KR102598858B1 - Method and apparatus for generating coordinate data of hair transplanting area - Google Patents

Abstract

The present invention relates to a method of generating coordinate data of a hair transplant area on a patient's scalp for hair transplantation using a hair transplanter mounting module attached to the end of a robot arm. In one embodiment, a marker is attached to the patient's scalp. step; Photographing the patient's scalp including the marker with a camera installed on the hair transplanter mounting module and obtaining horizontal coordinate data by referring to the marker in the captured image; and obtaining vertical coordinate data by calculating the distance from the scalp to the hair transplanter mounting module using a distance sensor installed in the hair transplanter mounting module.

Description

{Method and apparatus for generating coordinate data of hair transplanting area}

The present invention relates to a hair transplant device, and more specifically, to a method and device for generating coordinate data for a hair transplant area on a patient's scalp for hair transplantation using a hair transplanter mounting module attached to the end of a robot arm. will be.

Hair transplantation is one of the hair treatment methods that allows patients to have a large amount of hair like the general public by collecting hair from the hair growth area of the patient's scalp and transplanting it to another barren area where hair loss has occurred.

In hair transplant procedures, multiple hair transplanters (transplanters) are used. A hair transplanter is a device for collecting hair from the hair growth area of the scalp and transplanting it to the hair loss area. The conventionally widely used hair transplanter has one hair transplant needle each in one body and can slide inside the hair transplant needle. It is equipped with a mandrel that is arranged appropriately.

When using a conventional hair transplanter, the operator holds the hair transplanter with his hand and operates the hair transplant needle and mandrel by manually manipulating the hair transplanter (such as pressing or pulling it up) with his fingers. Since these conventional single-hair manual hair transplanters can only transplant one hair root with one hair transplanter, in order to transplant a large number of hair roots, multiple hair transplanters must be prepared and the devices must be changed one by one for each treatment. In addition, it is a fairly difficult task that requires manipulation of the operator's fingers to operate the hair transplant needle and mandrel.

To solve this inconvenience, multi-channel hair transplanters equipped with multiple needles and mandrels have recently been developed and used. For example, Korean Patent Publication No. 2019-0109321 discloses a hair transplanter in which a plurality of basting channels are arranged radially and each basting channel is sequentially pushed one by one by a push bar to perform a hair transplant operation.

However, since hair transplant procedures are generally performed more than 1,000 times at a time and over a long period of time of about 3 to 5 hours, even when using a multi-channel hair transplanter, finger manipulation is required to operate the hair transplant needle and mandrel shaft during each procedure. Since the hair transplant work had to be performed, considerable labor and fatigue of the operator was inevitable.

Therefore, technologies for automating hair transplant procedures have been recently being researched, and methods are being developed to automate hair transplantation by attaching an end module equipped with a hair transplanter to a robot arm and moving the robot arm to perform a hair transplant.

1. Korean Patent Publication No. 2008-0049793 (published on June 4, 2008) 2. Korean Patent Publication No. 2019-0109321 (published on September 25, 2019)

To automate hair transplantation, control the robot arm to automatically transplant hair onto the patient's scalp. To accurately identify hair transplant points on the patient's scalp and recognize the exact three-dimensional coordinate values of these points, the control unit can control the robot arm and end devices. There is a need. Accordingly, the present invention uses a vision camera and a distance sensor to obtain three-dimensional coordinate data (coordinate values) for the hair transplant area on the patient's scalp and automatically performs hair transplantation based on this. The purpose is to provide a method and device for generating coordinate data.

According to one embodiment of the present invention, a method of generating coordinate data of a hair transplant area on a patient's scalp for hair transplantation using a hair transplanter mounting module attached to the end of a robot arm, comprising the step of attaching a marker to the patient's scalp. ; Photographing the patient's scalp including the marker with a camera installed on the hair transplanter mounting module and obtaining horizontal coordinate data by referring to the marker in the captured image; and obtaining vertical coordinate data by calculating the distance from the scalp to the hair transplanter mounting module using a distance sensor installed in the hair transplanter mounting module.

According to one embodiment of the present invention, three-dimensional coordinate data of the hair transplant area is acquired using a camera and distance sensor installed on the hair transplanter mounting module attached to the end of the robot arm, and this is converted into a robot coordinate system to determine the exact hair transplant location. can be confirmed.

