WO2023038165A1

WO2023038165A1 - Comb for determining location of hair transplantation and automatic hair transplantation method using same

Info

Publication number: WO2023038165A1
Application number: PCT/KR2021/012159
Authority: WO
Inventors: 김병술; 손대웅; 박지혜
Original assignee: 주식회사 오대
Priority date: 2021-09-07
Filing date: 2021-09-07
Publication date: 2023-03-16

Abstract

According to an embodiment of the present invention, disclosed is a comb for determining the location of hair transplantation, comprising: a plate-shaped positioning part having a rectangular penetration area of a predetermined width and length in the center; and a comb-teeth part having a plurality of comb teeth extending from one side of the positioning part.

Description

Comb for positioning hair transplantation and automatic hair transplantation method using the same

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

Hair transplantation is one of the hair treatment methods in which hair is harvested from the hair growth region of the scalp and planted on the scalp (infertile patient) of another hairless region where hair loss has occurred and transplanted so that a large amount of hair can be obtained as in the general public.

A plurality of hair transplanters (transplanters) are used in the hair transplant procedure. The hair planting machine is a device for transplanting by collecting hair from the hair growth area of the scalp and planting it on the scalp (infertile patient) of another infertile area where hair loss has occurred. It has one hair transplant needle and a mandrel slidably disposed inside the hair transplant needle.

In the case of using a conventional hair transplanter, it consists of a structure in which an operator holds the hair transplanter with his hand and manipulates (presses or pulls up) one by one with his fingers to operate the hair transplanter and the mandrel.

However, since such a conventional single-haired manual hair transplanter can only plant one hair root with one hair transplanter, in order to plant a large number of hair roots, a number of hair transplanters are prepared and the devices are changed one by one for each procedure. It is a very difficult task that not only needs to be performed, but also requires the operator's finger manipulation to operate the hair transplant needle and mandrel.

That is, in the case of using an existing hair transplant machine, the operator (e.g., a doctor) who performs the hair transplant process pierces the hair transplant needle into the scalp and operates the mandrel. You have to pick up another hair clipper and continue the same process on the patient's scalp again. In general, hair transplantation is performed over 1,000 times at a time and for a long time of about 3 to 5 hours, so the operator's considerable effort is required for the hair transplantation work that requires finger manipulation to operate the hair transplant needle and mandrel for each operation. Labor and fatigue were inevitable.

In addition, in the case of conventional hair transplantation, the procedure was performed with all of the patient's hair removed for ease of operation, but from the patient's point of view, they hesitated to undergo hair transplantation due to the burden and reluctance to remove all existing hair for the procedure. This was the main reason for doing it.

The present invention is to solve the above conventional problems, and an object of the present invention is to provide a comb for determining the location of hair transplantation, which allows the hair transplantation location of the scalp to be determined and the hair transplantation operation to be performed without removing the patient's existing hair.

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

According to one embodiment of the present invention, a hair transplant positioning comb is provided, comprising: a plate-shaped positioning unit having a rectangular through area of a predetermined width and length in the center; and a comb 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 provided an automatic hair transplant method using a hair transplanter attached to an articulated robot arm, comprising the steps of exposing a patient's hair transplant region with the comb for determining the location of hair transplantation; identifying the location marker of the comb for determining the location of hair transplantation using a sensor capable of recognizing the location marker; determining a location of hair transplantation within the through area based on the location of the identified location marker; and driving the hair transplanter to sequentially plant hair at the hair transplant location.

According to one embodiment of the present invention, a planter mounting module mountable to a robot arm composed of a plurality of arms and joints, comprising: a bracket coupled to the robot arm; a first sliding block installed on the bracket and capable of sliding vertically with respect to the bracket; and a second sliding block installed on the bracket, disposed side by side on one side of the first sliding block, and capable of sliding vertically with respect to the bracket, wherein the multi-channel hair transplant module is detachably mounted on the first sliding block. Discloses a planter mounting module that can be.

The comb for determining the hair transplant location according to an embodiment of the present invention determines the hair transplant location on the scalp and performs the hair transplant operation without removing the patient's existing hair, thereby reducing the patient's burden and reluctance to shave for the procedure. can alleviate

The hair transplanter mounting module according to an embodiment of the present invention can individually control and operate the operation of holding the installed hair transplanter and pressing the upper cap, so that the operation of the operator holding the hair transplanter and performing the hair transplant operation is automatic. There are advantages to doing this.

