KR102630670B1 - Comb for determining hair-transplanting spot and method for hair transplanting by using the comb - Google Patents

Abstract

The present invention relates to a comb for positioning hair, and according to one embodiment, it includes: a plate-shaped positioning portion having a rectangular penetrating area of a predetermined width and length at the center; and a comb tooth portion having a plurality of comb teeth extending from one side of the positioning portion.

Description

Comb for determining hair transplant location and automatic hair transplant method using the same {Comb for determining hair-transplanting spot and method for hair transplanting by using the comb}

The present invention relates to a hair transplant device, and more specifically, to a comb that can be used to determine a location on the scalp to hair transplant, and an automatic hair transplant method using the same.

Hair transplantation is one of the hair treatment methods that allows people to have a large amount of hair like the general public by collecting hair from the hair growth area of the scalp and transplanting it to the scalp of another bald area (infertile patient).

In hair transplant procedures, multiple hair transplanters (transplanters) are used. A hair transplanter is a device that collects hair from the hair growth area of the scalp and transplants it into the scalp of another bald area (infertile patient). Each is equipped with one hair transplant needle and a mandrel that is slidably disposed inside the hair transplant needle.

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.

However, since such 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 are prepared and the devices are changed one by one for each treatment. It is a very difficult task that not only has to be performed, but also requires manipulation of the operator's fingers to operate the hair transplant needle and mandrel.

In other words, when using an existing hair transplant machine, the operator (e.g., doctor) performing the hair transplant process completes the one-time procedure of piercing the hair transplant needle into the scalp and operating the mandrel axis, then places the already used hair transplant machine on a separate workbench and You must pick up another hair transplanter and continue the same process on the patient's scalp again. In general, hair transplant procedures are performed more than 1,000 times at a time and over a long period of time of about 3 to 5 hours, so the hair transplant procedure requires a considerable amount of effort from the operator to perform the hair transplant work, which requires finger manipulation to operate the hair transplant needle and mandibular axis for each procedure. Labor and fatigue were inevitable.

In addition, in conventional hair transplant procedures, all of the patient's hair was removed to facilitate the procedure, but patients hesitated to undergo the hair transplant procedure due to the burden and resistance to removing all of their existing hair for the hair transplant procedure. This became the main reason for doing it.

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

The present invention is intended to solve the above-described conventional problems, and its purpose is to provide a comb for determining the hair transplant position that allows the patient to determine the hair transplant location on the scalp and perform the hair transplant operation without removing the patient's existing hair.

In addition, the present invention can automatically perform almost the entire process of hair transplant work by automatically mounting a multi-channel hair transplant device equipped with a plurality of needles (hair transplant needles), performing hair transplant work on the patient, and automatically placing it on a stand. The purpose is to provide an automatic hair transplantation device.

According to one embodiment of the present invention, there is a comb for positioning hair, comprising: a plate-shaped positioning portion having a rectangular penetrating area of a predetermined width and length at the center; and a comb tooth portion having a plurality of comb teeth extending from one side of the positioning portion.

According to one embodiment of the present invention, there is an automatic hair transplant method using a hair transplanter attached to a multi-joint robot arm, comprising the steps of exposing the patient's hair transplant area with the hair transplant positioning comb; Identifying the position marker using a sensor capable of recognizing the position marker of the comb for determining the hair transplant position; Determining a hair transplant position within the penetration area based on the position of the identified position marker; and driving the hair transplanter to sequentially transplant the hair to the hair transplant positions. Disclosed is an automatic hair transplant method comprising a.

The hair transplant positioning comb according to an embodiment of the present invention allows the patient to determine the hair transplant location on the scalp and perform the hair transplant operation without removing the patient's existing hair, thereby reducing the patient's burden and resistance to shaving for the procedure. can be alleviated.

The hair transplanter mounting module according to an embodiment of the present invention can operate by individually controlling the operation of holding the mounted hair transplanter and pressing the upper cap, so that the operator automatically performs the operation of holding the hair transplanter and performing the hair transplant operation. There is an advantage to being able to do this.

In addition, the automatic hair transplant device according to an embodiment of the present invention includes a mounting operation of mounting a hair transplanter to the hair transplanter mounting module, a hair transplant operation of transplanting hair to the patient's scalp using the mounted hair transplanter, and a mounting operation of transplanting hair to the patient's scalp using the mounted hair transplanter. The mounting operation of placing the device on the stand can be performed automatically.