In addition, according to the present invention, the transplant point can be automatically and/or manually determined using the 3D data of the hair transplant area determined as such, and the transplant operation can be automatically performed in conjunction with the robot coordinate system.

1 is a diagram illustrating an automatic hair transplantation system according to an embodiment of the present invention;
Figure 2 is a diagram illustrating a transplanter mounting module according to an embodiment;
Figure 3 is a flowchart of generating coordinate data of a hair transplant area according to an embodiment;
Figure 4 is a diagram illustrating a marker for generating coordinate data according to an embodiment;
Figure 5 is a diagram schematically showing an image taken of a patient's scalp including markers;
Figure 6 is a flowchart of a method for generating horizontal coordinate data according to an embodiment;
Figure 7 is a diagram illustrating a method of measuring the distance between the scalp and the needle according to one embodiment;
Figure 8 is a flowchart of a method for generating vertical coordinate data according to an embodiment;
Figure 9 is a flowchart of an exemplary method of performing a hair transplant operation using coordinate data generated according to an embodiment.

The above objects, other objects, features and advantages of the present invention will be easily understood through the following preferred embodiments related to the attached drawings. However, the present invention is not limited to the embodiments described herein and may be embodied in other forms. Rather, the embodiments introduced herein are provided so that the disclosure will be thorough and complete and so that the spirit of the invention can be sufficiently conveyed to those skilled in the art.

In this specification, when an element is referred to as being ‘above’ (or ‘below’, ‘right’, or ‘left’) another element, it refers to being above (or below, to the right, or to the left of) the other element. ), or a third element may be interposed between them.

In addition, expressions such as 'top', 'bottom', 'left', 'right', 'front', 'rear', etc. used to describe the positional relationship between the first and second components in this specification refer to the first component. It may be an expression for explaining the relative position of the second component with respect to the element.

In this specification, when a component is mentioned as being connected (or coupled, fastened, attached, etc.) to another component, it is either directly connected (or coupled, fastened, attached, etc.) to the other component, or there is a third party between them. This means that it can be indirectly connected (or combined, fastened, attached, etc.) through components. Additionally, the length, thickness, or width of components in the drawings of this specification are exaggerated for effective description of technical content, and the relative sizes of one component and another component may also vary depending on specific embodiments.

In this specification, the singular form of an element also includes the plural form unless specifically stated in the phrase. The expressions 'including', 'consisting of', and 'consisting of' used in the specification do not exclude the presence or addition of one or more other components in addition to the mentioned components.

In this specification, when terms such as first, second, etc. are used to describe components, these components should not be limited by these terms. These terms are merely used to distinguish one component from another. Embodiments described and illustrated herein also include complementary embodiments thereof.

The present invention will be described in detail below with reference to the drawings. In describing the specific embodiments below, various specific details have been written to explain the invention in more detail and to aid understanding. However, a reader with sufficient knowledge in the field to understand the present invention can recognize that it can be used without these various specific details. In some cases, it is mentioned in advance that parts that are commonly known but are not significantly related to the invention are not described in order to prevent confusion in describing the invention.

Figure 1 is a diagram explaining an automatic hair transplant system according to an embodiment of the present invention, and Figure 2 is a diagram explaining an exemplary configuration of the hair transplanter mounting module 10.

Referring to Figures 1 and 2, the automatic hair transplant system according to one embodiment includes a robot arm 30 and a hair transplanter mounting module 10 (hereinafter simply referred to as "") attached to the end 31 of the robot arm 30. It may include a “mounting module”), a hair transplanter 20 detachably mounted on the mounting module 10, and a computer device 40.

The robot arm 30 may be a device that consists of a plurality of joints, a motor that moves each joint, and an encoder that detects movement, and can precisely move the end 31 of the robot arm with 6 degrees of freedom or more. It is known in the industry.

The hair transplanter mounting module 10 may be detachably coupled to the end 31 of the robot arm 30. The hair transplanter mounting module 10 can detachably mount the hair transplanter 20, and also includes at least one camera 15 and at least one distance sensor 17. In the illustrated embodiment, the mounting module 10 is shown as having one camera 15 and two distance sensors 17, but this is an example and the number of cameras 15 and/or distance sensors 17 mounted is Of course, may vary.