In addition, the automatic hair transplant device according to an embodiment of the present invention includes a mounting operation of mounting the hair transplanter on the hair transplanter mounting module, a hair transplant operation of transplanting hair to the patient's scalp using the installed hair transplanter, and the installed hair transplanter. It is possible to automatically perform a mounting operation on the cradle.

1 is a perspective view of a comb for determining a hair transplant position according to an embodiment of the present invention;

2 is a plan view of a comb for determining a hair transplant position according to an embodiment;

Figure 3 is a perspective view of an automatic hair transplanter using a multi-channel hair transplanter according to an embodiment,

Figure 4 is a view explaining a multi-channel hair transplanter and a holder supporting the same according to an embodiment;

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 hair transplanter mounting module in a state where the multi-channel hair transplanter is not mounted;

8 is a perspective view of a hair transplant holder according to an embodiment;

9 is a view explaining the operation of mounting the hair transplanter module to the hair transplanter mounting module;

10 is a view explaining the operation of mounting the hair transplanter module mounted on the mounting module to the cradle;

11 is a flowchart for performing a hair transplant operation using a comb for determining the hair transplant position and an automatic hair transplant device;

12 is a use state diagram using a comb for determining a hair transplant position 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 in conjunction with the accompanying 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 disclosed content will be thorough and complete and the spirit of the present invention will 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”) of another element, it refers to being above (or below, to the right, or to the left of) the other element. ), or a third component may be interposed therebetween.

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

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

In this specification, the singular form of a component also includes the plural form unless otherwise specified in the phrase. The expressions 'comprises', 'consists of', and 'consists of' used in the specification do not exclude the presence or addition of one or more other elements in addition to the mentioned elements.

In this specification, when terms such as first and second are used to describe components, these components should not be limited by these terms. These terms are only 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 with reference to the following drawings. In describing the specific embodiments below, various specific details have been prepared to more specifically describe the invention and aid understanding. However, readers who have knowledge in this field to the extent that they can 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 in describing the invention and are not greatly related to the invention are not described in order to prevent confusion in describing the present invention.

1 is a perspective view of a comb 200 for determining the location of hair transplantation according to an embodiment of the present invention, and FIG. 2 is a schematic plan view of the comb 200 for determining the location of hair transplantation.

Referring to FIGS. 1 and 2, the hair transplant positioning comb 200 (hereinafter, simply referred to as "comb") according to an embodiment has a general flat comb shape, but has a penetrating area 221 formed in the handle portion. can More specifically, in the illustrated embodiment, the comb 200 is composed of a comb part 210 and a positioning part 220. In the comb part 210, a plurality of comb teeth 211 extending in one direction like a conventional flat comb may be densely arranged at predetermined intervals.

The positioning unit 220 may be a handle area of the comb 200 and has a flat plate shape, but a through area 221 is formed in the center. The through area 221 may have a rectangular shape having a predetermined width (W) and length (L). However, in the illustrated embodiment, the corners of the rectangle are right angles, but in an alternative embodiment, the corners may be rounded and curved, or may not be rectangular, but may be, for example, an ellipse or other polygonal shape.

In the illustrated embodiment, the width (W) of the rectangular through-area 221 may be, for example, 1 cm to 4 cm, and the length (L) may be, for example, between 5 cm and 10 cm. ) can be formed, of course.

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 through region 221, respectively. The marker 225 is formed on the surface of the positioning unit 220 as a concave concave structure or an embossed protrusion structure, and may have a “+” or “a” shape, for example, as shown. However, this is exemplary and in alternative embodiments each marker 225 may consist 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, a real image (article light) camera or an infrared camera, but is not limited thereto. In order for the sensor to detect the marker 225 and determine the direction of the comb 200, as shown in the drawing, diagonal markers 225 have the same shape but different shapes from other diagonal markers 225. Alternatively, preferably, the plurality of markers 225 may have different shapes.

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

Now, an automatic hair transplant device capable of using the above-described hair transplant position determining comb 200 will be described with reference to FIGS. 3 to 10.

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

The robot arm 50 is composed of a plurality of joints, a motor that moves each joint, and an encoder that senses motion, and is a device that precisely moves the robot arm end 51 with 6 degrees of freedom or more degrees of freedom and is well known in the art. has been In the present invention, the planter mounting module 10 may be installed by being mounted on the end 51 of the known robot arm 50.

