U.S. patent number RE42,381 [Application Number 12/259,482] was granted by the patent office on 2011-05-17 for hair transplantation method and apparatus.
This patent grant is currently assigned to Restoration Robotics, Inc.. Invention is credited to Philip L. Gildenberg.
United States Patent |
RE42,381 |
Gildenberg |
May 17, 2011 |
Hair transplantation method and apparatus
Abstract
A hair transplantation method and apparatus utilizes a robot,
which includes a robotic arm, having a hair follicle effector
associated with the robotic arm.
Inventors: |
Gildenberg; Philip L. (Houston,
TX) |
Assignee: |
Restoration Robotics, Inc.
(Mountain View, CA)
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Family
ID: |
25100401 |
Appl.
No.: |
12/259,482 |
Filed: |
October 28, 2008 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
Issue Date |
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09774154 |
Jan 30, 2001 |
6585746 |
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Reissue of: |
10354836 |
Jan 30, 2003 |
7130717 |
Oct 31, 2006 |
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Current U.S.
Class: |
700/245; 901/1;
700/259; 700/253; 700/257; 606/187; 700/251; 700/213; 112/470.12;
700/252; 700/250; 700/219; 606/133; 901/14; 700/220; 901/8;
112/470.13 |
Current CPC
Class: |
A61B
34/30 (20160201); A61B 17/3468 (20130101); A61B
17/32053 (20130101); A61F 2/10 (20130101); A61B
90/14 (20160201); A61B 2017/00752 (20130101); A61B
90/361 (20160201); A61B 2090/061 (20160201) |
Current International
Class: |
A61B
17/00 (20060101) |
Field of
Search: |
;700/245,251-253,213,219,220 ;901/1,8,14 ;602/540 ;606/133,187 |
References Cited
[Referenced By]
U.S. Patent Documents
Foreign Patent Documents
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10-000210 |
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Jan 1998 |
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JP |
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WO -98/25666 |
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Jun 1998 |
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WO |
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WO 98/25666 |
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Jun 1998 |
|
WO |
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WO -00/64379 |
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Nov 2000 |
|
WO |
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WO 00/64379 |
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Nov 2000 |
|
WO |
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Primary Examiner: Tran; Khoi
Assistant Examiner: Sriraman; Nikhil
Attorney, Agent or Firm: Vinitskaya; Lena I. Upham;
Sharon
Parent Case Text
RELATED APPLICATION .Iadd.DATA.Iaddend.
.[.This application.]. .Iadd.More than one reissue application has
been filed for the reissue of U.S. Pat. No. 7,130,717. The reissue
applications are application Ser. No. 11/702,485 filed on Feb. 5,
2007, and divisional application Ser. Nos. 12/259,434, 12/259,456,
and 12/259,482.Iaddend. (.Iadd.the present
application.Iaddend.).Iadd., all filed on Oct. 28, 2008. U.S. Pat.
No. 7,130,717.Iaddend. is a continuation of application Ser. No.
09/774,154, filed Jan. 30, 2001, now U.S. Pat. No. .[.6,58,746.].
.Iadd.6,585,746.Iaddend. which claims the benefit .[.of U.S.
Provisional Application No. 60/130,877 filed Apr. 23, 1999.].
.Iadd.under 35 U.S.C. .sctn.119 to PCT Application PCT/00/10596,
filed Apr. 20, 2000.Iaddend.. .[.application.]. .Iadd.Application
.Iaddend.Ser. No. 09/774,154 is hereby incorporated by reference.
Claims
What is claimed:
.[.1. A hair transplantation apparatus for harvesting at least one
hair follicle from a portion of a patient's scalp comprising: a
robot, including at least one robotic arm having a first end
adapted to be disposed adjacent the patient's scalp; a hair
follicle plug cutting device associated with the first end of the
robotic arm, the robotic arm being adjustably maneuverable so that
the plug cutting device is capable of being selectably placed
proximate the patient's scalp; and the plug cutting device being
operated using a substantially automated process to harvest the at
least one hair follicle..].
.[.2. The hair transplantation apparatus of claim 1, wherein the
robot is at least a partially automated robot, and the robotic arm
is moved to place the plug cutting device proximate the patient's
scalp using a substantially automated process..].
.[.3. The hair transplantation apparatus of claim 1, wherein the
portion of the patient's scalp under consideration is a flap that
has been removed from the patient's scalp..].
.[.4. The hair transplantation apparatus of claim 1, wherein the
robot is a stereotactic robot..].
.[.5. The hair transplantation apparatus of claim 4, further
comprising a plurality of fiducial marks strategically positioned
in relation to the stereotactic robot so that the position of the
robotic arm is known in relation to the patient's scalp..].
.[.6. The hair transplantation apparatus of claim 1, further
comprising a video system that includes a camera and a monitor for
displaying an image of the portion of patient's scalp under
consideration..].
.[.7. The hair transplantation apparatus of claim 6, wherein the
video system is used for mapping locations of existing hair
follicles on the portion of the patient's scalp under
consideration..].
.[.8. The hair transplantation apparatus of claim 7, wherein the
video system is used to determine an angular disposition of the at
least one hair follicle with respect to the patient's scalp..].
.[.9. The hair transplantation apparatus of claim 6, wherein the
video system is used to create a virtual image of the portion of
the patient's scalp under consideration..].
.[.10. The hair transplantation apparatus of claim 9, wherein the
video system includes a stereo pair of video cameras, and the
virtual image is created by scanning the patient's scalp using the
stereo pair of video cameras..].
.[.11. The hair transplantation apparatus of claim 9, wherein the
video system includes a video camera and a range finder, and the
virtual image is created by scanning the patient's scalp using the
video camera and the range finder..].
.[.12. The hair transplantation apparatus of claim 9, wherein the
video system includes at least one camera, and the virtual image is
acquired from a series of still images taken by the at least one
camera at different perspectives..].
.[.13. The hair transplantation apparatus of claim 9, wherein the
virtual image of the portion of the patient's scalp under
consideration includes a location and three-dimensional spacing of
the at least one hair follicle to be harvested..].
.[.14. The hair transplantation apparatus of claim 13, wherein the
robot is at least a partially automated robot, and the virtual
image of the portion of the patient's scalp under consideration is
used to move the robotic arm and place the plug cutting device
proximate the patient's scalp using a substantially automated
process..].
.[.15. The hair transplantation apparatus of claim 13, wherein the
video system is used to simultaneously display the virtual image
and a real-time image of the portion of the patient's scalp under
consideration..].
.[.16. The hair transplantation apparatus of claim 1, wherein the
hair follicle plug cutting device is operated to harvest a
follicular unit..].
.[.17. The hair transplantation apparatus of claim 16, wherein the
follicular unit includes a single hair follicle..].
.[.18. The hair transplantation apparatus of claim 16, wherein the
follicular unit includes a plurality of hair follicles..].
.[.19. A hair transplantation apparatus for implanting at least one
hair follicle into a portion of a patient's scalp comprising: a
robot, including at least one robotic arm having a first end
adapted to be disposed adjacent the patient's scalp; a hair
follicle introducer associated with the first end of the robotic
arm, the robotic arm being adjustably maneuverable so that the hair
follicle introducer is capable of being selectably placed proximate
the patient's scalp; and the hair follicle introducer is loaded
with the at least one hair follicle and then operated using a
substantially automated process to implant the at least one hair
follicle..].
.[.20. The hair transplantation apparatus of claim 19, wherein the
at least one hair follicle is loaded into the hair follicle
introducer using a substantially automated process..].