The hair transplant device 20 may be, for example, a multi-channel hair transplant device disclosed in Korean Patent Publication No. 2019-0109321, but is not limited thereto, and may be mounted on the robot arm 30 to automatically perform one or more hair transplant operations. You can use a hair transplanter of any configuration.

The camera 15 is an image sensor capable of photographing the patient's scalp at a certain viewing angle toward the vertical downward direction of the hair transplant device 20. The camera 15 may be implemented as a real image (visible light) camera or a thermal (infrared) camera, but is not limited thereto. The distance sensor 17 is a sensor that measures the distance between the hair transplanter 20 and the patient's scalp and may be implemented as, for example, a laser sensor. In the illustrated embodiment, two distance sensors 17 were installed to increase the accuracy of distance measurement. In this case, for example, the distance measured by the first distance sensor can be used as the actual measurement data, but if a predetermined error difference occurs compared to the data measured by the second distance sensor, the distance sensor can be designed to initialize or alert the user. there is.

In addition, although not indicated by a separate member number in the drawing, the mounting module 10 includes a driving part that moves the upper cap of the hair transplanter 20 in the upward and/or downward direction, and the needle 25 is moved by the operation of the driving part. A hair transplant operation can be performed by lowering the needle and transplanting the hair root inside the tip of the needle to the patient's scalp.

The computer device 40 is implemented with, for example, an operating system such as Windows, Mac, or Linux, a computer processor, memory, application programs, and a storage device (e.g., HDD, SSD) to run a specific application program. It is a known device. The computer device 40 may be, for example, a server device, a desktop computer, a laptop, etc., but this is illustrative and not limited thereto.

In one embodiment, the computer device 40 includes a coordinate data generating unit 41 and a control unit 42. The coordinate data generation unit 41 is a functional unit that receives data from the camera 15 and the distance sensor 17 and generates three-dimensional coordinate data of the transplantation area based on this. In one embodiment, the coordinate data generator 41 may perform steps (eg, steps S20 to S50) described later with reference to FIG. 3. Additionally, the coordinate data generator 41 can transmit 3D coordinate data to the control unit 42.

The control unit 42 recognizes the patient's scalp shape and/or hair transplant position based on this coordinate data, and controls the operation of the mounting module 10 and the robot arm 30 based on this information to automatically perform hair transplant operation. can do.

It will be understood that the coordinate data generation unit 41 and the control unit 42 may be implemented as computer algorithms, programs, and/or software that are stored and executed in the computer device 40.

Figure 3 is a flowchart of an exemplary method of generating coordinate data of a hair transplant area by the coordinate data generating unit 41 according to an embodiment.

Referring to Figure 3, the coordinate data generation method according to one embodiment includes the step of attaching a marker 70 to the patient's scalp (S10), and attaching the marker 70 to the camera 15 installed on the hair transplanter mounting module 10. A step (S20) of photographing the patient's scalp and acquiring horizontal (i.e., 10) calculating the distance to and obtaining vertical (i.e., Z-axis) coordinate data (S30), generating three-dimensional coordinate data using the horizontal coordinate data and vertical coordinate data (S40), and three-dimensional It may include converting the coordinate data into coordinate data based on the robot coordinate system (S50). In addition, a step (S60) of transplanting hair to the patient's scalp by controlling the hair transplant device mounting module 10 and the robot arm 30 based on the converted 3D coordinate data may be further included.

Looking more specifically, in the first step (S10), a marker is attached or marked on the hair transplant area of the patient's scalp. Here, the marker is a member having a reference line and at least one reference point indicating at least one of the It may be one of the rectangular frame members having a penetrating area of length.

For example, Figure 4 schematically shows a marker 70 for generating coordinate data according to an embodiment. In the embodiment of Figure 4, the marker 70 is a square frame-shaped member having a penetrating area (S). The penetrating area S may have a rectangular shape with a predetermined width and length. The size of the marker 70 is not particularly limited, and for example, the width and length may each be several centimeters in size.

