH influence weight factors, ">Is a preset correction factor;
the method comprises the steps of sending the hair implantation adjustment index TJZ to a motion control module, matching the hair implantation adjustment index TJZ with a corresponding operation model in a database to obtain a hair implantation operation model corresponding to a target patient, and adjusting the insertion depth and the insertion spacing of a planting area of the target patient once based on the obtained hair implantation operation model;
comparing the obtained hair planting adjustment index TJZ with a scheme adjustment index TJB corresponding to a preset hair planting scheme, calculating the difference value between the two values when the hair planting adjustment index TJZ is larger than the scheme adjustment index TJB, substituting the difference value between the two groups into a value range corresponding to the value range in a database, setting an adjustment parameter corresponding to one manipulator respectively for each value range to obtain a secondary adjustment index, further carrying out secondary adjustment on the insertion depth and the insertion spacing in the planting area according to the secondary adjustment index, and calculating the difference value between the two values and taking an absolute value after the hair planting adjustment index TJZ is smaller than the scheme adjustment index TJB, and substituting the difference value into the value range corresponding to the value range in the database to carry out secondary adjustment on the insertion depth and the insertion spacing in the planting area;
the operation interface module is used for displaying the whole hair-planting operation process on the operation screen in real time and providing the whole hair-planting operation process for medical staff to use, and parameters of the hair-planting process and the motion state of the manipulator can be adjusted according to the needs and actual conditions of patients through the operation screen;
the database is used for acquiring relevant parameters and state information in each hair-planting operation process, recording and analyzing, simultaneously establishing a manipulator operation model, and updating the manipulator model in real time according to the later hair-planting operation process; and storing the reference values and parameter values corresponding to the parameters.
Second embodiment
Referring to fig. 1, the method includes:
the pressure feedback module is used for further analyzing and obtaining a planting pressure evaluation index YLZ based on the patient's planting hair reference evaluation index ST, and specifically comprises the following steps: matching a planting scheme of a target patient with a corresponding similar planting scheme in a database to obtain an estimated total planting time TIM of the target patient, and integrating the estimated total planting time TIM, the planting regulating index TJZ and the planting reference evaluating index ST of the target patient to obtain a planting pressure evaluating index YLZ;
according to the formula of the formula,calculating to obtain a planting pressure evaluation index YLZ of the target patient in the planting process, wherein g1, g2 and g3 are respectively influence weight factors of the total planting time TIM, the planting regulation index TJZ and the planting reference evaluation index ST of the target patient estimated planting time TIM, the planting regulation index TJZ and the planting reference evaluation index ST of the target patient>Is a preset correction factor;
and matching the planting pressure evaluation index YLZ of the target patient with a preset value of a database to obtain the optimal pressure range of the patient and adjust the parameters of the manipulator, simultaneously collecting and monitoring the contact pressure of the probe and the scalp in real time through a pressure sensor in the whole planting process, comparing the monitored contact pressure value with the highest value of the optimal pressure range of the target, calculating the difference value between the contact pressure value and the highest value, and sending out early warning and controlling the pressing force of the manipulator when the difference value between the contact pressure value and the highest value is smaller than the preset threshold value.
The preferred embodiments of the application disclosed above are intended only to assist in the explanation of the application. The preferred embodiments are not intended to be exhaustive or to limit the application to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the application and the practical application, to thereby enable others skilled in the art to best understand and utilize the application. The application is limited only by the claims and the full scope and equivalents thereof.
Claims (6)
1. The utility model provides a manipulator and control module for not shaving and plant hair, including manipulator body (1) and control module, its characterized in that, control module includes:
the image processing module is used for acquiring and processing image information of the head of the patient, and analyzing the processed image to obtain a hair implantation environment assessment index of the head of the patient;
the density analysis module is used for measuring the hair density of each divided area of the patient, analyzing the hair density to obtain a hair implantation density value of the patient, and comprehensively processing the hair implantation environment evaluation index and the hair implantation density value to obtain a hair implantation adjustment index of the patient;
the pressure feedback module is used for further analyzing and obtaining a planting pressure evaluation index based on the planting reference evaluation index of the patient, matching the planting pressure evaluation index of the target patient with a preset value of a database to obtain the optimal pressure range of the patient, adjusting parameters of the manipulator, simultaneously collecting and monitoring the contact pressure of the probe and the scalp in real time through the pressure sensor in the whole planting process, comparing the monitored contact pressure value with the highest value of the optimal pressure range of the target, calculating the difference value between the contact pressure value and the highest value, and sending out early warning and controlling the downward pressure force of the manipulator when the difference value of the contact pressure value and the highest value of the optimal pressure range of the target is smaller than the preset threshold;
the patient state analysis module is used for acquiring various basic parameters of the body of the patient, and comprehensively processing the basic parameters to obtain a hair implantation reference evaluation index of the patient;
the motion control module is used for receiving the hair implantation adjustment index of the patient, matching the hair implantation adjustment index with the corresponding operation model in the database to obtain a hair implantation operation model corresponding to the target patient, and controlling the manipulator to perform hair implantation operation on the target patient based on the corresponding hair implantation operation model;
the operation interface module is used for displaying the whole hair-planting operation process on the operation screen in real time and providing the whole hair-planting operation process for medical staff to use, and parameters of the hair-planting process and the motion state of the manipulator can be adjusted according to the needs and actual conditions of patients through the operation screen;
the database is used for acquiring relevant parameters and state information in each hair-planting operation process, recording and analyzing, simultaneously establishing a manipulator operation model, and updating the manipulator model in real time according to the later hair-planting operation process; and storing the reference values and parameter values corresponding to the parameters.