In one embodiment, the one or more cradle includes a first cradle 60 and a second cradle 60'. The first cradle 60 and the second cradle 60' have the same shape and structure, except that the first cradle 60 uses one or more multi-channel hair transplant modules 20 before being used for a hair transplant procedure. and the use of the second holder 60' can be divided so as to mount one or more multi-channel hair transplant modules 20 used in the hair transplant procedure. However, this is just an example, and in an alternative embodiment, all of the hair transplanter modules 20 before/after use may be mounted on one cradle, or three or more cradle may be used.

In one embodiment, the hair transplanter mounting module 10 grips and mounts the hair transplanter module 20 mounted on the first holder 60, moves the hair transplanter module 20 in the vertical direction, or moves the hair transplanter module 20 ( 20), a hair transplanting operation of transplanting the hair in the needle of the hair transplanter to the patient's scalp can be performed by pressing the upper cap. In addition, when the planting operation by the planter module 20 mounted on the planter mounting module 10 is completed, the robot arm 50 moves the mounting module 10 onto the second holder 60', and the planter module An operation of mounting 20 on the second holder 60' can be performed.

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

In addition, the automatic planting device further includes equipment such as a scanning device that scans the patient's treatment area (scalp) for 3D modeling, and a laser sensor for measuring and tracking the distance or positional relationship between the mounting module 10 and the patient's treatment area. It will be appreciated that such equipment may be included, and in FIG. 3, such equipment is omitted.

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

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

The hair transplanter 30 is a device used for hair transplantation, and for example, the hair transplanter 30 may be a "multi-channel hair transplanter" of Korean Patent Publication No. 2019-0109321 or a hair transplant device having a similar configuration.

In one embodiment, the hair transplanter 30 is arranged to at least partially surround the tubular main body 31, the upper cap 35, and the outer circumferential surface of the main body 31, and moves up and down with respect to the main body 31. A sliding handle 33 capable of sliding, and a plurality of needles 32 arranged radially around the central axis of the main body 31 inside the main body 31 and sequentially projecting to the lower end of the main body 31 one by one. It consists of

In one embodiment, a hand engaging portion 33a protrudes from one side of the sliding handle 33 of the hair transplanter 30. The hand locking portion 33a is protruded radially outward to prevent the user from sliding the handle 33 in the user's hand when holding the sliding handle 33 and moving it up and down, and improves the grip of the handle 33 and prevents slipping. can do.

When the operator manually performs a hair transplanting operation using the hair transplanter 30, the operator holds the sliding handle 33 of the hair transplanter 30 with the thumb and middle finger, for example, and inserts the hair transplanter needle 32 into the patient's scalp. insert into After that, the upper cap 35 is pressed with the index finger and the sliding knob 33 is moved upward. During this process, the hair follicles inside the needles 32 are inserted into the patient's scalp and transplanted. Thereafter, 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 this way, in order to automatically perform the hair transplanting operation using the hair transplanter 30 by the robot arm 50 and the hair transplanter mounting module 10, the operation of moving the hair transplanter 30 up and down and gripping the sliding handle 33 It is necessary to provide a plurality of driving means (eg, motors or actuators, etc.) for performing an operation of moving up and down, an operation of pressing the upper cap 35, and the like, and appropriately control their operating range and timing.

In one embodiment of the present invention, the hair transplant holder 40 is used to hold the hair transplant device 30 . The hair transplanter holder 40 may be composed of a substantially cylindrical body 41 and a side protrusion 45 protruding in a radial direction from one side of the body 41 . The main body 41 has a cylindrical shape at least partially surrounding the outer circumference 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 hook 33a, and a side cover partially covering the through hole 41a. (42) can be fastened by fastening means (43) such as bolts or clips. Thereby, first, the side cover 42 is removed from the hair transplant holder 40, and the hair transplant device 30 is placed in the hair transplant holder ( 40), put the side cover 42 back into the hair transplant holder 40, and then fasten with the fastening means 43, so that the hair transplant device 30 and the hair transplant holder 40 are integrally combined. Module 20 can be assembled.