Figure 1 is a perspective view of a comb for determining the hair transplant position according to an embodiment of the present invention;
Figure 2 is a plan view of a comb for determining the hair transplant position according to an embodiment;
Figure 3 is a perspective view of an automatic hair transplantation device using a multi-channel hair transplanter according to an embodiment;
Figure 4 is a diagram illustrating a multi-channel hair transplanter and a holder supporting the same according to an embodiment;
Figures 5 and 6 are perspective views of a hair transplanter mounting module equipped with a multi-channel hair transplanter;
Figure 7 is a perspective view of the transplanter-mounted module without a multi-channel transplanter installed;
Figure 8 is a perspective view of a rice transplanter holder according to an embodiment;
Figure 9 is a diagram illustrating the operation of mounting the transplanter module to the transplanter mounting module;
Figure 10 is a diagram illustrating the operation of mounting the transplanter module mounted on the mounting module on the holder;
Figure 11 is a flow chart of performing a hair transplant operation using a comb for determining the hair transplant position and an automatic hair transplant device;
Figure 12 is a state diagram of using a comb for determining the hair transplant position according to one 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.

As used herein, when an element is referred to as being “above” (or “below”, “right”, or “left”) of 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 perspective view of a comb 200 for determining the hair transplant position according to an embodiment of the present invention, and Figure 2 schematically shows a top view of the comb 200 for determining the hair transplant position.

Referring to Figures 1 and 2, the comb 200 (hereinafter simply referred to as “comb”) for determining the hair transplant position according to one embodiment has a general flat comb shape and has a penetration area 221 formed in the handle portion. You can. More specifically, in the illustrated embodiment, the comb 200 consists of a comb tooth portion 210 and a positioning portion 220. The comb teeth 210 may have a plurality of comb teeth 211 extending in one direction, like a typical flat comb, arranged closely at predetermined intervals.

The positioning portion 220 may be a handle area of the comb 200 and has a flat plate shape with a penetrating area 221 formed in the center. The penetration area 221 may have a rectangular shape with a predetermined width (W) and length (L). However, in the illustrated embodiment, the corners of the rectangle are right angles, but in alternative embodiments, the corners may be rounded and curved, or may have an oval or other polygonal shape instead of a rectangle.

In the illustrated embodiment, the width (W) of the rectangular penetration area 221 may be, for example, 1 cm to 4 cm, and the length (L) may be, for example, a value between 5 cm and 10 cm. However, this is an example and the penetration area 221 may have various widths and lengths. ) can of course be formed.

In a preferred embodiment, position markers 225 (hereinafter simply referred to as “markers”) are formed adjacent to at least a plurality (at least two) of the four corners of the penetration area 221. The marker 225 is formed in a concave groove or embossed protrusion structure on the surface of the positioning unit 220 and may have a “+” or “L” shape, for example. However, this is illustrative and in alternative embodiments each marker 225 may be comprised of one or more dots or lines, or a combination of dots and lines.

In one embodiment, an image sensor (not shown) may detect the marker 225. The image sensor may be, for example, but is not limited to a real-world (photo-light) camera or an infrared camera. In order for the sensor to detect the marker 225 and determine the direction of the comb 200, as shown in the drawing, the markers 225 in the diagonal direction have the same shape but a different shape from the markers 225 in the other diagonal direction. It may be configured to have, or preferably, the plurality of markers 225 may each have different shapes.

On the surface of the comb 200 between neighboring markers 225, engraved or embossed dots are formed at regular intervals (for example, 5 mm intervals) along the width (W) and/or length (L) adjacent to the penetration area 221. Alternatively, a line shape may be formed so that the user can easily recognize the distance.

Now, an automatic hair transplant device that can use the hair transplant positioning comb 200 described above will be described with reference to FIGS. 3 to 10.

First, Figure 3 is a perspective view of an automatic hair transplant device using a multi-channel hair transplanter according to an embodiment of the present invention. Referring to Figure 3, the automatic hair transplant device according to one embodiment is a transplanter mounting module 10 (hereinafter also simply referred to as “mounting module”) attached to the robot arm 50, and is attachable to and detachable from the mounting module 10. Identify the marker 225 of the hair transplanter module 20, one or more hair transplanter holders 60, 60' on which the transplanter module 20 is mounted, and the marker 225 of the comb 200 and/or the penetration area 221 ) may include an image sensor 400 capable of taking an image, and a control unit 300 that controls the transplanter mounting module 10, the robot arm 50, and the image sensor 400.

The robot arm 50 is a device that precisely moves the end of the robot arm 51 with 6 degrees of freedom or more, consisting of a plurality of joints, a motor that moves each joint, and an encoder that detects movement, and is known in the art. It is done. In the present invention, the hair transplanter mounting module 10 can be installed by being mounted on the end 51 of a known robot arm 50.