.[.21. The hair transplantation apparatus of claim 19, wherein the
robot is at least a partially automated robot, and the robotic arm
is moved to place the introducer proximate the patient's scalp
using a substantially automated process..].
.[.22. The hair transplantation apparatus of claim 19, wherein the
robot is a stereotactic robot..].
.[.23. The hair transplantation apparatus of claim 22, further
comprising a plurality of fiducial marks strategically positioned
in relation to the stereotactic robot so that the position of the
robotic arm is known in relation to the patient's scalp..].
.[.24. The hair transplantation apparatus of claim 19, further
comprising a video system that includes a camera and a monitor for
displaying an image of the portion of patient's scalp under
consideration..].
.[.25. The hair transplantation apparatus of claim 24, wherein the
video system is used for planning a desired location for the at
least one hair follicle to be implanted in the portion of the
patient's scalp under consideration..].
.[.26. The hair transplantation apparatus of claim 25, wherein, in
planning the desired location for the at least one hair follicle,
the video system is used to calculate a distance between a
plurality of hair follicles to be implanted in the portion of the
patient's scalp under consideration..].
.[.27. The hair transplantation apparatus of claim 25, wherein, in
planning the desired location for the at least one hair follicle,
the video system is used to plan a random distribution of a
plurality of hair follicles..].
.[.28. The hair transplantation apparatus of claim 24, wherein the
video system is used to determine an angular disposition of the at
least one hair follicle with respect to the patient's scalp..].
.[.29. The hair transplantation apparatus of claim 24, wherein the
video system is used to create a virtual image of the portion of
the patient's scalp under consideration..].
.[.30. The hair transplantation apparatus of claim 29, wherein the
video system includes a stereo pair of video cameras, and the
virtual image is created by scanning the patient's scalp using the
stereo pair of video cameras..].
.[.31. The hair transplantation apparatus of claim 29, wherein the
video system includes a video camera and a range finder, and the
virtual image is created by scanning the patient's scalp using the
video camera and the range finder..].
.[.32. The hair transplantation apparatus of claim 29, wherein the
video system includes at least one camera, and the virtual image is
acquired from a series of still images taken by the at least one
camera at different perspectives..].
.[.33. The hair transplantation apparatus of claim 29, wherein the
virtual image of the portion of the patient's scalp under
consideration includes a three-dimensional spacing of a location
the at least one hair follicle is to be implanted..].
.[.34. The hair transplantation apparatus of claim 33, wherein the
robot is at least a partially automated robot, and the virtual
image of the portion of the patient's scalp under consideration is
used to move the robotic arm and place the introducer proximate the
patient's scalp using a substantially automated process..].
.[.35. The hair transplantation apparatus of claim 29, wherein the
video system is used to simultaneously display the virtual image
and a real-time image of the portion of the patient's scalp under
consideration..].
.[.36. The hair transplantation apparatus of claim 19, wherein the
at least one hair follicle is implanted in the patient's scalp at a
predetermined depth, and the robot determines when the
predetermined depth is attained using the substantially automated
process..].
.[.37. A hair transplantation apparatus for implanting at least one
hair follicle into a portion of a patient's scalp comprising: a
robot, including at least one robotic arm having a first end
adapted to be disposed adjacent the patient's scalp; a hair
follicle introducer associated with the first end of the robotic
arm, the robot being capable of registering a position of the
introducer with at least a portion of the patient's scalp under
consideration so that the position of the introducer is known in
three-dimensional space with respect to the portion of the
patient's scalp under consideration, and the robotic arm is moved
to place the introducer proximate the patient's scalp using a
substantially automated process; and the hair follicle introducer
is loaded with the at least one hair follicle and then operated
using a substantially automated process to implant the at least one
hair follicle..].
.[.38. The hair transplantation apparatus of claim 37, wherein the
at least one hair follicle is loaded into the hair follicle
introducer using a substantially automated process..].
.[.39. The hair transplantation apparatus of claim 37, wherein the
robot is a stereotactic robot..].
.[.40. The hair transplantation apparatus of claim 39, further
comprising a plurality of fiducial marks strategically positioned
in relation to the stereotactic robot so that the position of the
robotic arm is known in relation to the patient's scalp..].
.[.41. The hair transplantation apparatus of claim 37, further
comprising a video system that includes a camera and a monitor for
displaying an image of the portion of patient's scalp under
consideration..].
.[.42. The hair transplantation apparatus of claim 41, wherein the
video system is used for planning a desired location for the at
least one hair follicle to be implanted in the portion of the
patient's scalp under consideration..].
.[.43. The hair transplantation apparatus of claim 42, wherein, in
planning the desired location of the at least one hair follicle,
the video system is used to calculate a distance between a
plurality of hair follicles to be implanted in the portion of the
patient's scalp under consideration..].
.[.44. The hair transplantation apparatus of claim 42, wherein, in
planning the desired location of the at least one hair follicle,
the video system is used to plan a random distribution of a
plurality of hair follicles..].
.[.45. The hair transplantation apparatus of claim 41, wherein the
video system is used to create a virtual image of the portion of
the patient's scalp under consideration..].
.[.46. The hair transplantation apparatus of claim 45, wherein the
video system includes a stereo pair of video cameras, and the
virtual image is created by scanning the patient's scalp using the
stereo pair of video cameras..].
.[.47. The hair transplantation apparatus of claim 45, wherein the
video system includes a video camera and a range finder, and the
virtual image is created by scanning the patient's scalp using the
video camera and the range finder..].
.[.48. The hair transplantation apparatus of claim 45, wherein the
video system includes at least one camera, and the virtual image is
acquired from a series of still images taken by the at least one
camera at different perspectives..].
.[.49. The hair transplantation apparatus of claim 45, wherein the
virtual image of the portion of the patient's scalp under
consideration includes a three-dimensional spacing of a location
the at least one hair follicle is to be implanted..].
.[.50. The hair transplantation apparatus of claim 45, wherein the
video system is used to simultaneously display the virtual image
and a real-time image of the portion of the patient's scalp under
consideration..].
.[.51. The hair transplantation apparatus of claim 37, wherein the
at least one hair follicle is implanted in the patient's scalp at a
predetermined depth, and the robot determines when the
predetermined depth is attained using the substantially automated
process..].
.[.52. A hair transplantation apparatus for harvesting at least one
hair follicle from a portion of a patient's scalp comprising: a
robot, including at least one robotic arm having a first end
adapted to be disposed adjacent the patient's scalp; a hair
follicle plug cutting device associated with the first end of the
robotic arm, the robot being capable of registering a position of
the plug cutting device with at least a portion of the patient's
scalp under consideration so that the position of the plug cutting
device is known in three-dimensional space with respect to the
portion of the patient's scalp under consideration, and the robotic
arm is moved to place the plug cutting device proximate the
patient's scalp using a substantially automated process; and the
plug cutting device being operated using a substantially automated
process to harvest the at least one hair follicle..].
.[.53. The hair transplantation apparatus of claim 52, wherein the
portion of the patient's scalp under consideration is a flap that
has been removed from the patient's scalp..].
.[.54. The hair transplantation apparatus of claim 52, wherein the
robot is a stereotactic robot..].
.[.55. The hair transplantation apparatus of claim 54, further
comprising a plurality of fiducial marks strategically positioned
in relation to the stereotactic robot so that the position of the
robotic arm is known in relation to the patient's scalp..].