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

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

In one embodiment, a first concave portion 47, a second concave portion 48, and a stepped portion 49 may be formed on the surface of the side protrusion 45. The first concave portion 47 is a concave area formed at a predetermined depth on the surface of the side protrusion 45, and the second concave portion 48 is a concave area formed above the first concave portion 47, but the top is open. has been The stepped portion 49 is located between the first groove portion 47 and the second groove portion 48 and has a surface higher than the concave surfaces of the first and

second groove portions

47 and 48 . As will be described later, the holder locking protrusion (151 in FIG. 7) of the first sliding block 130 is inserted into the first concave portion 47 so that the hair transplant holder 40 can be mounted on the first sliding block 130. there is. Also, at this time, since the outer rail 136 of the first sliding block 130 and the inner rail 46 of the hair transplant holder 40 are engaged and brought into close contact with each other, 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 vertical direction or the left and right directions.

A specific configuration of the hair transplanter mounting module 10 according to an embodiment will be described with reference to FIGS. 5 to 7 . 5 and 6 are perspective views of the hair transplanter mounting module 10 to which the hair transplanter module 20 is mounted, viewed from different angles, and FIG. (10) is a perspective view from different angles.

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

The bracket 100 is a member constituting 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 generating rotational driving or linear reciprocating driving, such as an electric motor or an 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 fixed to 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 downward to the shaft 112, so 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 as to be slidable in the vertical direction. As an example, the shaft 112 is a screw shaft having 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 left or right. Accordingly, the first sliding block 130 can move in the vertical direction. However, the coupling method between the shaft 112 and the first sliding block 130 by the screw structure is exemplary, and the first sliding block 130 is slidably coupled to the shaft 112 by another known coupling method. Of course it can be.

The second driving unit 120 is disposed side by side 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 downwardly 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 as to be slidable in the vertical direction. The coupling structure of the shaft 122 and the second sliding block 140 may be the same as that of the coupling structure of the shaft 112 and the first sliding block 130 or may be slidably coupled in another known coupling method.

The first sliding block 130 may be moved vertically with respect to the bracket 100 by the first driving unit 110 . On the other hand, for convenience of description in relation to the movement direction of each component in this specification, the X-axis direction is the forward and backward direction, based on the coordinate system shown in FIG. It is assumed that the Y-axis direction is the left-right direction and the Z-axis direction is the up-down direction.

In one embodiment, in order to firmly couple the first sliding block 130 to the bracket 100 while sliding with respect to the bracket 100, the bracket 100 and the first sliding block 130 are engaged with each other with a guide rail. can be configured. For example, as shown in FIG. 6, the upper and lower outer rails 105 are formed on the surface of the bracket 100 facing the first sliding block 130, and the first sliding block 130 facing 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 so that they can slide. Accordingly, the first sliding block 130 moves in the vertical direction by the first driving unit 110, but is firmly coupled to the bracket 100 by the outer rail-inner rail structure, so that shaking during movement can be prevented. .

This inner rail-outer rail structure is exemplary, 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 into which the side protrusion 45 of the hair transplanter holder 40 can be inserted is formed on the surface of the first sliding block 130 facing the hair transplanter module 20 . As shown, the holder fitting part 133 may be formed as a concave groove on the surface of the first sliding block 130, but the lower part is open so that the side protrusion 45 of the hair transplant holder 40 is formed in the holder. It can be inserted into the holder fitting part 133 by sliding in an upward direction from the bottom of the fitting part 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 are engaged and coupled to both corner regions of the side protrusions 45 of the hair transplant holder 40. An inner rail 46 is formed. Accordingly, when the side protrusion 45 of the hair transplant holder 40 moves upward from the bottom of the holder fitting part 133, the inner rail 46 and the outer rail 136 are interlocked and fitted, and rise upward in this state. Thus, it is completely fitted into the holder fitting part 133.

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

In one embodiment, the rotating member 150 further includes a lever engaging portion 153 extending downward. The lever locking part 153 is caught on 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. Operations of the lever engaging portion 153 and the lever 620 will be described later with reference to FIGS. 9 and 10 .

Rotating member 150 can switch between a "closed state" and an "open state" by rotation. The “closed state” is a state shown in FIG. 7, in which the protrusion 151 of the rotating member 150 passes through the slot 133a of the holder fitting part 133 and is 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" is when the rotating member 150 rotates backward (ie, away from the hair transplanter holder 40) so that the holder protrusion 151 is out of the slot 133a of the holder fitting part 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 rotation member 150 may be configured to be in a closed state in a state in which no external force is applied.