In one embodiment, one or more holders include a first holder 60 and a second holder 60'. The first holder 60 and the second holder 60' are holders having the same shape and structure, but the first holder 60 is equipped with one or more multi-channel hair transplant device modules 20 before use in a hair transplant procedure. The second holder 60' may be used to hold one or more multi-channel hair transplant modules 20 used in hair transplant procedures. However, this is an example, and in an alternative embodiment, all of the pre- and post-use hair transplanter modules 20 may be mounted on one holder, or three or more holders may be used.

In one embodiment, the hair transplanter mounting module 10 is mounted by holding the transplanter module 20 mounted on the first holder 60, and moves the transplanter module 20 in the up and down direction or the transplanter module ( By pressing the upper cap of 20), a hair transplant operation can be performed to transplant the hair in the needle of the hair transplant device to the patient's scalp. In addition, when the transplanting operation by the transplanter module 20 mounted on the transplanter mounting module 10 is completed, the mounting module 10 is moved onto the second holder 60' by the robot arm 50 to remove the transplanter module. The operation of placing (20) on the second holder 60' can be performed.

The image sensor 400 can recognize the marker 225 of the comb 200 for determining the hair transplant position described above in FIGS. 1 and 2. The image sensor 400 may be implemented as, for example, a real image (article light) camera or an infrared (thermal) camera, but is not limited thereto.

In addition, the automatic hair transplant device includes additional equipment such as a scanning device that scans the patient's treatment area (scalp) for 3D modeling, a mounting module (10), and a laser sensor to measure and track the distance or positional relationship with the patient's treatment area. It may be included, and it will be understood that such equipment is omitted in Figure 3.

Measurement data from various sensors such as the image sensor 400 and scanning devices or laser sensors are transmitted to the control unit 300, and the control unit 300 recognizes the patient's scalp shape and/or hair transplant location based on the measurement data and based on this information. Based on this, the robot arm 50 and the hair transplanter mounting module 10 are controlled. For example, the control unit 300 may control the transplanter mounting module 10 and the robot arm 50 to perform mounting operations, transplanting operations, and mounting operations of the transplanter mounting module 10. It will be understood that the control unit 300 may be implemented as a computer algorithm, program, and/or software that is stored and executed in a computer device, as in known technologies.

Figure 4 is a diagram explaining a multi-channel hair transplanter and a holder supporting the same according to an embodiment. Referring to Figures 3 and 4, the hair transplanter module 20 used in the automatic hair transplant device of the present invention accommodates a multi-channel hair transplanter 30 (hereinafter simply referred to as "hair transplanter") and a hair transplanter 20. It may be composed of a hair transplant holder 40 that supports and supports the hair transplanter holder 40.

The hair transplant device 30 is a device used for hair transplantation. For example, the hair transplant device 30 may be the “multi-channel hair transplant device” of Korean Patent Publication No. 2019-0109321 or a hair transplant device with a similar configuration.

In one embodiment, the hair transplanter 30 is arranged to at least partially surround the cylindrical main body 31, the upper cap 35 on its upper part, and the outer peripheral surface of the main body 31, and is arranged in a vertical direction with respect to the main body 31. A sliding handle 33 that can slide, and a plurality of needles 32 arranged radially around the central axis of the main body 31 inside the main body 31 and sequentially protruding from the lower part of the main body 31 one by one. It is composed.

In one embodiment, a hand catch portion 33a is protruding from one side of the sliding handle 33 of the hair transplanter 30. The hand catch portion 33a is formed to protrude radially outward to prevent the handle 33 from slipping from the hand when the user holds the sliding handle 33 and moves it up and down, and improves the grip of the handle 33 and prevents slipping. can do.

When the operator manually performs a hair transplant operation using the hair transplant device 30, the operator holds the sliding handle 33 of the hair transplant device 30 with the thumb and middle finger, for example, and places the hair transplant needle 32 on the patient's scalp. Insert it into Thereafter, the upper cap 35 is pressed with the index finger and the sliding handle 33 is moved upward, and in this process, the hair follicles inside the needle 32 are inserted into the patient's scalp and transplanted. Afterwards, the hair transplanter 30 is moved upward to completely remove the needle 32 from the patient's scalp and the above operation is repeated for the next treatment area.

In order to automatically perform the hair transplant operation using the hair transplanter 30 by the robot arm 50 and the hair transplanter mounting module 10, the hair transplanter 30 must be moved up and down and the sliding handle 33 must be held. It is necessary to provide a plurality of driving means (for example, motors or actuators, etc.) to perform up and down movements, pressing the upper cap 35, etc., and to properly control their operation range and timing.