.[.56. The hair transplantation apparatus of claim 52, further
comprising a video system that includes a camera and a monitor for
displaying an image of the portion of patient's scalp under
consideration..].
.[.57. The hair transplantation apparatus of claim 56, wherein the
video system is used for mapping locations of existing hair
follicles on the portion of the patient's scalp under
consideration..].
.[.58. The hair transplantation apparatus of claim 57, wherein the
video system is used to determine the angular disposition of the at
least one hair follicle with respect to the patient's scalp..].
.[.59. The hair transplantation apparatus of claim 56, wherein the
video system is used to create a virtual image of the portion of
the patient's scalp under consideration..].
.[.60. The hair transplantation apparatus of claim 59, wherein the
video system includes a stereo pair of video cameras, and the
virtual image is created by scanning the patient's scalp using the
stereo pair of video cameras..].
.[.61. The hair transplantation apparatus of claim 59, wherein the
video system includes a video camera and a range finder, and the
virtual image is created by scanning the patient's scalp using the
video camera and the range finder..].
.[.62. The hair transplantation apparatus of claim 59, wherein the
video system includes at least one camera, and the virtual image is
acquired from a series of still images taken by the at least one
camera at different perspectives..].
.[.63. The hair transplantation apparatus of claim 59, wherein the
virtual image of the portion of the patient's scalp under
consideration includes a location and three-dimensional spacing of
the at least one hair follicle to be harvested..].
.[.64. The hair transplantation apparatus of claim 59, wherein the
video system is used to simultaneously display the virtual image
and a real-time image of the portion of the patient's scalp under
consideration..].
.[.65. The hair transplantation apparatus of claim 52, wherein the
hair follicle plug cutting device is operated to harvest a
follicular unit..].
.[.66. The hair transplantation apparatus of claim 65, wherein the
follicular unit includes a single hair follicle..].
.[.67. The hair transplantation apparatus of claim 65, wherein the
follicular unit includes a plurality of hair follicles..].
.[.68. A hair transplantation apparatus for harvesting at least one
hair follicle and implanting the at least one hair follicle
from/into a portion of a patient's scalp comprising: a robot,
including at least one robotic arm having a first end adapted to be
disposed adjacent the patient's scalp; an instrument holder
associated with the first end of the robotic arm; a hair plug
cutting device associated with the instrument holder, the robot
being adjustably maneuverable so that the plug cutting device is
capable of being selectably placed proximate the patient's scalp;
the plug cutting device being operated using a substantially
automated process to harvest the at least one hair follicle from a
first location of the patient's scalp; a hair follicle introducer
associated with the instrument holder, the robot being adjustably
maneuverable so that the introducer is capable of being selectably
placed proximate the patient's scalp; and the hair follicle
introducer being operated using a substantially automated process
to implant the at least one hair follicle into a second location of
the patient's scalp..].
.[.69. The hair transplantation apparatus of claim 68, wherein the
plug cutting device and the hair follicle introducer are the same
device..].
.[.70. The hair transplantation apparatus of claim 68, wherein the
robot is at least a partially automated robot, and the robotic arm
is moved to place the plug cutting device and the introducer
proximate the patient's scalp using a substantially automated
process..].
.[.71. The hair transplantation apparatus of claim 68, wherein the
robot is a stereotactic robot..].
.[.72. The hair transplantation apparatus of claim 71, further
comprising a plurality of fiducial marks strategically positioned
in relation to the stereotactic robot so that the position of the
robotic arm is known in relation to the patient's scalp..].
.[.73. The hair transplantation apparatus of claim 68, further
comprising a video system that includes a camera and a monitor for
displaying an image of the portion of patient's scalp under
consideration..].
.[.74. The hair transplantation apparatus of claim 73, wherein the
video system is used for mapping the first location of the
patient's scalp..].
.[.75. The hair transplantation apparatus of claim 74, wherein the
video system is used to determine the angular disposition of the at
least one hair follicle with respect to the patient's scalp..].
.[.76. The hair transplantation apparatus of claim 73, wherein the
video system is used for planning the second location of the
patient's scalp..].
.[.77. The hair transplantation apparatus of claim 76, wherein, in
planning the second location, the video system is used to calculate
a distance between the second location and a plurality of
additional locations hair follicles are to be implanted in the
patient's scalp..].
.[.78. The hair transplantation apparatus of claim 73, wherein the
video system is used to create a virtual image of the portion of
the patient's scalp under consideration..].
.[.79. The hair transplantation apparatus of claim 78, wherein the
video system includes a stereo pair of video cameras, and the
virtual image is created by scanning the patient's scalp using the
stereo pair of video cameras..].
.[.80. The hair transplantation apparatus of claim 78, wherein the
video system includes a video camera and a range finder, and the
virtual image is created by scanning the patient's scalp using the
video camera and the range finder..].
.[.81. The hair transplantation apparatus of claim 78, wherein the
video system includes at least one camera, and the virtual image is
acquired from a series of still images taken by the at least one
camera at different perspectives..].
.[.82. The hair transplantation apparatus of claim 78, wherein the
virtual image of the portion of the patient's scalp under
consideration includes a three-dimensional image of the first
location of the patient's scalp..].
.[.83. The hair transplantation apparatus of claim 82, wherein the
robot is at least a partially automated robot, and the virtual
image of the first location is used to move the robotic arm and
place the plug cutting device proximate the patient's scalp using a
substantially automated process..].
.[.84. The hair transplantation apparatus of claim 78, wherein the
virtual image of the portion of the patient's scalp under
consideration includes a three-dimensional image of the second
location of the patient's scalp..].
.[.85. The hair transplantation apparatus of claim 84, wherein the
robot is at least a partially automated robot, and the virtual
image of the second location is used to move the robotic arm and
place the introducer proximate the patient's scalp using a
substantially automated process..].
.[.86. The hair transplantation apparatus of claim 78, wherein the
video system is used to simultaneously display the virtual image
and a real-time image of the portion of the patient's scalp under
consideration..].
.[.87. The hair transplantation apparatus of claim 68, wherein the
at least one hair follicle is implanted in the patient's scalp at a
predetermined depth, and the robot determines when the
predetermined depth is attained using the substantially automated
process..].
.[.88. The hair transplantation apparatus of claim 68, wherein the
hair follicle plug cutting device is operated to harvest a
follicular unit..].
.[.89. The hair transplantation apparatus of claim 88, wherein the
follicular unit includes a single hair follicle..].
.[.90. The hair transplantation apparatus of claim 88, wherein the
follicular unit includes a plurality of hair follicles..].
.[.91. A hair transplantation apparatus for harvesting at least one
hair follicle and implanting the at least one hair follicle
from/into a portion of a patient's scalp comprising: a robot,
including at least one robotic arm having a first end adapted to be
disposed adjacent the patient's scalp; an instrument holder
associated with the first end of the robotic arm; a hair follicle
plug cutting device associated with the instrument holder, the
robot being capable of registering a position of the plug cutting
device with a first location of the patient's scalp so that the
position of the plug cutting device is known in three-dimensional
space with respect to the first location, and the robotic arm is
moved to place the plug cutting device proximate the first location
using a substantially automated process; the plug cutting device
being operated using a substantially automated process to harvest
the at least one hair follicle; a hair follicle introducer
associated with the instrument holder, the robot being capable of
registering a position of the introducer with a second location of
the patient's scalp so that the position of the introducer is known
in three-dimensional space with respect to the second location, and
the robotic arm is moved to place the introducer proximate the
second location using a substantially automated process; and the
hair follicle introducer is loaded with the at least one hair
follicle and then operated using a substantially automated process
to implant the at least one hair follicle..].