According to this configuration, the hair transplant holder 40 slides upward in a state where the inner rail 46 of the side protrusion 45 of the hair transplant holder 40 and the outer rail 136 of the holder fitting portion 133 are engaged. When doing so, the holder protrusion 151 in the 'closed state' moves in a downward direction from the top of the side protrusion 45 of the hair transplanter holder 40, and the holder protrusion 151 moves the second concave portion 48 ) and the stepped portion 49 to be inserted into and seated in the first concave portion 47, so that the hair transplanter holder 40 is mounted with the first sliding block 130. In this mounted state, the holder protrusion 151 is inserted into the first concave portion 47, and the side protrusions 45 of the hair transplant holder 40 are inserted into the holder fitting part ( 133), the hair transplanter holder 40 can be firmly mounted without shaking from side to side or up and down in the first sliding block 130.

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 bar-shaped member and is located on the front surface of the first sliding block 130, and preferably, as shown in FIG. 7, the lower end 161 of the push bar 160 is the holder fitting part 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 is shown in FIG. As it slides downward, the end 161 protrudes into the holder fitting part 133 space.

Referring to FIG. 7 , the first sliding block 130 further includes an extension portion 137 extending in the lateral direction, and correspondingly, the bracket 100 may further include a stopper 107 protruding forward. . The extension part 137 and the stopper 107 are disposed at a position where they interfere with each other. Accordingly, when the first sliding block 130 descends by a predetermined distance or more, the extension part 137 collides with the stopper 107, so that the descending movement of the first sliding block 130 can be restricted.

Meanwhile, the second sliding block 140 is disposed side by side on one side of the first sliding block 130 and is configured to move vertically 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 includes a cap pressing portion 141 protruding forward.

As shown in FIGS. 5 and 6, in a state where the planter module 20 is mounted on the first sliding block 130, the cap pressing part 141 of the second sliding block 140 moves the planter 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.

8 is a perspective view of the planter holder 60 according to an embodiment. Since the first cradle 60 and the second cradle 60' shown in FIG. 1 have the same structure, the first cradle 60 will be described below, and the 'first cradle' is simply 'cradle'. to be expressed as

Referring to FIG. 8 , the planter holder 60 includes a holder block 600 having a plurality of planter seating parts 610 . As shown in FIG. 8 , a plurality of seating units 610 may be arranged in a line, and each planting unit seating unit 610 may accommodate one hair transplanter module 20 .

When the X-axis direction is referred to as the front-back direction in FIG. 8 , the lever 620 is installed on the front side of the planter mounting portion 610 of the holder block 600 . The lever 620 may have a length extending over the entire hair transplanter mounting portion 610 in the longitudinal direction of the holder block 600 (ie, the Y-axis direction). However, in an alternative embodiment, separate levers 620 may be independently installed at the front of each seating part 610 .

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

The lever 620 is composed of a first rotating part 621 and a second rotating part 622 that move in the vertical direction (ie, the Z-axis direction) around the lever shaft 623 disposed in the longitudinal direction of the holder block 600. do. The first rotation unit 621 is located in front of the lever shaft 623 and the second rotation unit 622 is located behind the lever shaft 623. In the illustrated embodiment, through-holes 622a are formed in the second rotating part 622 in each area facing the first concave part 47 of the hair transplanter 20 mounted on the seating part 610. The through-hole 622a is formed to prevent interference between the lever locking portion 153 and the second rotational portion 622 during a mounting operation to be described later with reference to FIG. 9 .

Now, with reference to FIGS. 9 and 10, an operation of mounting the planter module 20 mounted on the holder 60 to the mounting module 10 and an operation of placing the mounted hair transplanter module 20 on the holder 60 will explain

First, FIG. 9 shows an operation of mounting the hair transplanter module 20 mounted on the hair transplant holder 60 to the mounting module 10.

Referring to FIG. 9 (a), the hair transplanter module 20 is mounted on the holder 60, and the mounting module 10 is positioned 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 FIG. 9 (a), the first sliding block 130 and the second sliding block 140 are moved upward relative to the bracket 100, and thus the lower end of the bracket 103 is the lever engaging part. It will be seen that it is relatively lower than (153).

