Granted Patent B2

US 9,107,697 · App. 12/133,159 · Granted Aug 18, 2015

Inventors: Shehrzad A. Qureshi (Palo Alto, CA); Hongze Liu (Fremont, CA)

Assignee: Restoration Robotics, Inc.

A61B19/5212A61B19/22A61B19/50A61B2017/00752A61B2019/5227A61F2/10

Abstract

Claims (42)

1. A method of selecting an order of harvesting follicular units, comprising:

using a processor to:

automatically sort a pool of candidate follicular units based on one or more policy; and

automatically select among those automatically sorted a particular follicular unit to be harvested next, wherein the particular follicular unit is selected according to one or more additional policy,

wherein the one or more policy, or the one of more additional policy is based on at least one of 1) appearance of follicular units in one or more images of a body surface in a predetermined preceding time interval, 2) location of follicular units within a certain distance to an item comprising one or more of another follicular unit, an edge of the field of view of the image, or a previous harvesting location, 3) follicular unit type, 4) follicular unit distance to a harvesting tool, 5) follicular unit orientation relative to an orientation of the harvesting tool, 6) follicular unit emergence angle from a body surface, wherein those follicular units that have less than a predetermined emergence angle from the body surface are rejected, or 7) a shape of follicular unit.

2. The method of claim 1 , wherein automatically selecting the particular follicular unit is based on a combination of a plurality of filters and policies.

3. The method of claim 1 , further comprising identifying the pool of candidate follicular units for harvesting in the one or more images of the body surface containing follicular units; and wherein automatically sorting comprises keeping only those follicular units that have consistently appeared in the one or more images in the predetermined preceding time interval.

4. The method of claim 1 , further comprising harvesting the selected follicular unit.

5. The method of claim 1 , wherein the steps of automatically sorting and selecting are continuously repeated.

6. The method of claim 1 , wherein the one or more policy, or the one or more additional policy comprises 1) discarding follicular units that are located within a certain minimum distance to a location containing blood; or 2) keeping follicular units that are located outside a certain minimum distance to a location containing blood.

7. The method of claim 1 , wherein the location containing blood is determined using a variance filter.

8. The method of claim 1 , wherein the one or more policy, or one or more additional policy comprises 1) discarding follicular units that are less than a predetermined width, or 2) keeping follicular units that are equal or more than a predetermined width.

9. The method of claim 1 , wherein the one or more policy, or one or more additional policy comprises 1) discarding follicular units that do not meet a predetermined criteria based on a number of hairs in the follicular units; or 2) keeping follicular units that meet a predetermined criteria based on a number of hairs in the follicular units.

10. The method of claim 1 , wherein the one or more policy, or the one or more additional policy comprises discarding follicular units possessing a complex shape or keeping follicular units possessing a simple shape.

11. The method of claim 1 , wherein automatically selecting follicular units comprises scoring follicular units based on a weighted sum of variables associated with the one or more additional policy.

12. The method of claim 1 , wherein automatically sorting follicular units comprises skipping every Nth follicular unit in the pool of candidate follicular units.

13. The method of claim 11 , wherein scoring of follicular units based on the weighted sum of variables occurs after discarding one or more follicular units from the pool of candidate follicular units.

14. The method of claim 1 , further comprising maneuvering a robotic arm of a robotic system to place a hair harvesting tool operatively connected to the robotic arm next to the selected follicular unit to be harvested.

15. The method of claim 12 , wherein the skipping pattern comprises a multidirectional template of selecting every N th follicle in a patch or cluster of follicular units.

16. A method of selecting an order of harvesting follicular units using a robotic hair transplantation system, comprising:

automatically sorting a pool of candidate follicular units based on one or more policy;

automatically selecting among those automatically sorted a particular follicular unit to be harvested next, wherein the particular follicular unit is selected according to one or more additional policy; and

wherein automatically selecting comprises scoring follicular units based on a weighted sum of variables associated with two or more of 1) appearance of follicular units in one or more images of a body surface in a predetermined preceding time interval, 2) location of follicular units within a certain distance to an item comprising one or more of another follicular unit, an edge of the field of view of the image, or a previous harvesting location, 3) follicular unit type, 4) follicular unit distance to a harvesting tool, 5) follicular unit orientation relative to an orientation of the harvesting tool, 6) follicular unit emergence angle from a body surface, or 7) a shape of follicular unit.

17. The method of claim 16 , further comprising automatically filtering follicular units from the pool of candidate follicular units based on a predetermined criterion.

18. The method of claim 17 , wherein a combination of the filtering criterion and one or more policy, or additional policy, comprises proximity to blood on a surface, a preference of the follicular units comprising one or more of follicular units located within a minimum distance to a hair harvesting tool, and follicular units whose orientation matches the orientation of a follicular unit that has been harvested immediately prior to the current selection.

19. A system for selecting follicular units for harvesting, comprising:

an image processor, the image processor comprising instructions for:

identifying a pool of candidate follicular units for harvesting in one or more images obtained from an image acquisition device;

sorting follicular units in the pool of candidate follicular units based on one or more policies; and

selecting a particular follicular unit to be harvested next, wherein the particular follicular unit is selected according to one or more additional policy,

wherein the one or more policy, or the one of more additional policy is based on at least one of 1) appearance of follicular units in one or more images of a body surface in a predetermined preceding time interval, 2) location of follicular units within a certain distance to an item comprising one or more of another follicular unit, an edge of the field of view of the image, or a previous harvesting location, 3) follicular unit type, 4) follicular unit distance to a harvesting tool, 5) follicular unit orientation relative to an orientation of the harvesting tool, 6) follicular unit emergence angle from a body surface, wherein those follicular units that have less than a predetermined emergence angle from the body surface are rejected, or 7) a shape of follicular unit.

20. The system of claim 19 , wherein automatically selecting follicular units comprises scoring follicular units based on a weighted sum of variables comprising one or more of follicular unit type, follicular unit distance to a harvesting tool, follicular unit orientation relative to an orientation of a harvesting tool, or follicular unit emergence angle from a body surface.

21. The system of claim 19 , further comprising a memory operatively associated with the processor.

22. The system of claim 19 , further comprising an image acquisition device wherein the image acquisition device comprises at least one camera.

23. The system of claim 19 , wherein the image processor is a personal computer.

24. The system of claim 19 , wherein the system is a robotic system and it further comprises a robotic arm.

25. A method of selecting an order of harvesting follicular units, comprising:

using a processor to:

identify a pool of candidate follicular units for harvesting in one or more images of a body surface containing follicular units;

automatically sort the pool of candidate follicular units based on one or more policy;

automatically select among those automatically sorted a particular follicular unit to be harvested next, wherein the particular follicular unit is selected according to one or more additional policy; and

wherein the one or more policy or the one or more additional policy comprises keeping only those follicular units that have consistently appeared in the one or more images in a predetermined preceding time interval or rejecting those follicular units that have not consistently appeared in the one or more images in the predetermined preceding time interval.

Assignments (9)

Continuity (1)