.[.92. The hair transplantation apparatus of claim 91, wherein the
plug cutting device and the hair follicle introducer are the same
device..].
.[.93. The hair transplantation apparatus of claim 91, wherein the
robot is a stereotactic robot..].
.[.94. The hair transplantation apparatus of claim 93, further
comprising a plurality of fiducial marks strategically positioned
in relation to the stereotactic robot so that the position of the
robotic arm is known in relation to the patient's scalp..].
.[.95. The hair transplantation apparatus of claim 91, further
comprising a video system that includes a camera and a monitor for
displaying an image of the portion of patient's scalp under
consideration..].
.[.96. The hair transplantation apparatus of claim 95, wherein the
video system is used for mapping the first location of the
patient's scalp..].
.[.97. The hair transplantation apparatus of claim 95, wherein the
video system is used for planning the second location of the
patient's scalp..].
.[.98. The hair transplantation apparatus of claim 95, wherein the
video system is used to create a virtual image of the portion of
the patient's scalp under consideration..].
.[.99. The hair transplantation apparatus of claim 98, wherein the
video system includes a stereo pair of video cameras, and the
virtual image is created by scanning the patient's scalp using the
stereo pair of video cameras..].
.[.100. The hair transplantation apparatus of claim 98, wherein the
video system includes a video camera and a range finder, and the
virtual image is created by scanning the patient's scalp using the
video camera and the range finder..].
.[.101. The hair transplantation apparatus of claim 98, wherein the
video system includes at least one camera, and the virtual image is
acquired from a series of still images taken by the at least one
camera at different perspectives..].
.[.102. The hair transplantation apparatus of claim 98, wherein the
virtual image of the portion of the patient's scalp under
consideration includes a three-dimensional image of the first
location of the patient's scalp..].
.[.103. The hair transplantation apparatus of claim 98, wherein the
virtual image of the portion of the patient's scalp under
consideration includes a three-dimensional image of the second
location of the patient's scalp..].
.[.104. The hair transplantation apparatus of claim 98, wherein the
video system simultaneously displays the virtual image and a
real-time image of the portion of the patient's scalp under
consideration..].
.[.105. The hair transplantation apparatus of claim 91, wherein the
at least one hair follicle is loaded into the hair follicle
introducer using a substantially automated process..].
.[.106. The hair transplantation apparatus of claim 91, wherein the
at least one hair follicle is implanted in the patient's scalp at a
predetermined depth, and the robot determines when the
predetermined depth is attained using the substantially automated
process..].
.[.107. The hair transplantation apparatus of claim 91, wherein the
hair follicle plug cutting device is operated to harvest a
follicular unit..].
.[.108. The hair transplantation apparatus of claim 107, wherein
the follicular unit includes a single hair follicle..].
.[.109. The hair transplantation apparatus of claim 107, wherein
the follicular unit includes a plurality of hair follicles..].
.Iadd.110. A method of planning transplantation of hair grafts,
comprising: using an imaging system to identify a location of
individual hair follicles on a surface containing hair follicles;
and selecting from the identified hair follicles a hair graft for
harvesting based on a user-specified parameter, wherein selecting
is accomplished at least in part with the use of a computer
program..Iaddend.
.Iadd.111. The method of claim 110, wherein the user-specified
parameter is every Nth hair follicle..Iaddend.
.Iadd.112. The method of claim 110, wherein the user-specified
parameter comprises reserving hair follicles that are within a
user-specified region of interest..Iaddend.
.Iadd.113. The method of claim 110, wherein identifying and
selecting hair follicles are computer implemented..Iaddend.
.Iadd.114. The method of claim 110, further comprising acquiring
one or more images of the location from which hair follicles are to
be harvested..Iaddend.
.Iadd.115. The method of claim 110, further comprising harvesting
the selected hair graft wherein harvesting is at least partially
computer controlled..Iaddend.
.Iadd.116. A system for planning transplantation of hair grafts,
comprising: a computer programmed to receive an image of a surface
containing hair follicles, the image being acquired by an image
acquisition device; record locations of individual hair follicles
in the image, the hair follicles being previously identified; and
carry out selection of one or more of the identified hair follicles
for harvesting based on a user-specified parameter..Iaddend.
.Iadd.117. The system of claim 116, further comprising a display
coupled to the computer for displaying the locations and/or
intended distribution of hair follicles..Iaddend.
.Iadd.118. The system of claim 116, wherein the computer is further
programmed to assist in planning implantation locations and display
an image simulating an appearance of hair follicles being implanted
in the implantation locations..Iaddend.
.Iadd.119. The system of claim 116, further comprising an image
acquisition device, including a camera..Iaddend.
.Iadd.120. The system of claim 116, wherein the computer is
associated with a robotic hair transplantation system..Iaddend.
.Iadd.121. The system of claim 118, wherein the computer is further
programmed to determine an angle of insertion of a hair follicle to
be implanted..Iaddend.
.Iadd.122. The system of claim 121, wherein the computer is
programmed to gradually adjust the angle of insertion from one
region to another..Iaddend.
.Iadd.123. The method of claim 110, wherein said using an imaging
system to identify a location of individual hair follicles
comprises determining three-dimensional coordinates of the hair
follicles..Iaddend.
.Iadd.124. The method of claim 110, wherein the method is used in
conjunction with a robotic hair transplantation
procedure..Iaddend.
.Iadd.125. The method of claim 110, further comprising determining
an angular disposition of the hair follicles..Iaddend.
.Iadd.126. The method of claim 110, further comprising plotting
hair graft implantation locations based upon the location of the
hair follicles..Iaddend.
.Iadd.127. The method of claim 126, further comprising displaying
an image simulating a distribution of the hair follicles and
plotted hair grafts..Iaddend.
.Iadd.128. A method of planning transplantation of hair grafts,
comprising: identifying a plurality of individual hair follicles
from data obtained by an imaging system; and selecting from the
plurality of hair follicles based on a user-specified parameter an
individual hair graft to be harvested, wherein selecting is
accomplished at least in part using a processor programmed to carry
out a user-specified selection..Iaddend.
.Iadd.129. The method of claim 128, wherein the user-specified
parameter is every Nth hair follicle..Iaddend.
.Iadd.130. The method of claim 128, wherein the user-specified
parameter comprises reserving hair follicles that are within a
user-specified region of interest..Iaddend.
.Iadd.131. The method of claim 128, wherein identifying and
selecting are computer implemented..Iaddend.
.Iadd.132. The method of claim 128, further comprising acquiring
one or more images of a location from which hair grafts are to be
harvested..Iaddend.
.Iadd.133. The method of claim 128, further comprising harvesting
the selected hair grafts..Iaddend.
.Iadd.134. The method of claim 128, further comprising mapping
locations and three-dimensional coordinates of the plurality of
hair follicles..Iaddend.
.Iadd.135. The method of claim 128, wherein the method is used in
conjunction with a robotic hair transplantation procedure..Iaddend.
Description
BACKGROUND OF THE INVENTION
1. Field of the Invention
This invention relates generally to a method and apparatus for hair
transplantation, and, more particularly, to a method and apparatus
for hair transplantation which utilize a robot.
2. Description of the Related Art
Hair transplantation is presently a widely-performed procedure.
Typically, it involves implanting many individual hair grafts. The
individual grafts may be micrografts or minigrafts. In a
"Megasession", or hair transplantation session, a large number of
grafts, usually from 1000 to 2000 grafts, are implanted.