In one embodiment, grids 71 may be formed at regular intervals along at least one side of the marker 70. The graduations may be formed at intervals of, for example, 1 mm. In alternative embodiments there may be no graduations 71. Additionally, a reference point 72 is formed on at least one of the four corners of the marker 70. The reference point 72 may be formed or printed in a negative groove or positive protrusion structure on the surface of the square frame, and may be, for example, a '+' shape, an 'ㄱ' shape, or a dot as shown, but this is an example. It is an enemy.

The marker 70 can be made of a flexible material such as flexible plastic or rubber and can be firmly attached to the scalp. Additionally, the marker 70 can be temporarily fixed by attaching it to the scalp using adhesive tape or adhesive. Figure 5 schematically shows an image taken with the camera 15 after attaching the marker 70 to the patient's scalp. As shown in Figure 5, the area where hair transplantation is to be performed on the patient's scalp, that is, around the hair transplant area, is shown. The image taken after attaching the marker 70 in the shape of a square frame is schematically shown.

In this way, by attaching and fixing the marker 70 to the patient's scalp in step S10, horizontal coordinate data and vertical coordinate data for the hair transplant area can be obtained in subsequent steps S20 and S30, respectively. At this time, the horizontal coordinate data acquisition step (S20) and the vertical coordinate data acquisition step (S30) may be performed first and the other later or simultaneously.

Meanwhile, the marker 70 in the shape of a square frame shown in Figure 4 is an example, and in an alternative embodiment, a straight line or a 'ㄱ', 'ㄴ', or 'ㅁ' shape is drawn directly on the patient's scalp with a pen and a marker ( 70) It can also take over the role. For example, the marker 70 can be marked by drawing it on the patient's scalp with a black marker pen, and in this case, the reference point 72 can be marked by drawing it on the corner of the marker 70 with a marker pen of a color different from that of the marker 70. You can. Therefore, in this specification, 'attaching' the marker 70 to the patient's scalp not only means physically attaching the marker 70 to the scalp, but also includes drawing and marking the marker 70 on the patient's scalp with a pen. do.

Alternatively, the reference point 72 may not be separately displayed on the marker 70, and in this case, a corner point where two sides of the marker 70 meet may be recognized as the reference point 72.

Referring again to Figure 3, in step S20, an image taken by the camera 15 installed on the hair transplanter mounting module 10 (e.g., an image taken of the patient's scalp including the marker 70 as shown in Figure 5) Generate horizontal (X-Y axis plane) coordinate data of the hair transplant area from . For example, the image captured by the camera 15 is transmitted to the coordinate data generator 41 of the computer device 40, and the coordinate data generator 41 refers to the marker 70 in the captured image to perform hair transplantation. Horizontal coordinate data for the area can be obtained.

In relation to this, Figure 6 is a specific flowchart of the horizontal coordinate data generation step (S20) according to one embodiment. Referring to Figure 6, first, in step S210, the patient's scalp area including the marker 70 is photographed with the camera 15. The captured image is transmitted to the coordinate data generator 41 of the computer device 40, and the coordinate data generator 41 identifies the reference point by referring to the marker 70 in step S220. For example, in the embodiment shown in FIG. 5, the reference point 72 of any one of the four corners of the square frame marker 70 can be identified within the captured image.

Next, in step S230, the hair transplant area is set with reference to the reference point 72. For example, with the reference point 72 as the origin within the captured image, one side of the square frame of the marker 70 can be identified as the X-axis, and the other side perpendicular to it can be identified as the Y-axis, and the marker 70 Set the area inside the square frame as the hair transplant area.

In an alternative embodiment, when a straight member or an 'ㄱ' or 'ㄴ' shaped member is used as a marker, the coordinate data generator 41 identifies the reference point and the direction of at least one of the X-axis or Y-axis in the captured image. Therefore, the axis perpendicular to the identified axis can also be confirmed, and thus a hair transplant area of a predetermined area can be set.