In one embodiment of the present invention, the hair transplanter holder 40 is used to hold the hair transplanter 30. The hair transplant holder 40 may be composed of a substantially cylindrical main body 41 and a side protrusion 45 protruding from one side of the main body 41 in the radial direction. The main body 41 has a cylindrical shape that at least partially surrounds the outer periphery of the sliding handle 33 of the hair transplanter 30. In the illustrated embodiment, the hair transplanter holder 40 has a through hole 41a formed on one side of the main body 41 to accommodate the hand catch portion 33a, and a side cover partially covers the through hole 41a. (42) can be fastened by fastening means (43) such as bolts or clips. Accordingly, first, the side cover 42 is removed from the hair transplanter holder 40 and the hair transplanter 30 is placed in the hair transplanter holder ( 40), insert the side cover 42 back into the transplanter holder 40, and then fasten it with the fastening means 43, so that the hair transplanter 30 and the transplanter holder 40 are integrated into the hair transplanter. The module 20 can be assembled.

In the illustrated embodiment, inner rails 46 may be formed on both edges of the side protrusions 45 of the hair transplant holder 40. The inner rail 46 is a member for fastening the hair transplanter holder 40 to the first sliding block 130 by engaging with the outer rail 136 of the first sliding block (130 in FIG. 6), which will be described later. . The inner rail 46 may have a predetermined uneven structure formed in the longitudinal direction (vertical direction) at both edges of the side protrusion 45.

This inner rail-outer rail structure is an example, and for example, an inner rail may be formed on the first sliding block 130 and an outer rail may be formed on the transplanter holder 40, and other known structures such as LM guides, etc. Of course, the first sliding block 130 can guide the hair transplanter holder 40.

In one embodiment, a first groove 47, a second groove 48, and a step 49 may be formed on the surface of the side protrusion 45. The first groove 47 is a concave area formed at a predetermined depth on the surface of the side protrusion 45, and the second groove 48 is a concave area formed above the first groove 47, but the top is open. It is done. The step portion 49 is located between the first groove portion 47 and the second groove portion 48 and has a higher surface than the concave surfaces of the first and second groove portions 47 and 48. As will be described later, the hair transplant holder 40 can be mounted on the first sliding block 130 by fitting the holder locking protrusion (151 in FIG. 7) of the first sliding block 130 into the first groove 47. there is. Also, at this time, the outer rail 136 of the first sliding block 130 and the inner rail 46 of the hair transplant holder 40 are engaged and come into close contact, so the hair transplant holder 40 is attached to the first sliding block 130. When mounted, it can be firmly fixed to the first sliding block 130 without shaking in the up and down or left and right directions.

With reference to FIGS. 5 to 7 , the specific configuration of the hair transplanter mounting module 10 according to an embodiment will be described. Figures 5 and 6 are perspective views of the transplanter mounting module 10 equipped with the transplanter module 20, respectively, viewed from different angles, and Figure 7 shows the transplanter mounting module without the transplanter module 20 mounted. This is a perspective view of (10) viewed from different angles.

5 to 7, the hair transplanter mounting module 10 according to one embodiment includes a bracket 100, a first driving unit 110, a second driving unit 120, a first sliding block 130, and a second driving unit 120. 2 It may include a sliding block 140 and a rotating member 150.

The bracket 100 is a member that constitutes the frame of the hair transplanter mounting module 10 and serves to fix or support various components such as the first and second driving units 110 and 120 and the first and second sliding blocks 130 and 140. do. The bracket 100 may be detachably connected to the end 51 of the robot arm 50.

Each of the first driving unit 110 and the second driving unit 120 may be a driving source that generates rotational drive or linear reciprocating drive, such as an electric motor or actuator. In the illustrated embodiment, each of the first and second driving units 110 and 120 may be implemented as an electric motor and are respectively fixedly installed on the bracket 100.

The drive shaft of the first drive unit 110 is connected to the gear unit 111, and the gear unit 111 is connected downwardly to the shaft 112, so that the shaft 112 can be rotated by the first drive unit 110. there is. The first sliding block 130 is coupled to the shaft 112 so that it can slide in the up and down direction. As an example, the shaft 112 is a screw shaft with a thread formed on the surface, and a screw hole through which the shaft 112 passes may be formed in the first sliding block 130, and the shaft 112 rotates to the left or right. As a result, the first sliding block 130 can move in the vertical direction. However, the method of coupling the shaft 112 and the first sliding block 130 using this screw structure is an example, and the first sliding block 130 is slidably coupled to the shaft 112 by other known coupling methods. Of course it can be done.

The second driving unit 120 is disposed in parallel with the first driving unit 110 at a position adjacent to the first driving unit 110 . The drive shaft of the second drive unit 120 is connected to the gear unit 121, and the gear unit 121 is connected downward to the shaft 122, so that the shaft 122 can be rotated by the second drive unit 120. there is. A second sliding block 140 is coupled to the shaft 122 so that it can slide in the up and down direction. The coupling structure of the shaft 122 and the second sliding block 140 may be the same as that of the shaft 112 and the first sliding block 130, or they may be slidably coupled using other known coupling methods.

