Methods and systems for directing movement of a tool in hair transplantation procedures
Methods and systems are provided useful in various procedures, including hair harvesting and implantation, and further including computer-implemented and/or robotic hair transplantation. Methodologies are provided which enable selection of follicular unit harvesting or implanting sites within the same row in a direction of travel of the tool, or by incrementing to another row. In various cases, such selection may be made using a lowest and closest method, overlap-based methods, position-based methods, pattern-based methods, and/or a combination of these methods. In various combinations of the methods, the output selection from one of the methods may be used as an input for one of the other methods.
1. A system for a performing a procedure on a body surface of a patient, the system comprising:
a robotic arm that controls a position of a tool relative to a body surface of a patient during a procedure;
a camera positioned to capture images of the body surface during the procedure; and
a computing system coupled to the robotic arm and the camera, and configured to control the robotic arm during the procedure, said computing system programmed to:
provide, on a display screen, a user interface that includes functionality for a user to view the images and to interactively control movement of the tool relative to the body surface during the procedure,
identify a first site already operated upon with the tool;
generate and display, on the user interface, a circular region centered on the center of the first site;
create an exclusion zone surrounding a new potential operating site, the exclusion zone having a shape that extends a greater distance from the new potential operating site in a direction of penetration of the tool than in other directions;
determine that the first site is in the exclusion zone, said user interface configured to display a visual representation of the exclusion zone on a displayed image of the body surface; and
based on determining that the first site is in the exclusion zone, select an alternative new operating site on the body surface and reposition the exclusion zone such that the exclusion zone surrounds the alternative new operating site and extends a greater distance from the alternative new potential operating site in a direction of penetration of the tool than in other directions, wherein the alternative new operating site is selected such that the first site is outside the exclusion zone, the exclusion zone partially overlaps the generated and displayed circular region, and the alternative new operating site is outside the generated and displayed circular region.
2. The system of claim 1 , wherein the tool is a harvesting tool, and the generated and displayed circular region defines an area surrounding a follicular unit harvesting site, from which no additional follicular units are to be harvested.
3. The system of claim 1 , wherein the exclusion zone has a tear-drop shape.
4. The system of claim 1 , wherein the tool is an implantation tool, and the generated and displayed circular region defines an area, surrounding an implantation site, in which no additional implantation sites are to be selected.
5. The system of claim 1 , wherein the computing system is configured to use at least one user-specified parameter to select at least a size of the exclusion zone.
6. The system of claim 5 , wherein the user-specified parameter defines a minimum distance between sites.
7. The system of claim 1 , wherein the user interface visually depicts the exclusion zone by modifying a color of a corresponding portion of the displayed image.
8. The system of claim 1 , wherein the computing system is programmed to automatically fill gaps between adjacent generated and displayed circular regions centered on centers of sites previously operated on.
9. The system of claim 1 , wherein the computing system is programmed to display, on the displayed image of the body surface, a visual indication of a feature of the body surface to be operated on by the tool.
10. A non-transitory computer storage medium having stored thereon program instructions that direct a processor of a system to perform a process that comprises:
generating, on a display screen, a user interface that displays images of a body surface of a patient on which a procedure is being performed using a tool, the images captured by a camera;
identifying a location upon which the tool operates;
identifying a first site already operated upon with the tool;
generating and displaying a circular region centered on the center of the first site;
create an exclusion zone surrounding a new potential operating site, the exclusion zone having a shape that extends a greater distance from the new potential operating site in a direction of penetration of the tool than in other directions;
determine that the first site is in the exclusion zone;
displaying a visual representation of the exclusion zone on the display screen on a displayed image of the body surface; and
based on determining that the first site is in the exclusion zone, selecting an alternative new operating site on the body surface such that the first site is outside the exclusion zone and repositioning the exclusion zone such that the exclusion zone surrounds the alternative new operating site and extends a greater distance from the alternative new potential operating site in a direction of penetration of the tool than in other directions, wherein the alternative new operating site is selected such that the first site is outside the exclusion zone, the exclusion zone partially overlaps the generated and displayed circular region, and the alternative new operating site is outside the generated and displayed circular region.
11. The computer storage medium of claim 10 , wherein the tool is a harvesting tool, and the generated and displayed circular region defines an area, encompassing a follicular unit harvesting site, from which no additional follicular units are to be harvested.
12. The computer storage medium of claim 10 , wherein the shape of the exclusion zone is a tear-drop shape.
13. The computer storage medium of claim 10 , wherein the tool is an implantation tool, and the generated and displayed circular region defines a region, surrounding an implantation site, in which no additional implantation sites are to be created.
14. The computer storage medium of claim 10 , wherein the process comprises using at least one user-specified parameter to select at least a size of the exclusion zone.
15. The computer storage medium of claim 14 , wherein the user-specified parameter specifies a minimum distance between sites.
16. The computer storage medium of claim 10 , wherein displaying the visual representation of the exclusion zone comprises modifying a color of a corresponding portion of the displayed image.
17. The computer storage medium of claim 10 , wherein the process comprises automatically filling gaps between adjacent circular regions centered on centers of sites previously operated on.
18. The computer storage medium of claim 10 , wherein the process further comprises displaying, on the displayed image of the body surface, a visual indication of a next follicular unit to be harvested.