Then, in step S240, X, Y coordinate data (coordinate values) of an arbitrary point in the hair transplant area can be obtained. For example, the coordinate data generator 41 sets virtual grid points spaced apart at predetermined intervals with the reference point 72 as the origin within the hair transplant area of the captured image. That is, if virtual straight lines parallel to each axis are generated along the You can obtain coordinate values in the X-Y plane for grid points. Therefore, for example, for any grid point P shown in Figure 5, the horizontal coordinate value of this grid point P can be known. At this time, strictly speaking, the scalp may not be completely horizontal (flat), but the area of interest that is the target for performing step (S230) is small enough that the hair transplant area can be considered flat, and even if there is a slight curve, it can be considered flat. There are cases where it is okay.

Meanwhile, even while executing steps S220 to S240, the operation of capturing images by the camera 15 and transmitting the captured images to the coordinate data generator 41 may continue in real time. At this time, if the patient or the camera When the movement of (15) is detected, the position of the reference point (72) changes in the captured image. Therefore, if the coordinate data generator 41 detects such a change in the reference point (S250), the steps of identifying the reference point (S220), setting the hair transplant area (S230), and acquiring horizontal coordinate data (S240) are performed again to ensure that the latest Can be updated with coordinate data.

Referring again to Figure 3, in step S30, vertical coordinate data is obtained by calculating the distance from the scalp to the hair transplanter mounting module 10 using the distance sensor 17 installed in the hair transplanter mounting module 10. do. At this time, in one embodiment, the vertical coordinate data may be coordinate data indicating the distance from the scalp at each of at least some grid points to the hair transplanter mounting module 10, and more preferably, the scalp at each grid point. It may be coordinate data indicating the distance from to the tip of the needle 25 of the hair transplanter 20.

Figure 7 shows an exemplary method of measuring the scalp-needle distance according to one embodiment.

Figure 7(a) shows a state where the needle 25 of the hair transplanter is at the most appropriate distance (H) from the scalp before starting the automatic hair transplant operation by the hair transplanter mounting module 10 and the robot arm 30 (hereinafter referred to as " represents the "hair transplant operation start position"), and at this time, the distance (H) is the distance from the scalp to the tip of the needle 25, and this distance (H) is the distance that the needle 25 descends for the hair transplant operation, etc. It is a value that is set in advance taking into account.

In addition, when the distance (H) is preset, the distance sensor 17 installed on the hair transplanter mounting module 10 is a virtual target point that is vertically downward from the end of the hair transplanter needle 25 by a preset distance (H). It is arranged to measure the distance in the direction facing (T). In addition, since the distance sensor (17) and the hair transplanter (20) are fixed to the hair transplanter mounting module (10), the vertical height difference between the distance sensor (17) and the tip of the hair transplanter needle (25) in a stopped state without any hair transplant operation. (L) has a constant value. That is, in Figure 7(a), the distance (H) from the tip of the needle 25 to the target point (T) and the height difference (L) between the tip of the distance sensor 17 and the needle 25 are constants, and Equation 1 below is It is established.

H = D*cosθ - L --- Equation 1

In Equation 1 above, D is the distance to the target point (T) measured by the distance sensor 17, and θ is the angle between the vertical line and an imaginary line extending from the distance sensor 17 and the target point (T).

Therefore, if the value measured by the distance sensor 17 toward the target point (T) is measured as D, it means that the state as shown in Figure 7 (a), that is, the distance from the scalp to the tip of the needle has become H, and the hair transplanter It means that the hair transplant operation start position is suitable for starting the operation.

However, if it is assumed that the distance from the needle 25 of the hair transplanter to the scalp is at a height of h as shown in Figure 7 (b), the distance from the scalp to the tip of the needle 25 of the hair transplanter 20 (h ) (hereinafter also referred to as “scalp-needle tip distance” or “scalp-needle distance”) is calculated according to Equation 2 below.

h = d*cosθ - L --- Equation 2

In Equation 2 above, d is the distance measurement value to the scalp when the distance sensor 17 measures the distance toward the virtual target point (T), and θ is the distance measured from the distance sensor 17 to the target point (T). It is the angle between an imaginary line and a vertical line. Therefore, if the value measured by the distance sensor 17 toward the target point (T) is d (however, d≠D), the state as shown in Figure 7(b), that is, the distance from the scalp to the tip of the needle is H. This means that it has a random height (h).