The first sliding block 130 can move in the vertical direction with respect to the bracket 100 by the first driving unit 110. Meanwhile, for convenience of explanation regarding the direction of movement of each component in this specification, unless specifically stated as the direction of movement for a specific component, the The explanation will be made assuming that the Y-axis direction is left and right, and the Z-axis direction is up and down.

In one embodiment, in order to firmly couple the first sliding block 130 to the bracket 100 while sliding on the bracket 100, the bracket 100 and the first sliding block 130 are engaged with each other using guide rails. It can be configured. For example, as shown in FIG. 6, a vertical outer rail 105 is formed on the surface of the bracket 100 facing the first sliding block 130, and the first sliding block 130 faces the bracket 100. An inner rail 135 in the vertical direction is formed on the surface of the , and the outer rail 105 and the inner rail 135 are engaged with each other to enable sliding. Accordingly, the first sliding block 130 moves in the vertical direction by the first driving unit 110, and is firmly coupled to the bracket 100 by the outer rail-inner rail structure, thereby preventing shaking during movement. .

This inner rail-outer rail structure is an example, and for example, an inner rail may be formed on the bracket 100 and an outer rail may be formed on the first sliding block 130, and other known structures such as an LM guide may be used. Of course, the bracket 100 may guide the first sliding block 130.

In one embodiment, the hair transplanter module 20 is detachably mounted on the first sliding block 130. Referring to FIG. 7, a holder fitting portion 133 that can fit the side protrusion 45 of the hair transplanter holder 40 is formed on the surface of the first sliding block 130 facing the hair transplanter module 20. The holder fitting portion 133 may be formed as a concave groove on the surface of the first sliding block 130 as shown, but the lower side is open so that the side protrusion 45 of the hair transplanter holder 40 is attached to the holder. It can be inserted into the holder fitting portion 133 by sliding upward from the bottom of the fitting portion 133.

Outer rails 136 may be formed on both left and right sides of the holder fitting portion 133, and correspondingly, the outer rails 136 may be engaged and coupled to both corner areas of the side protrusions 45 of the hair transplanter holder 40. An inner rail 46 is formed. Accordingly, when the side protrusion 45 of the hair transplanter holder 40 moves upward from below the holder fitting portion 133, the inner rail 46 and the outer rail 136 are engaged and fitted and rise further upward in this state. Thus, it is completely inserted into the holder fitting portion 133.

Meanwhile, a rotating member 150 may be attached to the lower end of the first sliding block 130. As shown in Figure 7, a rotation axis 155 is located at one end in the horizontal direction of the rotation member 150, and a holder locking protrusion 151 is formed at the other end. The holder locking protrusion 151 protrudes in the horizontal forward direction and has a size and shape that can be fitted into the first groove 47 of the hair transplant holder 40. Additionally, the lower surface of the holder stopping protrusion 151 is formed as an inclined surface 152.

In one embodiment, the rotating member 150 further includes a lever locking portion 153 extending downward. The lever engaging portion 153 is caught by the lever (620 in FIG. 8) of the holder 60 so that the rotating member 150 can rotate, and thus the rotating member 150 can be switched from a closed state to an open state. The operation of the lever locking portion 153 and the lever 620 will be described later with reference to FIGS. 9 and 10.

The rotating member 150 can switch between a “closed state” and an “open state” by rotation. The "closed state" is a state shown in Figure 7 in which the locking protrusion 151 of the rotating member 150 passes through the slot 133a of the holder fitting part 133 and moves further forward than the surface of the holder fitting part 133. That is, it is in a state of protruding (toward the hair transplanter holder 40). The “open state” means that the rotating member 150 rotates backwards (i.e., in the direction away from the hair transplant holder 40) so that the holder locking protrusion 151 falls out of the slot 133a of the holder fitting portion 133. It is a state. In one embodiment, the rotating member 150 is configured to remain closed when no force is applied to the rotating member 150 from the outside. For example, by using an elastic means such as a spring, the rotating member 150 can be configured to be in a closed state when no external force is applied.

According to this configuration, the hair transplanter holder 40 slides upward while the inner rail 46 of the side protrusion 45 of the hair transplanter holder 40 and the outer rail 136 of the holder fitting portion 133 are engaged. When doing so, the holder catching protrusion 151 in the 'closed state' relatively moves downward from the top of the side protrusion 45 of the hair transplant holder 40, and the holder catching protrusion 151 moves in the second groove 48. ) and the step portion 49 is inserted into and seated in the first groove portion 47, so that the first sliding block 130 is mounted on the hair transplanter holder 40. In this mounted state, the holder catching protrusion 151 is inserted into the first groove 47, and on both left and right sides, the side protrusion 45 of the transplanter holder 40 is formed by the inner rail-outer rail structure, and the holder fitting portion ( 133), the hair transplant holder 40 can be firmly mounted on the first sliding block 130 without shaking left or right or up and down.