Micrografts may contain one to two hair follicles and minigrafts
may contain from three to five hair follicles Generally, the number
of grafts done depends on the degree of baldness and density of
hair desired for the transplantation.
The transplantation technique generally requires removal of an
elliptical-shaped flap of scalp from the occiput, or back of the
patient's head. The tiny micro and/or minigrafts may be removed
from the flap of the patient's scalp which has been removed. The
incision made to remove the flap is stitched together, and normally
leaves a well-concealed scar. The new grafts, which might be micro
or mini-grafts are then inserted in very small slits, or openings,
formed in the patient's scalp where it is desired to have the
grafts implanted. Usually, the grafts are implanted approximately
1.5 mm. from each other into the bald area of the patient's scalp
to be treated. Generally, the slits, or small openings, formed in
the patient's scalp to receive the grafts, heal very well, normally
without leaving any scars.
The Megasession procedure generally takes a complete workday of
from five to eight hours to complete, depending upon the number of
grafts to be transplanted. Normally, one team of physicians and/or
physicians assistants and/or nurses work together form the micro
and/or minigrafts from the flap of removed scalp. They carefully
trim the flap of scalp into the desired number of micro and/or
minigrafts, each micro and/or minigraft containing at least one
hair follicle. This step is generally referred to as the harvesting
step and requires the use of very sharp, fine knives, or scalpels,
and the use of magnification devices, such as magnifying loops, by
the first surgical team. Generally, a second surgical team forms
the slits, or openings in the patient's scalp which are to receive
the hair grafts, and each hair graft, or plug, is individually
placed within each incision, or opening, by the second surgical
team. The angle of insertion and the distribution of the recipient
sites generally reflects the experience and art of the individual
surgeon performing the procedure.
The disadvantages associated with the foregoing described
Megasession hair transplantation technique, are that it is a long,
laborious, and tedious procedure, which may begin at 7:30 am and
not be completed until 2:00 pm to 5:00 pm, dependent upon the
number of grafts, or plugs, to be transplanted and the efficiency
of the teams. Furthermore, because of the labor intensiveness of
the procedure, and the fact that all the individuals involved in
the procedure are highly skilled and well trained and experienced,
the procedure can be a very expensive procedure, the cost varying
from $2000 to $12,000 dollars or more, dependent upon the number of
hair grafts, or plugs, to be implanted.
Accordingly, prior to the development of the present method and
apparatus for hair transplantation, there has been no hair
transplantation technique which is not a long, laborious, tedious,
uneconomical procedure, and is not overly labor intensive.
Therefore, the art has sought a hair transplantation technique
which is less long, laborious, tedious, and more economical, and
which technique is less labor intensive.
The present invention is directed to overcoming, or at least
reducing the effects of, one or more of the problems set forth
above.
SUMMARY OF THE INVENTION
In accordance with the invention, the foregoing advantages have
been achieved through the present hair transplantation method and
apparatus for implanting at least one hair follicle into a portion
of a patient's scalp. The hair transplantation apparatus of the
present invention includes: a robot, including at least one robotic
arm having a first end adapted to be disposed adjacent the
patient's scalp; a hair follicle effector associated with the first
end of the robotic arm, the robotic arm being adjustably
maneuverable so that the hair follicle effector is capable of being
selectably placed proximate the patient's scalp and operated to
implant the at least one hair follicle into a portion of the
patient's scalp; and the hair follicle effector being moved and
operated to implant the at least one hair follicle into a portion
of the patient's scalp. A feature of the present invention is that
the hair follicle effector may be either a single hair follicle
insertion device which includes a needle, or a multiple hair
follicle insertion device which includes multiple needles.
Another feature of the present invention is that the apparatus may
include a video system adapted to be associated with the patient's
scalp and adapted to identify at least one location on the scalp
where the at least one hair follicle is to be implanted. The video
system may include a camera and a distance measuring device to
measure the distance from the patient's scalp to the camera.
Another feature of the present invention is that a plug cutting
device may be associated with the first end of the at least one
robotic arm, the plug cutting device being adapted to remove a plug
of the patient's scalp, the plug containing at least one hair
follicle. The plug cutting device may be a single hair follicle
insertion device which includes a needle. Another feature of the
present invention is that a plug trimming device may be associated
with the first end of the at least one robotic arm, the plug
trimming device being adapted to trim a portion of a flap, removed
from the patient's scalp, into a plurality of plugs of the
patient's scalp, each plug containing at least one hair follicle.
An additional feature of the present invention includes a
stereotactic frame, adapted to be releaseably secured to the
patient's head, for restraining the patient's head with respect to
a stereotactic robot.
In accordance with the invention, the foregoing advantages have
also been achieved through the present method for transplanting
hair by implanting at least one hair follicle into a portion of a
patient's scalp, the patient's scalp having a plurality of existing
hair follicles. This aspect of the present invention includes the
steps of: providing a robot, the robot including at least one
robotic arm, the at least one robotic arm having a first end;
associating a hair follicle effector with the first end of the
robotic arm, the robotic arm being adjustably maneuverable so that
the hair follicle effector is capable of being selectably placed
proximate the patient's scalp; loading the hair follicle effector
with at least one existing hair follicle; disposing the first end
of the robotic arm adjacent to the patient's scalp; moving the hair
follicle effector toward the patient's scalp; and operating the
hair follicle effector to implant the at least one existing hair
follicle into a portion of the patient's scalp.
Another feature of this aspect of the present invention may include
the step of utilizing as the hair follicle effector either a single
hair follicle insertion device which includes a needle, or a
multiple hair follicle insertion device which includes multiple
needles. A further feature of this aspect of the present invention
may include, prior to implanting the at least one existing hair
follicle, the steps of: providing a video system; associating the
video system with the patient's scalp; scanning the patient's scalp
with the video system to determine the locations of the existing
hair follicles and the location of the patient's scalp in three
dimensions. An additional feature of the present invention may
include the steps of: utilizing a stereotactic video system which
includes a camera and a distance measuring sensor; and measuring
the distance from the patient's scalp to the camera while the
patient's scalp is being scanned.
An additional feature of this aspect of the present invention may
include the step of determining the angular disposition of the
existing hair follicles with respect to the patient's scalp.
Another feature of this aspect of the present invention may include
the step of utilizing a single hair follicle insertion device,
which includes a needle, as the plug cutting device.
Another feature of this aspect of the present invention, prior to
the implantation of the at least one existing hair follicle, may
include the steps of: providing a plug trimming device; associating
the plug trimming device with the first end of the at least one
robotic arm; disposing a flap containing a plurality of existing
hair follicles, previously removed from the patient's scalp, upon a
support surface; and trimming the flap into a plurality of plugs of
the patient's scalp, each plug containing at least one existing
hair follicle. An additional feature of this aspect of the present
invention may include the steps of releaseably securing a
stereotactic frame to the patient's head and restraining the
patient's head with respect to a stereotactic robot.
The hair transplantation method and apparatus of the present
invention, when compared to previously proposed operating the hair
follicle effector to implant the at least one existing hair
follicle into a portion of the patient's scalp hair transplantation
methods and apparatus, are believed to have the advantages of
providing a shorter, less laborious, less tedious, more economical,
and less labor intensive hair transplantation procedure.