Therefore, by measuring the distance (d) from each grid point with the distance sensor 17, the distance (h) from the scalp to the tip of the hair transplanter needle 25 can be calculated. Therefore, for example, the hair transplanter mounting module 10 is horizontal. By calculating the distance (h) value for each grid point while scanning the hair transplant area at a certain height with respect to the coordinates, a three-dimensional shape of the scalp can be obtained.

Meanwhile, as can be seen in Figure 7(b), if the measured value (d) of the distance sensor is not the preset value (D), strictly speaking, the scalp-needle distance (h) is the distance from the vertical downward of the needle 25 to the scalp. It is not a distance, but the distance from a slightly horizontal point (T_offset) below the vertical to the height of the tip of the needle. However, since the scalp can be assumed to be flat at a scale of, for example, within a few mm, the scalp-needle distance (h) calculated as above It will be understood that can be regarded as the scalp-needle distance vertically downward of the needle tip.

Now referring to FIG. 3 again, in step S30 of FIG. 3, for at least some grid points within the hair transplant area set by the marker 70, from the scalp at each grid point to the hair transplant device mounting module 10. The distance can be obtained as vertical coordinate data. In this regard, Figure 8 shows an example flowchart of a step (S30 in Figure 3) of generating vertical coordinate data from one grid point according to an embodiment.

First, in step S310, the hair transplanter mounting module 10 moves to a grid point for acquiring vertical coordinate data. For example, when horizontal coordinate data of each grid point is acquired in step S20, the transplanter mounting module 10 may move to the corresponding grid point based on the horizontal coordinate data of the grid point.

Afterwards, the distance d to the scalp is measured using the distance sensor 17 (step S320), and the scalp-needle distance h is calculated based on the distance measurement value (step S330). Measurement of the distance (d) by the distance sensor 17 and calculation of the resulting scalp-needle distance (h) can be performed by the method described above with reference to Figure 7, and the scalp-needle distance (h) calculated in this way can be It can be used as vertical coordinate data of the grid point (step S340).

Meanwhile, even while executing the steps (S320 to S340), for example, the hair transplant device mounting module 10 is shaken or the patient moves, so a change in distance may be detected (S350). In this case, distance measurement (S320), scalp-needle distance (h) The latest vertical coordinate data can be updated by performing the calculation (S330) and vertical coordinate data acquisition (S340) steps again.

In addition, when vertical coordinate data for one grid point is acquired as above, the transplanter mounting module 10 moves to the next grid point and performs steps (S310 to S340) to obtain the vertical coordinate value of the grid point, and these By repeating the operation, the entire vertical coordinate data for certain grid points within the hair transplant area can be obtained (step S360).

Referring again to FIG. 3, three-dimensional coordinate data for each grid point can be generated by combining the horizontal coordinate data and vertical coordinate data respectively obtained by performing steps S20 and S30 as described above ( S40). At this time, the generated coordinate data may be a camera coordinate system based on the captured image of the camera 15, and in step S50, the 3D coordinate data is converted into coordinate data based on the robot coordinate system. In one embodiment, the robot coordinate system is, for example, a coordinate system whose reference point (origin) is the point at which the hair transplanter mounting module 10 is mounted on the robot arm 30, that is, the center point of the end 31 of the robot arm 30. may, but is not limited to this.

In addition, if 3D coordinate data for the patient's hair transplant area is obtained as above, hair transplantation can be automatically performed using this coordinate data in the subsequent step (S60). In this regard, Figure 9 is a flowchart of an exemplary method of performing a hair transplant operation using 3D coordinate data.

For convenience of explanation, it is assumed that the point at which hair is to be transplanted (hereinafter also referred to as “transplant point”) within the patient's hair transplant area is automatically and/or manually set. The transplant point may be the same as the grid point set to acquire the two-dimensional coordinate data in step S20 of FIG. 3, but may not be the same. For example, some of the grid points may become transplant points, and as another example, points that are not grid points may become transplant points. In one embodiment, after 2-dimensional coordinate data or 3-dimensional coordinate data for the patient's hair transplant area is generated, the computer device 40 and the operator may collaborate to set the transplant point.