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

At this time, while the lever locking protrusion 151 descends and is fitted into the first concave portion 47, the second rotational portion 622 of the lever 620 is in an upward position as shown in FIG. Since the through hole 622a is formed in the second rotation unit 622, the lever locking protrusion 151 is not interfered with by the second rotation unit 622, and the rotation member 150 can maintain 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 transplant module 20 to the patient's treatment site, and the control unit 300 moves the first sliding block 130 The planting operation of the hair transplanter 30 may be performed by controlling the and the second sliding block 140, respectively.

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

Referring to FIG. 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 mounting portion 610 of the holder 60. there is. At this time, as can be seen from the comparison with FIG. 9 (a), in FIG. 10 (a), the first sliding block 130 is in a state of being moved relatively downward with respect to the bracket 100, and thus the lower end of the bracket 103 ) and the lever engaging part 153 are located at similar heights.

In this arrangement, the mounting module 10 descends downward toward the cradle 60 by the operation of the robot arm 50 . As the mounting module 10 descends, as shown in FIG. , At this time, the lever locking part 153 is caught on the second rotating part 622 and the rotating member 150 is rotated so that the rotating member 150 is switched to an open state. Therefore, the holding protrusion 151 of the holder of the rotating member 150 is dislodged from the first concave portion 47 of the hair transplant holder 40, and the hair transplant module 20 descends down by its own weight to move the holder 60 ) is seated on the seating portion 610.

In one embodiment, when the first sliding block 130 includes the push bar 160, the push bar 160 may assist the descending operation of the hair transplanter module 20. Since the push bar 160 tends to always move downward by elasticity, the end 161 of the push bar 160 moves along the hair transplant holder 40 even when the hair transplant holder 40 is mounted on the first sliding block 130. The upper surface (ie, 45a in FIG. 4) of the side protrusion 45 of is always pressed. When the rotation member 150 is switched to the open state and the holder protrusion 151 is removed from the first concave portion 47 of the hair transplant holder 40, not only the weight of the hair transplant module 20 but also the hair transplant holder By the pressing operation of the push bar end 161 pushing down the 40, it is possible to ensure that the hair transplanter module 20 slides down and falls off the first sliding block 130.

In this way, when the planter module 10 is placed on the holder 60, the robot arm 50 is moved to move the mounting module 10 to the planter module 20 mounted on the other seating part 610 of the holder 60. As shown in FIG. 9, it is possible to perform an operation of mounting the hair transplanter module 20 by moving upward, and thus, an operation of replacing the hair transplanter module 20 and feeding the patient to the patient is performed automatically without the operator's intervention. can do.

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

11 is an exemplary flowchart for performing a hair transplant operation using an automatic hair transplant device and a hair transplant position determining comb. Referring to FIG. 11, first, the hair transplantation area of the patient's scalp is exposed with a comb 200 for determining the location of hair transplantation. For example, as shown in FIG. 12, after sweeping the hair H with the comb 200 in one direction, the comb 200 adheres to the hair, and accordingly, the parted part P is exposed on the scalp to be transplanted. can make it The exposed portion of hair transplantation is shown in the through area 221 of the comb 200 as shown.

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

The shape and relative position of each marker 225 located at the four corners of the through 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 through area 221 are disposed. In addition, the control unit 300 sets, for example, the marker 225 at the bottom left of the four markers 225 in the plan view of FIG. An arbitrary position of the region 221 may be indicated by a coordinate value.

Next, based on the position of the marker 225 identified in step S20, the control unit 300 determines a position to be transplanted within the penetration area 221 (S30). Since information on the width (W) and length (L) of the penetrating area 221 of the comb 200 may be input into the controller 300 in advance, the controller 300 considers the area of the penetrating area 221 and hair transplants. The number and position to be done can be determined, and each can be expressed as a coordinate value.

Thereafter, the robot arm 50 and the hair transplanter mounting module 10 are driven under the control of the controller 300 to sequentially perform hair transplantation at the hair transplant location (S40). The operation of mounting the hair transplanter module 20 of the holder 60 to the hair transplanter mounting module 10 and the operation of mounting the mounted hair transplant module 20 on the holder 60 are shown in FIGS. 9 and 10, respectively. It can be done in the manner described. The operation of transplanting hair to the patient's planted area sets 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 types of the hair transplanter 30, and accordingly It can be performed by controlling the first and second sliding

blocks

130 and 140 respectively.

When the operation of transplanting hair to all hair transplant positions in the penetration area 221 is completed in this way, steps S10 to S40 may be repeated thereafter. That is, the operator combs the hair H again with the comb 200, slightly moves the position of the part P from the initial position to expose it (S10), identifies the marker 225 using the sensor 400 (S20), Determination of the location of hair transplantation based on the marker 225 (S30) and hair transplantation operation (S40) may be performed.