Meanwhile, in the illustrated embodiment, the first sliding block 130 may further include a push bar 160 that moves up and down. The push bar 160 is a rod-shaped member and is located on the front surface of the first sliding block 130. Preferably, as shown in FIG. 7, the lower end 161 of the push bar 160 is connected to the holder fitting portion 133. ) can move downward toward the space of ).

The push bar 160 is coupled to the first sliding block 130 by an elastic member such as a spring, and when no force is applied to the push bar 160 from the outside, the push bar 160 moves as shown in Figure 7. As it slides downward, the end portion 161 protrudes into the space of the holder fitting portion 133.

Referring to Figure 7, the first sliding block 130 further includes an extension portion 137 extending laterally, and correspondingly, the bracket 100 may further include a stopper 107 protruding forward. . The extension portion 137 and the stopper 107 are disposed at positions where they interfere with each other. Accordingly, when the first sliding block 130 descends a predetermined distance or more, the extension portion 137 collides with the stopper 107, thereby limiting the downward movement of the first sliding block 130.

Meanwhile, the second sliding block 140 is arranged side by side on one side of the first sliding block 130 and is configured to move in the vertical direction with respect to the bracket 100 by the second driving unit 120. The second sliding block 140 is disposed adjacent to the first sliding block 130. The second sliding block 130 has a cap pressing portion 141 protruding toward the front.

5 and 6, in a state where the hair transplanter module 20 is mounted on the first sliding block 130, the cap pressing portion 141 of the second sliding block 140 presses the hair transplanter 30. comes into close contact with the upper cap 35, and as the second sliding block 140 moves downward, the cap pressing unit 141 can press the cap 35.

Figure 8 is a perspective view of the hair transplanter holder 60 according to one embodiment. Since the first holder 60 and the second holder 60' shown in Figure 1 have the same structure, the first holder 60 will be described below, and 'first holder' is simply called 'holder'. It is decided to express it as

Referring to Figure 8, the hair transplanter holder 60 includes a holder block 600 provided with a plurality of hair transplanter seating portions 610. As shown in Figure 8, a plurality of seating units 610 may be arranged in a row, and each hair transplanter seating unit 610 may accommodate one hair transplanter module 20.

In FIG. 8 , when the The lever 620 may have a length spanning the entire hair transplanter seating portion 610 in the longitudinal direction (i.e., Y-axis direction) of the holder block 600. However, in an alternative embodiment, separate levers 620 may be independently installed in front of each seating portion 610.

In one embodiment, when the transplanter mounting module 10 equipped with the multi-channel transplanter module 20 descends from the top of the holder 60, the transplanter mounting module 10 is moved to one end of the lever 620. The multi-channel hair transplanter module 20 can be detached from the first sliding block 130 by pressing the lever 620.

The lever 620 consists of a first rotating part 621 and a second rotating part 622 that move in the up and down direction (i.e., Z-axis direction) around the lever axis 623 disposed in the longitudinal direction of the holder block 600. do. The first rotating part 621 is located in front of the lever shaft 623, and the second rotating part 622 is located in the rear of the lever shaft 623. In the illustrated embodiment, a through hole 622a is formed in the second rotating part 622 in each area facing the first groove 47 of the hair transplanter 20 mounted on the seating part 610. The through hole 622a is formed to prevent the lever engaging portion 153 and the second rotating portion 622 from interfering with each other during a mounting operation, which will be described later with reference to FIG. 9 .

Now, referring to FIGS. 9 and 10, the operation of mounting the transplanter module 20 mounted on the holder 60 on the mounting module 10 and the operation of mounting the mounted transplanter module 20 on the holder 60. Let's explain.

First, Figure 9 shows the operation of mounting the transplanter module 20 mounted on the transplanter holder 60 to the mounting module 10.

Referring to Figure 9(a), the hair transplanter module 20 is mounted on the holder 60, and the mounting module 10 is located above the holder 60. At this time, the inner rail 46 of the side protrusion 45 of the hair transplanter holder 40 and the outer rail 136 of the first sliding block 130 are aligned in the vertical direction. In addition, in Figure 9(a), the first sliding block 130 and the second sliding block 140 are moved upward relative to the bracket 100, and therefore the lower end of the bracket 103 is the lever engaging portion. You will notice that it is relatively lower than (153).