Referring to Figure 9, in order to transplant hair to one of the transplant points set as above, the hair transplanter mounting module 10 is moved to the corresponding transplant point (S610). Thereafter, the hair transplanter mounting module 10 is moved to the height of the hair transplant operation start position. That is, the hair transplanter mounting module 10 can be moved so that the distance (h) between the tip of the hair transplanter needle 25 and the scalp becomes the preset distance (H) described with reference to FIG. 7 . For this purpose, for example, in step S620, the distance d is measured with the distance sensor 17 to calculate the scalp-needle distance h at the current height, and this calculated distance h is the target distance H ) value, the hair transplanter mounting module 10 can be raised or lowered to position the hair transplant operation start position.

By controlling the robot arm 30 and/or the hair transplanter mounting module 10 in this way, when the hair transplanter mounting module 10 reaches the target distance (H), the needle of the hair transplanter 20 in step S640 ( 25) is lowered to start the hair transplant operation. At this time, for example, the upper cap of the hair transplanter 20 can be pressed and the needle 25 lowered using the drive motor or actuator of the hair transplanter mounting module 10 to automatically perform the hair transplant operation.

After completing the transplantation operation, the transplanter mounting module 10 is moved to the next preset transplant point (S650), the above-described steps (S620 to S640) are performed, and these operations are repeated for each transplant point. The hair transplant operation can be completed for all transplant points in the hair transplant area.

As described above, various modifications and variations can be made by those skilled in the art in the field to which the present invention pertains from the description of the above-described specification. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be determined by the claims and equivalents thereof as well as the claims described later.

10: Transplanter mounting module 15: Camera
17: Distance sensor 20: Hair transplanter
25: Needle 30: Robotic arm
40: computer device 41: coordinate data generation unit
42: Control unit 70: Marker
72: reference point

Claims (7)

A method of generating coordinate data of the hair transplant area on the patient's scalp for hair transplantation using a multi-channel hair transplanter equipped with a plurality of needles and a hair transplanter mounting module attached to the end of a robot arm, comprising:
Attaching a marker to the patient's scalp (S10);
Photographing the patient's scalp including the marker with a camera installed in the hair transplanter mounting module and obtaining horizontal coordinate data by referring to the marker in the captured image (S20); and
Comprising: obtaining vertical coordinate data by calculating the distance from the scalp to the hair transplanter mounting module using a distance sensor installed in the hair transplanter mounting module (S30),
In the step of acquiring the horizontal coordinate data (S20), setting a virtual grid point in the hair transplant area based on the reference point of the marker and acquiring the horizontal coordinate value of each grid point,
In the step of acquiring the vertical coordinate data (S30), the distance (h) from the tip of the needle protruding downward of the multi-channel hair transplanter to the scalp of each grid point is acquired as vertical coordinate data of each grid point. Characterized by a method for generating coordinate data of a hair transplant area. According to claim 1,
The marker may be a straight member of a predetermined length having a reference line indicating at least one of the A method of generating coordinate data of a hair transplant area, characterized in that it is one of the frame-type members. According to claim 1,
The step (S30) of acquiring the vertical coordinate data is,
Moving the transplanter mounting module 10 to each grid point based on the horizontal coordinate value of each grid point (S310);
Measuring a first distance (d) from the distance sensor to the scalp using the distance sensor 17 attached to the hair transplanter mounting module (S320); and
A step (S330) of calculating the distance (h) to the scalp based on the first distance (d) and the height difference (L) between the distance sensor 17 and the tip of the hair transplanter needle. , Method for generating coordinate data of hair transplant area. The method of claim 1, wherein the step of acquiring horizontal coordinate data (S20) includes,
Identifying a reference point of the marker within the captured image (S220);
Within the captured image, setting a hair transplant area on the XY axis plane with reference to the marker (S230); and
A step (S240) of generating virtual grid points spaced apart at predetermined intervals with the reference point as the origin within the hair transplant area and acquiring horizontal coordinate data of each grid point (S240). Coordinate data generation method. delete According to claim 1,
Generating three-dimensional coordinate data for grid points using the obtained horizontal coordinate data and vertical coordinate data (S40); and
A method for generating coordinate data of a hair transplant area, further comprising converting the 3D coordinate data into 3D coordinate data based on a robot coordinate system (S50). According to claim 6,
Based on the converted 3D coordinate data, the method further includes controlling the hair transplanter mounting module to transplant hair to the patient's scalp.

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