On the other hand, when the above-described automatic hair transplant method using the comb 200 is executed, if the operator presses the comb 200 on the patient's scalp to fix the position of the comb 200 once, the comb ( 200) and it is desirable not to move the patient's head either. However, there may be cases in which the comb 200 moves slightly or the patient slightly moves the head during the procedure, and in this case, it is required to continuously track (track) the location of hair transplantation using a sensor.

For example, while performing the hair transplant operation by driving the robot arm 50 and the mounting module 10 in step S40, the comb 200 is used by using another sensor such as the image sensor 400 and/or a laser sensor. And / or configured to continuously detect whether there is movement of the patient, and when the movement of the comb 200 or the patient is detected, the coordinates of the hair transplant position initially set in step S40 correspond to the movement of the comb 200 or the patient. Positional coordinate values may be corrected by applying a positional change according to the present invention, and a hair transplant operation may be continuously performed according to the corrected coordinate values.

As described above, those skilled in the art in the field to which the present invention belongs may make various modifications and variations from the description of the above specification. Therefore, the scope of the present invention should not be limited to the described embodiments and should not be defined, but should be defined by not only the claims to be described later, but also those equivalent to these claims.

Claims

As a comb for determining the location of hair transplantation,

a plate-shaped positioning unit 220 having a rectangular through area 221 having a predetermined width (W) and length (L) in the center; and

Comb for determining the positioning of hair follicles, characterized in that it comprises a; comb part 210 having a plurality of comb teeth 211 extending from one side of the positioning part.
According to claim 1,

Characterized in that it further comprises a location marker 225 formed on the surface of the positioning unit 220 adjacent to at least two corners among the four corners of the through area, respectively, the comb for determining the location of hair follicles.
According to claim 2,

Characterized in that the location marker is composed of a combination of one or more points or lines formed in a concave or protruding structure, the hair transplant positioning comb.
As an automatic planting method using a planter attached to an articulated robot arm,

Exposing the patient's hair transplant area with the comb for determining the location of hair transplant according to any one of claims 2 to 4 (S10);

Identifying the location marker of the comb for determining the location of hair transplantation using a sensor capable of recognizing the location marker (S20);

determining a location of hair transplantation within the through area based on the location of the identified location marker (S30); and

characterized in that it comprises a; step (S40) of driving the hair transplanter to sequentially plant hair at the hair transplant location.
According to claim 4,

In the step of transplanting (S40), when the sensor detects the movement of the comb for determining the location of hair transplantation or the movement of the patient, correcting the location of hair transplantation by applying a positional change according to the movement of the comb or patient to the determined location of hair transplantation. Characterized by automatic planting method.
A planter mounting module that can be mounted on a robot arm composed of a plurality of arms and joints,

Bracket 100 coupled to the robot arm;

A first sliding block 130 installed on the bracket and capable of sliding in the vertical direction with respect to the bracket; and

A second sliding block 140 installed on the bracket and disposed side by side on one side of the first sliding block and sliding in the vertical direction with respect to the bracket;

A planter mounting module characterized in that the multi-channel planter module 20 can be detachably mounted on the first sliding block 130.
According to claim 6,

a first rail 105 formed on the bracket with a predetermined length in the vertical direction; and

A second rail (135) formed on the first sliding block (130) with a predetermined length in the vertical direction and engaged with the first rail to be slidably coupled to the hair transplanter mounting module.
An automatic hair transplant device for automatically performing a hair transplant operation of transplanting hair to the patient's scalp using a hair transplant device,

The planter mounting module 10 according to any one of claims 1 to 7 attached to the articulated robot arm 50;

At least one cradle capable of holding a plurality of multi-channel hair transplant modules 20 according to any one of claims 1 to 7; and

Characterized in that, the automatic planting device comprising a; control unit for controlling the operation of the robot arm and the planter mounting module.
According to claim 8,

The robot arm and the planter mounting module are driven under the control of the control unit to mount the multi-channel planter module 20 mounted on the cradle to the planter mounting module 10 and the planter mounting module ( 10) characterized in that configured to perform an operation of mounting the multi-channel hair transplanter module 20 mounted on the holder 60, an automatic hair transplant device.