In this arrangement, the mounting module 10 descends downward toward the holder 60 by the operation of the robot arm 50. As the mounting module 10 descends, as shown in Figure 9 (b), the lower part of the bracket 103 presses the first rotating part 621 of the lever 620, so that the second rotating part 622 rises upward. is maintained in And as the mounting module 10 continues to descend, the inner rail 46 of the transplanter holder 40 and the outer rail 136 of the first sliding block 130 are engaged, and the rotating member 150 is in a closed state. )'s holder locking protrusion 151 passes down through the second groove 48 and the step portion 49 of the hair transplanter holder 40 and is inserted into and seated in the first groove 47, thereby forming the hair transplanter holder 40. The module 20 is mounted on the mounting module 10.

At this time, while the lever locking protrusion 151 is lowered and fitted into the first groove 47, the second rotating part 622 of the lever 620 is in an upwardly raised position as shown in FIG. 9(b) and is in the first groove 47. 2 Since the through hole 622a is formed in the rotating part 622, the lever locking protrusion 151 is not interfered with by the second rotating part 622 and the rotating member 150 can be maintained in a closed state.

In this way, when the hair transplanter module 10 is mounted on the mounting module 20, the robot arm 50 is moved to move the hair transplanter module 20 to the patient's treatment area, and the control unit 300 moves the first sliding block 130. The hair transplant operation of the hair transplanter 30 can be performed by controlling the and second sliding blocks 140, respectively.

Figure 10 shows the operation of mounting the hair transplanter module 20 mounted on the hair transplanter mounting module 10 on the hair transplanter holder 60.

Referring to Figure 10(a), the hair transplanter module 20 is mounted on the mounting module 10, and the mounting module 10 is located above the empty hair transplanter seating portion 610 of the holder 60. there is. At this time, as can be seen in comparison with FIG. 9 (a), in FIG. 10 (a) the first sliding block 130 is in a state of moving relatively downward with respect to the bracket 100, and therefore the lower part of the bracket 103 ) and the lever engaging portion 153 are located at similar heights.

In this arrangement, the mounting module 10 descends downward toward the holder 60 by the operation of the robot arm 50. As the mounting module 10 descends, as shown in Figure 10(b), the lower part of the bracket 103 presses the first rotating part 621 of the lever 620, causing the second rotating part 622 to rise upward. , At this time, the lever locking portion 153 is caught by the second rotating portion 622 and the rotating member 150 rotates, thereby switching the rotating member 150 to the open state. Accordingly, the holder locking protrusion 151 of the rotating member 150 falls out of the first groove 47 of the hair transplant holder 40, and the hair transplanter module 20 descends downward by its own weight to hold the holder 60. ) is seated on the seating portion 610.

In one embodiment, when the first sliding block 130 is provided with a push bar 160, the push bar 160 may assist the lowering operation of the hair transplanter module 20. Since the push bar 160 always tries to move downward due to elasticity, even when the hair transplant holder 40 is mounted on the first sliding block 130, the end 161 of the push bar 160 is aligned with the hair transplant holder 40. The upper surface of the side protrusion 45 (i.e., 45a in Figure 4) is always pressed. When the rotating member 150 switches to the open state and the holder locking protrusion 151 falls out of the first groove 47 of the transplanter holder 40, not only the own weight of the transplanter module 20 but also the transplanter holder By the pressing operation of the push bar end 161 that pushes the 40 downward, it is possible to ensure that the hair transplanter module 20 slides down and falls out of the first sliding block 130.

In this way, when the transplanter module 10 is mounted on the holder 60, the robot arm 50 is moved to place the mounting module 10 on the other seating portion 610 of the holder 60. It is possible to move to the top and perform the operation of mounting the hair transplant module 20 as shown in FIG. 9, and thus automatically perform the operation of replacing the hair transplant module 20 and transplanting the hair to the patient without operator intervention. can do.

Now, an exemplary method of performing a hair transplant procedure using an automatic hair transplant device and a hair transplant positioning comb 200 will be described with reference to FIGS. 11 and 12.

Figure 11 is an exemplary flowchart of performing a hair transplant operation using an automatic hair transplant device and a comb for determining the hair transplant position. Referring to Figure 11, first, the hair transplant area of the patient's scalp is exposed using the hair transplant positioning comb 200. For example, as shown in Figure 12, after sweeping the hair (H) in one direction with the comb (200), the comb (200) is brought into close contact with the head, thereby exposing the parting (P) on the area to be transplanted on the scalp. You can do it. The exposed hair transplant area is visible within the penetration area 221 of the comb 200 as shown.

Thereafter, the image sensor 400 identifies the marker 225 under the control of the control unit 300 (S20). The image sensor 400 may be, for example, a real image (visible light) camera or a thermal (infrared) camera, but is not limited thereto, and any sensor capable of recognizing the marker 225 may be used depending on the type or method.