2. The manipulator and control module for non-shaving hair-growing according to claim 1, wherein the image processing module analyzes the processed image to obtain a hair-growing environment evaluation index of the head of the patient, specifically:
s1: acquiring head image information of a target patient by using high-definition camera equipment, dividing the head image information of the patient according to preset dividing regions in a database, preprocessing the head image information of each dividing region of the patient, and integrating the head image information of each dividing region to obtain a hair planting environment evaluation index of the target patient;
s1-101: converting the image information of each divided region of a target patient into an HSV color space, extracting color thresholds corresponding to the hair colors of each divided region of the patient from a database, and dividing the color thresholds to obtain hair regions and background regions corresponding to the divided regions;
s1-102: analyzing the binary image in each divided area of the target patient, extracting the connected areas of the binary image of each divided area of the patient, marking each connected component in the corresponding divided area as different labels by using a tool function, obtaining the hair volume evaluation index of each divided area of the target patient by obtaining the number of the different labels in the corresponding divided area and counting, extracting the normal hair volume evaluation index of each divided area corresponding to the implant hair reference evaluation index of the target patient from a database, and integrating the normal hair volume evaluation index with the hair volume evaluation index of each divided area to obtain the total hair volume evaluation index of the target patient;
s1-103: analyzing the hair areas in each divided area of the target patient, calculating each hair area of the target patient by utilizing pixel statistics to obtain an area evaluation index in each divided area of the target patient, extracting a normal area evaluation index of each divided area corresponding to the target patient implantation reference evaluation index from a database, and integrating the normal area evaluation indexes with the area evaluation indexes of each divided area to obtain an area evaluation total index of the target patient;
s1-104: extracting a normal hair volume evaluation total index and a normal area evaluation total index corresponding to the target patient hair implantation reference evaluation index from a database, and carrying out integration treatment on the hair volume evaluation total index and the area evaluation total index of the target patient and the normal indexes corresponding to the hair volume evaluation total index and the area evaluation total index of the target patient to obtain a hair implantation environment evaluation index of the target patient.
3. The manipulator and control module for non-shaving hair-planting according to claim 1, wherein the density analysis module measures the hair density of each divided area of the patient and analyzes the hair density to obtain the hair-planting density value of the patient, specifically:
extracting a hair implantation area selected by a target patient in advance from the data, dividing the hair implantation area into a plurality of specific gravity areas according to the distribution position of the hair implantation area selected by the patient, measuring the hair density value of each specific gravity area of the target patient by utilizing an optical sensor, and extracting the normal hair density value of each specific gravity area corresponding to the hair implantation reference evaluation index of the target patient from the database;
integrating the hair density values of the specific gravity areas with the corresponding normal hair density values to obtain the hair implantation density value of the target patient;
extracting a reference hair implantation environment evaluation index and a reference hair implantation density value corresponding to a target patient hair implantation reference evaluation index from data, carrying out integration treatment to obtain a hair implantation adjustment index of the target patient, sending the hair implantation adjustment index to a motion control module, matching the hair implantation adjustment index with an operation model corresponding to a database to obtain a hair implantation operation model corresponding to the target patient, and carrying out one-time adjustment on the implantation depth and the implantation interval based on the obtained hair implantation operation model;
comparing the obtained hair planting adjustment index with a scheme adjustment index corresponding to a preset hair planting scheme, calculating a difference value between the two values when the hair planting adjustment index is larger than the scheme adjustment index, substituting the difference value between the two groups into a value range corresponding to the database, setting adjustment parameters of each value range corresponding to one manipulator respectively to obtain a secondary adjustment index, further carrying out secondary adjustment on the insertion depth and the insertion spacing in the planting area according to the secondary adjustment index, and calculating the difference value between the two values and taking an absolute value when the hair planting adjustment index is smaller than the scheme adjustment index, and substituting the difference value into the value range corresponding to the database to carry out secondary adjustment on the insertion depth and the insertion spacing in the planting area.
4. The manipulator and control module for non-shaving hair-growing according to claim 1, wherein the patient state analysis module obtains basic parameters of the body of the patient and performs comprehensive treatment to obtain a hair-growing reference evaluation index of the patient, and specifically comprises:
obtaining the age and the hair quality grade of the target patient through a personal information table filled in by the target patient before hair implantation; extracting the age-related index and the hair quality-related index of the target patient from the database
Measuring the head skin elasticity of the target patient by using a skin tensiometer to obtain a scalp relaxation index; acquiring skull structure information of a target patient through head CT of the target patient, and extracting skull structures matched with the target patient from a database to obtain skull state indexes of the target patient;
and (3) carrying out integration treatment on the age influence index, the hair quality influence index, the scalp relaxation index and the skull state index of the target patient to obtain a hair implantation reference evaluation index.
5. The manipulator and control module for non-shaving hair-growing according to claim 1, wherein the pressure feedback module further analyzes the derived hair-growing pressure evaluation index based on the patient's hair-growing reference evaluation index, specifically: matching the planting scheme of the target patient with the corresponding similar planting scheme in the database to obtain the estimated total planting time of the target patient, and integrating the estimated total planting time of the target patient, the planting regulation index and the planting reference evaluation index to obtain the planting pressure evaluation index.
6. The manipulator and control module for non-shaving hair-planting according to claim 1, wherein the preset hair-planting scheme corresponds to a scheme adjustment index that is an index generated by a target patient completing a hair-planting desired questionnaire on an operation interface before hair-planting, the questionnaire including a planting area and an effect graph of the desired planting.
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