BRIEF DESCRIPTION OF THE DRAWINGS
The invention may be best understood by reference to the following
description taken in conjunction with the accompanying drawings, in
which like reference numerals identify like elements, and in
which:
FIG. 1 is a rear view of a patient's head illustrating an
elliptical-shaped piece of scalp having been removed from the
occiput, or back of the patient's head;
FIG. 2 is a perspective view of the flap of scalp removed from the
patient's head of FIG. 1, and illustrating its division into a
plurality of micrografts and minigrafts;
FIG. 3 is a rear view of a patient's head after the elliptical
shaped incision has been sutured;
FIG. 4 is a side view of the patient's head of FIG. 1 with a
plurality of hair follicles having been implanted in the patient's
scalp;
FIG. 5 is a side view of a hair follicle introducer;
FIG. 6 is a perspective view of a stereotactic robot, in accordance
with one embodiment of the present invention, implanting a hair
follicle into the scalp of the patient of FIG. 1;
FIG. 7 is a perspective view of the patient of FIG. 1 with a
stereotactic video system associated with the patient's scalp;
and
FIG. 8 is a perspective view of a plug cutting device for use in
the present invention.
While the invention is susceptible to various modifications and
alternative forms, specific embodiments thereof have been shown by
way of example in the drawings and are herein described in detail.
It should be understood, however, that the description herein of
specific embodiments is not intended to limit the invention to the
particular forms disclosed, but on the contrary, the intention is
to cover all modifications, equivalents, and alternatives falling
within the spirit and scope of the invention as defined by the
appended claims.
DETAILED DESCRIPTION OF SPECIFIC EMBODIMENTS
Illustrative embodiments of the invention are described below. In
the interest of clarity, not all features of an actual
implementation are described in this specification. It will of
course be appreciated that in the development of any such actual
embodiment, numerous implementation-specific decisions must be made
to achieve the developers' specific goals, such as compliance with
system-related and business-related constraints, which will vary
from one implementation to another. Moreover, it will be
appreciated that such a development effort might be complex and
time-consuming, but would nevertheless be a routine undertaking for
those of ordinary skill in the art having the benefit of this
disclosure.
With reference to FIGS. 1-4, the prior art "Megasession" hair
transplantation technique is illustrated. As seen in FIG. 1,
patient 100 has hair, or hair follicles, 101, disposed upon the
scalp 102 of patient 100. In order to obtain the hair follicles 101
for transplantation into the bald portion 103 of the scalp 102 of
patient 100, a surgeon typically removes a elliptical-shaped flap
104 from the patient's scalp 102, the flap 104 containing a
plurality of existing hair follicles 101. As to hair follicles 101,
throughout this written description and the claims appended hereto,
the use of the term "hair follicle" encompasses both the follicle
and the hair shaft disposed within the follicle.
With reference to FIG. 2, a team of technicians, typically cleans
the flap 104 and divides flap 104 into a plurality of smaller
pieces 105, each piece 105 containing a plurality of hair follicles
101. The team of technicians would then trim and divide the smaller
pieces 105 into a plurality of grafts, or small plugs, 106.
Generally, the grafts, or small plugs, 106, are referred to as
micrografts, 107 when they contain one to two hair follicles 101
and are referred to as "minigrafts" 108 when they contain from
three to five hair follicles 101. As illustrated in FIG. 3, the
elliptical-shaped incision 110 (FIG. 1) is sutured by the surgeon
in a conventional manner leaving a very fine scar, or no scar, in
the back of the head of patient 100.
With reference to FIG. 4, the transplantation of a plurality of
micrografts 107, and minigrafts 108, is illustrated as having been
transplanted upon the bald portion 103 of the scalp 102 of patient
100. The spacing depicted between the various grafts, or small
plugs, is greatly exaggerated, for ease of illustration. Typically,
the grafts 107, 108 are spaced approximately 1.5 mm. from each
other. As previously discussed, a surgical team performs the
transplantation of the grafts 107, 108 into the scalp 102 of
patient 100. Typically, the surgeon makes a small incision in the
desired location in the bald portion 103 of the patient's scalp
102, and each graft, or plug, 107, 108 is inserted into the
incision. The angle of insertion and the distribution and location
of the incisions normally reflects the experience and art of the
individual surgeon. Typically, the foregoing procedure is performed
under a local anesthetic, and hemostasis, or the prevention and/or
stopping of bleeding, is obtained by adding epinephrine to the
local anesthetic, as well as by applying manual pressure following
the transplantation, or insertion, of the grafts, or plugs, 107,
108 into the scalp 102. As previously described, from 1000 to 2000
grafts 107, 108 may be transplanted in one surgical session or
Megasession.
With reference to FIG. 5, a hair follicle introducer 115 is
illustrated. Hair follicle introducer 115 may be a single hair
follicle insertion device 116, such as that known as a Choi single
hair insertion instrument, or similar instrument, as is known in
the art. As will be hereinafter described in greater detail, the
present invention may utilize the hair follicle hair introducer 115
of FIG. 5. The single hair follicle insertion device 116 of FIG. 5
could also be used by the surgeon in the Megasession
transplantation technique illustrated in FIGS. 1-4. The single hair
follicle insertion device 116 typically includes a needle 117, as
is known in the art, into which is loaded the hair follicle, as is
known in the art.
With reference to FIG. 6, the hair transplantation apparatus 200 of
the present invention for implanting at least one hair follicle 101
into a portion of a patient's scalp 102 is illustrated. The hair
transplantation apparatus 200 generally includes: a stereotactic
robot 201, having at least one robotic arm 202 and a hair follicle
introducer 115. Stereotactic robot 201 may be a commercially
available stereotactic robot, such as the NeuroMate Stereotactic
Robot manufactured by Immi Medical Robots of Grenoble, France and
sold in the United States by its subsidiary Innovative Medical
Machines International of Wellesley, Mass. Another commercially
available stereotactic robot which may be utilized in the present
invention is that designed by Tsubikawa. The NeuroMate Stereotactic
Robot is illustrated in FIG. 6. Stereotactic robot 201 is a
computer-controlled, image-directed robotic assistant which
includes robotic arm 202 which has a first end 203 adapted to be
disposed adjacent the patient's scalp 102. The robotic arm 202 may
have a plurality of axes of rotation, associated therewith, robotic
arm 202 having five axes of rotation, or rotatable joints 205-209.
As illustrated, robotic arm 202 includes two arms members 210, 211,
rotatably journaled to each other about rotational axis 206. The
first end 203 of robotic arm 202 includes an instrument holder 212
which is rotatably mounted about axis of rotation 205. The
stereotactic robot 201 may include a PC compatible work station and
image work station 215, which may illustrate the location of the
hair follicle introducer 115 with respect to the patient's scalp
102 on the screen 216 of the image work station 215. The movements
of robotic arm 202 and the operation of hair follicle introducer
115 may be controlled by any suitable computer software
program.
As in the case of any stereotactic procedure, the head of the
patient 100 must be fixed, or restrained. A conventional
stereotactic frame, or a conventional head holder, such as one
which makes three point contact with the patient's head, 220,
adapted to be releaseably secured to the patient's head, for
restraining the patient's head with respect to the stereotactic
robot 201 may be utilized. In this regard, the stereotactic frame,
or head holder, 220 is typically fixedly secured to the operating
room table 221, and as known in the art, the location and
disposition of the stereotactic robot 201 with respect to the
operating room table 221 and frame 220, in three-dimensional space,
may be readily determined. Optionally, if desired for increasing
the accuracy of apparatus 200, a plurality of fiducial marks may be
disposed on the stereotactic frame 220, as well as on the patient's
head. The location of the patient's head with respect to the
stereotactic frame, or head holder, 220, as well as the orientation
of the stereotactic robot 201 with respect to the stereotactic
frame, or head holder, 220 may then be readily determined, as is
known in the art. It should be noted that, alternatively, the
patient's head could be releaseably secured directly to the
operating room table 221, without the use of a stereotactic frame.