The shape and relative position of each marker 225 located at the four corners of the penetrating area 221 have already been input to the control unit 300, and therefore the control unit 300 is based on the position of each identified marker 225. Thus, it is possible to determine in which direction the comb 200 and the penetration area 221 are arranged. In addition, the control unit 300, for example, sets the lower left marker 225 among the four markers 225 in the plan view of Figure 2 as a reference marker and sets the position of this reference marker as the reference position (0,0) of the coordinate system to pass through. Any location in the area 221 can be displayed as a coordinate value.

Next, based on the position of the marker 225 identified in step S20, the control unit 300 determines the position to be planted within the penetration area 221 (S30). Since the width (W) and length (L) information of the penetration area 221 of the comb 200 can be input in advance to the control unit 300, the control unit 300 takes the area of the penetration area 221 into consideration and sets the hair transplant. You can decide the number and location to do and express them as coordinate values.

Thereafter, the robot arm 50 and the hair transplanter mounting module 10 are driven under the control of the control unit 300 to sequentially perform a hair transplant procedure at the hair transplant positions (S40). The operation of mounting the transplanter module 20 of the holder 60 on the transplanter mounting module 10 and the operation of mounting the mounted transplanter module 20 on the holder 60 refer to FIGS. 9 and 10, respectively. This may be performed in the manner described. The operation of transplanting hair to the patient's hair transplant site involves setting the driving timing of the first driving unit 110 and the second driving unit 120 of the mounting module 10 according to the specific specifications and type of the hair transplant device 30, and accordingly This can be performed by controlling the first and second sliding blocks 130 and 140, respectively.

When the operation of transplanting hair to all transplant positions within the penetrating area 221 is completed, steps S10 to S40 may be repeated. That is, the practitioner combs the hair (H) again with the comb (200) to expose the parting (P) by slightly moving it from the initial position (S10), and identifies the marker (225) using the sensor (400) (S20). Hair transplantation position determination (S30) and hair transplantation operation (S40) based on the marker 225 can be performed.

Meanwhile, when performing the above-described automatic hair transplant method using the comb 200, the operator presses the comb 200 on the patient's scalp to fix the position of the comb 200 once, and the comb (200) is performed during the hair transplant operation (S20 to S40). 200), and it is desirable for the patient not to move his head. However, during the procedure, the comb 200 may move slightly or the patient may move his head slightly. In this case, it is required to continuously track the position of the hair transplant using a sensor.

For example, while performing the hair transplanting operation by driving the robot arm 50 and the mounting module 10 in step S40, the comb 200 is used using other sensors such as the image sensor 400 and/or the laser sensor. and/or configured to continuously detect whether there is movement of the patient, and when movement of the comb 200 or the patient is detected, the movement of the comb 200 or the patient is adjusted to the coordinate value of the hair transplant position initially set in step S40. By applying the corresponding position change, the position coordinate value can be corrected and the hair transplant operation can be continued according to the corrected coordinate value.

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 20: Transplanter module
30: Multi-channel hair transplanter 40: Hair transplanter holder
50: Robotic arm 60, 60': Transplanter holder
100: bracket 110, 120: driving unit
130, 140: sliding block 150: rotating member
160: Push bar 200: Comb for determining hair transplant position

Claims (7)

As a comb for determining hair transplant position,
A plate-shaped positioning portion 220 having a rectangular penetrating area 221 of a predetermined width (W) and length (L) at the center; and
It includes a comb tooth portion 210 having a plurality of comb teeth 211 extending from one side of the positioning portion,
The comb for positioning hair, characterized in that it further comprises a position marker 225 formed on the surface of the positioning portion 220 adjacent to at least two of the four corners of the penetration area. delete According to claim 1,
The position marker is a comb for determining the hair transplant position, characterized in that it is composed of a combination of one or more points or lines formed in a groove or protrusion structure. According to claim 1,
A comb for determining hair transplant position, characterized in that the width (W) of the penetrating area is 1 cm to 4 cm and the length (L) is 5 cm to 10 cm. An automatic hair transplant method using a hair transplanter attached to a multi-joint robot arm,
A step of exposing the patient's hair transplantation area using the comb for determining the hair transplant position according to any one of claims 1, 3, and 4 (S10);
Identifying the position marker using a sensor capable of recognizing the position marker of the comb for determining the hair transplant position (S20);
Determining a hair transplant position within the penetration area based on the position of the identified position marker (S30); and
An automatic hair transplant method comprising a step (S40) of driving the hair transplanter to sequentially transplant the hair to the hair transplant position. According to claim 5,
An automatic hair transplant method, characterized in that the sensor is a real camera or an infrared camera. According to claim 5,
In the hair transplanting step (S40), when the sensor detects the movement of the comb or the patient for determining the hair transplant position, the position change according to the movement of the comb or the patient is applied to the determined hair transplant position to correct the hair transplant position. Characterized by an automatic hair transplantation method.

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