So long as there is a fixed, known relationship in
three-dimensional space between stereotactic robot 201 and the
patient's head, apparatus 200 of the present invention may be
used.
Still with reference to FIG. 6, the hair follicle introducer 115
may be a single hair follicle insertion device 116 including a
single needle 117. The hair follicle introducer 115 may be modified
to permit it to be operated by stereotactic robot 201, such as by
including a piston device, or other operating mechanism (not shown)
to operate the plunger 118 (FIG. 5) of hair follicle introducer
115,device, a plurality of hair follicles 101 could be
simultaneously implanted into the patient's scalp 102.
Alternatively, the individual hair follicle insertion devices, such
as hair follicle introducer 115, which are combined to form the
multiple hair follicle insertion device, may be actuated
sequentially by the stereotactic robot 201, as desired. If single
hair follicle insertion devices 116 are utilized, it would be
necessary to reload the single hair follicle insertion device with
a new hair follicle 101 after each use of the hair follicle
introducer 115, or alternatively, a loaded hair follicle introducer
115 could be associated, or loaded into the tool, or instrument,
holder 212 at the first end 203 of the robotic arm 202. By using a
multiple hair follicle insertion device, including multiple
needles, loaded with a plurality of hair follicles, set up, or
down, time associated with the use of stereotactic robot 201 is
decreased. As will be hereinafter described in greater detail, the
apparatus 200 illustrated in FIG. 6 would be utilized in the
present invention when it is desired to utilize stereotactic robot
201 to implant at least one hair follicle 101 into the patient's
scalp 102.
Turning now to FIG. 7, a stereotactic video system 300 for use in
the present invention is illustrated. A portion of the stereotactic
video system 300 is adapted to be associated with the patient's
scalp 102, or head, and is adapted to identify at least one
location on the scalp 102 where the at least one hair follicle, or
graft, 107, 108 containing the at least one hair follicle 101, is
to be implanted. Stereotactic video system 300 preferably includes
a video camera 301 and a distance measuring device 302, for
measuring the distance from the patient's scalp 102 to the camera
301. The stereotactic video system 300 is used in connection with
the stereotactic frame 220 which has been releaseably secured to
the patient's head. The camera 301 is mounted for rotation about
the patient's head via a stereotactic arm 303 having a length which
can be varied and predetermined. The stereotactic video system may
include suitable wiring 304 and circuitry contained within a
housing 305, which is in a signal transmitting relationship with a
display device 306. An example of a suitable stereotactic video
system 300 for use in the present invention is that known as the
Exoscope, as described in Chapter 23 of Advanced Neurosurgical
Navigation published in 1999 by Thieme Medical Publishers, Inc.
Whereas the Exoscope is used to view an intracerebral mass, or
tumor, located within the patient's head, it can be modified as
hereinafter described, to function with the present invention. The
viewing equipment, or display device, 306 can include images of the
patient's scalp as shown at 307, and a graphic depiction of the
distance to the patient's scalp 102, as shown at 308.
Stereotactic video system 300 is used in the following manner.
Camera 301 is moved in controlled arcs across the patient's scalp
102 to map the location of existing hair follicles 101 (FIG. 1) on
the patients' scalp 102. The distance measuring device 302 may be
an infrared measuring device 305, or any other suitable device
which permits the distance from the patient's scalp 102 to the
camera 301 to be measured. Since the radius of the stereotactic arc
being scanned by the movement of the stereotactic arm 303 and the
distance from the video camera 301 to the patient's scalp 102 are
known, it is possible to calculate the position in
three-dimensional space of each point on the surface of the
patient's scalp 102 in three-dimensional space, including the
location and three-dimensional coordinates of each existing hair
follicle 101 on the patient's scalp 102 with respect to the
stereotactic frame 220. A three-dimensional virtual image of the
patient's scalp and the location of each hair follicle may be
reconstructed in the computer (not shown) associated with
stereotactic video system 300 and the stereotactic robot 201 (FIG.
6). For example, the image of the scalp and the hair follicles 101
may be viewed as shown at 309. The contour of the patient's scalp
102 with respect to the stereotactic frame 220 in three-dimensional
space is thus determined, as well as the location of existing hair
follicles 101. The three-dimensional virtual image of the patient's
scalp 102 may then be utilized to plan at what locations upon scalp
102, the various grafts, or plugs, 107, 108, will be implanted upon
scalp 102 of the patient 100 by the stereotactic robot 201.
If desired, the scanning of the patient's scalp 102 and existing
hair follicles 101 may also be performed so as to determine the
angular disposition of each hair follicle 101 with respect to the
patient's scalp 102, including the vector the existing hair
follicle 101 is oriented in relation to the patient's scalp 102.
This information could be utilized, as will be hereinafter
described in greater detail, when the present invention is utilized
to also remove, or harvest, existing hair follicles from the
patient's scalp 102, or from flap 104. In this regard, it is
desirable to remove the entire hair follicle, including the hair
shaft disposed above the patient's scalp 102, as well as that
portion of the hair shaft and follicle disposed beneath the surface
of the patient's scalp 102. To accomplish this, it is preferable to
know at what angle the hair follicle, including its hair shaft, is
disposed and oriented, both above and below the patient's scalp
102.
With reference to FIG. 8, a graft, or plug, cutting device 400 is
illustrated. Plug cutting device 400 may be associated with the
first end 203 of robotic arm 202 of stereotactic robot 201, and is
adapted to remove a plug, or graft, 107, 108, of the patient's
scalp 102, the plug, or graft, 107, 108 containing at least one
hair follicle 101. Plug cutting device 400 may be received within
the instrument holder 212 of stereotactic robot 201. Plug cutting
device 400 may include a plurality of cutting heads 401 associated
with the housing 402 and the movement of which are powered by a
motor 403. As will be hereinafter described in greater detail, plug
cutting device 400 may be used to remove a plug, or graft, 107, 108
directly from patient's scalp 102. An example of such a plug
cutting device 400 may be found in U.S. Pat. No. 4,476,864, issued
Oct. 16, 1984, which patent is incorporated herein by reference.
Alternatively, a single hair follicle insertion device 116,
including a needle 117, could be utilized as the plug cutting
device.
As will be described in greater detail, the stereotactic robot 201
may be provided with a plug trimming device, or fine scalpel (not
shown), which could be mounted, or associated, with the first end
203 of robotic arm 202 of stereotactic robot 201. After the flap
104 (FIG. 2) of the patient's scalp 102 has been surgically
removed, the flap 104 could be positioned upon a suitable support
surface, or table, or similar device. The stereotactic video system
300 of FIG. 7 could be utilized to scan the flap 104 and determine
the three-dimensional location of the hair follicles 101 disposed
upon and within flap 104 in three-dimensional space with respect to
a set of predetermined markers, such as fiducial markers,
associated with the support surface. The plug trimming device, or
scalpel, associated with stereotactic robot 201 could then be
utilized to trim the flap 104 into a plurality of plugs, or graft,
107, 108, each graft containing at least one existing hair follicle
101. The grafts would then later be inserted into a hair follicle
introducer, such as hair follicle introducer 115, for implantation
into the patient's scalp 102.
With reference to FIG. 6, the method of the present invention for
transplanting hair will be described. In accordance with one aspect
of the present invention, the stereotactic robot 201 may be used
only to implant at least one hair follicle 101 contained within a
graft 107, 108 into a portion of the patient's scalp 102. In this
aspect of the present invention, the hair follicle introducer 115,
as previously described, is loaded with the graft 107, 108 and the
hair follicle introducer 115 disposed at the first end 203 of the
robotic arm 202 of stereotactic robot 201 is moved toward the
patient's scalp 102. The hair follicle introducer 115 is then
operated to implant the at least one existing hair follicle 101
contained in the graft 107, 108 into the patient's scalp 102.
Preferably, the particular location where the hair follicle, or
graft 107, 108 is implanted within scalp 102, and the control of
stereotactic robot 201 is determined by the stereotactic video
system 300 which has previously computed the three-dimensional
virtual image of the patients's scalp and the location and
three-dimensional spacing of the existing hair follicles 101 and
the desired location of the hair follicles to be implanted in scalp
102. The surgeon plans on the virtual three-dimensional image of
the patient's scalp where each of the grafts 107, 108 is to be
implanted. Several methods of planning may used individually or in
combination. For example, the graft insertion site on the patient's
scalp, and the angle of each of the hair follicles 101 contained
within grafts 107, 108, may be manually plotted individually. The
planning can be computerized either all, or in part. In either
case, the new hair line, formed by the transplantation of the hair
follicles, is determined by the surgeon. The computer (not shown)
associated with stereotactic robot 201 and stereotactic video
system 300, can distribute the grafts 107, 108, evenly throughout
the bald portion 103 of the patient's scalp 102, and can plot the
individual implantation sites, or locations, according to selected
degrees of randomness. The angle of insertion of each hair follicle
101 may be determined for each region of the bald portion 103 of
the patient's scalp 102, and/or the angle of insertion can be
gradually adjusted from one region of the patient's scalp to
another. Optionally, the computer (not shown) can display the
intended distribution of the existing and transplanted hair
follicles as a three-dimensional rendering for final approval of
the surgeon and the patient.
As to the robotic insertion of the grafts 107, 108, into the
patient's scalp 102, the hair follicle introducer 115 may be used
to simultaneously make the necessary slit, or short incision, into
the patient's scalp 102, by use of the needle 117 associated with
the hair follicle introducer. Alternatively, a separate device,
such as a suitable scalpel, or laser, could be associated with the
stereotactic robot 201 to make the necessary small opening,
incision, or slit in the patient's scalp which is to receive the
graft 107, 108.
Hemostasis, or cessation of bleeding, may be necessary, as in the
prior Megasession procedure, and hemostasis may provided such as by
injecting a vasoconstrictor along with the local anesthetic at the
beginning of the procedure, and/or by applying local pressure for
several seconds or minutes after the graft 107, 108 is inserted in
the patient's scalp. In order to minimize bleeding even more, a
pneumatic band (not shown) can be placed around the patient's scalp
at the beginning of the procedure. As previously discussed, single
hair follicle insertion devices 115 or multiple hair follicle
insertions devices could be utilized as previously described. As
will be hereinafter discussed, the apparatus 200 of the present
invention in addition to performing the hair transplantation method
previously described may also be used, if desired, to perform
additional functions; however, whether or not the following
described additional functions are also performed by apparatus 200
does not detract from the usefulness of apparatus 200.
If desired, the apparatus 200 of the present invention could also
be utilized to trim the flap 104 of the patient's scalp which has
been previously removed from the patient. As previously described,
a plug trimming device, or suitable scalpel, can be associated with
the first end 203 of the robotic arm 202 of the stereotactic robot
201. The surgeon could mount the flap 104 containing the hair
follicles 101 upon a suitable support surface. As previously
described, after the location of the existing hair follicles 101 is
determined and mapped by the stereotactic video system 300, the
plug trimming device, or scalpel, could be operated and controlled
by the stereotactic robot 201 to cut the grafts 107, 108 from the
flap 104. Preferably, each graft 107, 108 would be cut along the
longitudinal axis of the hair shaft of each hair follicle to
minimize damage to the hair shaft and hair follicle. As previously
described, if the angular disposition between the hair follicle and
the patient's scalp has been determined the stereotactic video
system 300, the stereotactic robot 201 may be programmed to operate
the plug trimming device along the longitudinal axis of each hair
follicle 101. Alternatively, a single hair follicle insertion
device, such as device 116 of FIG. 5, could be utilized as the plug
cutting device, whereby the needle 117 would be inserted within
flap 104 to retrieve a single hair follicle 101, thus
simultaneously loading the hair follicle to be implanted into the
single hair follicle insertion device 116.
Alternatively, if desired, the apparatus 200 of the present
invention may be utilized to also directly obtain the grafts 107,
108 directly from the patient's scalp 102 without surgically
removing flap 104. In this regard, as previously described, a plug
cutting device 400 (FIG. 8) could be associated with stereotactic
robot 201 and the plug cutting device 400 could directly remove the
grafts 107, 108, from the patient's scalp 102. Alternatively, plug
cutting device 400 could be a single hair follicle insertion device
116 (FIG. 5) which includes a needle 117, which could be used to
remove the grafts 107, 108, directly from the patient's scalp 102.
As previously described, the patient's scalp is scanned robotically
to identify the position of each hair follicle 101 and the plug
cutting device 400 could be operated to select only every nth hair
follicle 101, rather than removing all the hair from a given
location, which is comparable to the surgical removal of a flap
104.
As to the transplantation of grafts 107, 108, into the patient's
scalp 102, it should be noted that the bald portion of the
patient's scalp 102, or recipient space, 103, can be divided into
any number of individual areas, each of which can be programmed
individually. The recipient space, or bald area, 103 can overlap
areas of existing hair in order to insert hair follicles 101 to
increase the density of hair in those areas. The density of the
transplanted hair follicles can be calculated, depending upon the
number of hair follicles to be implanted. The spacing between hair
follicles can be done either manually, or the computer can generate
a random distribution. The angle of insertion may be determined for
each area individually, or the computer can generate a plan to vary
the angle of insertion progressively from one side of an area to
the other. If some of the hair follicles to be transplanted are
finer than the other hair follicles, they can be individually
identified and reserved for insertion at the hair line. A
three-dimensional rendered image simulating the post-operative
appearance of the patient's scalp can be presented prior to hair
follicle insertion for approval of the surgeon and possibly the
patient.
Although the instrument holder 112 illustrated in FIG. 6 is shown
to only hold a single tool, or instrument, such as hair follicle
introducer 115, it should be noted that a rotating head (not shown)
may be utilized in connection with robotic arm 202 to hold all the
desired tools, or instruments such as scalpel, plug cutting
devices, plug trimming devices, and hair follicle insertion
devices, the rotating head being sequentially moved, or rotated, to
permit the desired tool, or instrument to be mounted at the first
end 203 of robotic arm 202.
The particular embodiments disclosed above are illustrative only,
as the invention may be modified and practiced in different but
equivalent manners apparent to those skilled in the art having the
benefit of the teachings herein. Furthermore, no limitations are
intended to the details of construction or design herein shown,
other than as described in the claims below. It is therefore
evident that the particular embodiments disclosed above may be
altered or modified and all such variations are considered within
the scope and spirit of the invention. Accordingly, the protection
sought herein is as set forth in the claims below.
* * * * *
References