KR102070456B1 - Hair Implanter Delivery System and Method thereof - Google Patents

Abstract

The present invention relates to a hair transplant surgery system and method for delivering hair follicles loaded hair transplanter to the operator's hand in the hair transplant surgery or recovering the hair transplanter is completed from the operator's hand. A hair transplanter in which hair follicles are loaded; An end effector to which the planter is detached; A conveyor belt connected to one end of the end effector and rotating; A robot arm attached to the conveyor belt and capable of moving the conveyor belt; A camera photographing the planter; And a controller configured to read whether hair follicle transplantation is completed and to control an operation of the conveyor belt or the robot arm.

Description

Hair Implanter Delivery System and Method for Hair Transplantation

The present invention relates to a plant transplantation delivery system and method for hair transplantation surgery, and more particularly, a hair transplanter loaded with hair follicles implanted in a hair transplantation operation is delivered to the operator's hand, The present invention relates to a hair transplanter delivery system and method for hair transplantation.

In general, alopecia refers to a condition in which hair is gradually lost due to aging, stress, and drug side effects, thereby reducing hair thinning. Alopecia is caused by acquired factors, such as stress, in addition to hereditary congenital factors. Due to the recent industrial development, alopecia patients due to acquired factors are steadily increasing, and accordingly, the development of the treatment technology is steadily progressing.

Among the various alopecia treatment techniques, the biological hair transplantation method is to collect the hair follicles remaining on the scalp (back hair, etc.) of the procedure, and then artificially implant the hair follicles on the scalp area where the hair loss has progressed by using a device such as a hair transplanter. Giving is a skill. The birth transplant method is a procedure that is widely used because there is little bleeding and scarring is scarce, and the direction and positioning of the hair to be grown is free.

However, the present biotransplantation method did not have a high rate of engraftment, which is a probability that the hair follicles would be successfully transplanted to the scalp to be transplanted. One of the causes is that hair follicles collected from the scalp should be optimally stored during the transplantation waiting period in order to increase the engraftment rate of hair follicles. However, conventional hair transplant apparatus keeps the collected hair follicles exposed to the outside. This is because the hair follicle rots or becomes poorly preserved if the waiting time is long.

Korean Patent Registration No. 10-1155258 Korea Patent Registration No. 10-1521553

One aspect of the present invention delivers a hair follicle-loaded planter to the operator's hand to act as a medical staff in the field through a surgical assistant system including a camera, robot arm, end effector, etc. And it provides a hair transplant surgery system and method that can automatically perform the task of delivering the used planter to the nurse loading hair follicles.

The technical problem of the present invention is not limited to the technical problem mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art from the following description.

Hair transplant surgery system according to one embodiment of the present invention, a transplanter, the hair follicle is to be loaded to transplant to the operator; An end effector to which the planter is detached; A conveyor belt coupled to one end of the end effector, the conveyor belt rotating to move the end effector to an operator or a loader; A robot arm attached to the conveyor belt and capable of moving the conveyor belt at multiple degrees of freedom; A camera attached to the robot arm or remotely installed to photograph the planter; And reading the completion of hair follicle transplantation according to the image of the hair transplanter photographed by the camera, and operating the conveyor belt or the robot arm so as to transport the hair transplanter to the location of the hair follicle transplantation of the operator or the loading of the hair follicle of the loader. It includes a control unit for controlling.

In one embodiment, the planter, the loading unit is loaded hair follicles; A gripping portion held by the operator or the loader by hand; And a marker part formed on an upper portion of the gripping part so that the controller can read whether the hair follicle is transplanted through image reading.

In one embodiment, the control unit, when the operator gripping the marker portion with a finger through the image of the planter is not exposed to the outside of the marker is read as not yet completed, the operator from the marker portion When the marker portion is released to the outside by removing a finger, it is possible to read that hair transplantation is completed.

In one embodiment, the marker portion, may be formed of a magnetic material so as to be detachable to the end effector.

In one embodiment, the end effector, the main body is connected to one side of the conveyor belt; A first fastening part connected to the upper part of the main body and fastening the hair transplanter loaded with hair follicles; And a second fastening part connected to an upper portion of the main body, and having a hair follicle transplanted to fasten the empty planter.

In one embodiment, the end effector, the first to be connected between the first fastening portion and the main body so as to move the first fastening portion in the downward direction when delivering the seedlings loaded with hair follicles to the operator Moving part; And a second moving part connected between the second fastening part and the main body so as to move the second fastening part downward when the hair follicle is transplanted and the empty planter is recovered from the operator.

In one embodiment, the first moving unit, by moving the first fastening portion in the vertical direction can be transferred to the space between the thumb and index finger of the operator from the operator's hand.

In one embodiment, the second moving unit, by moving the second fastening portion in the vertical direction to recover the planter in the upward direction from between the thumb and index finger of the operator.

In one embodiment, the first fastening portion or the second fastening portion, may be formed of a material exhibiting a magnetic so as to attach and detach the planter.

In one embodiment, the conveyor belt, the portion facing the loader may be formed longer in the left and right horizontal direction than the portion facing the operator to ensure more time passing the front of the loader.

In one embodiment, the robot arm may move the conveyor belt to guide the end effector installed on the conveyor belt in the direction of the operator's hand when the hair follicle transplantation of the planter previously delivered to the operator is completed. have.

In accordance with another aspect of the present invention, there is provided a method for delivering a hair transplanter for a hair transplant surgery, comprising: delivering an end effector to which a hair follicle-loaded hair transplanter is coupled to an operator along one side of a conveyor belt; Reading whether hair follicle transplantation of the planter previously delivered to the operator has been completed; When the hair follicle transplantation is completed, the conveyor belt is moved in multiple degrees of freedom according to the driving of the robot arm to guide the end effector in the direction of the operator's hand; Recovering the empty planter from the operator by transplanting the hair follicles; Delivering the planter loaded with hair follicles to an operator; And it may include the step of transporting the end effector with the empty planter collected from the operator to the loader along one side of the conveyor belt.

In one embodiment, reading whether the hair follicle transplantation is complete comprises: photographing the top of the planter; Detecting a marker formed on an upper portion of the planter; And reading the completion of transplantation through the detected marker portion.

In an embodiment, the reading of the completion of transplantation may include reading that the transplantation is not completed when the operator grasps the marker part with a finger through the detected marker part and the marker part is not exposed to the outside. When a finger is removed from the marker part and the marker part is exposed to outside, it is possible to read that planting is completed.

In one embodiment, the step of delivering the planter to the operator may be delivered by moving the planter from the operator's hand to the space between the operator's thumb and index finger.

According to one aspect of the present invention, by reducing the hair transplant surgery time, it is possible to increase the amount of seedlings for the same time to reduce the anesthesia time of the patient, as well as reduce the fatigue of the doctor.

1 is a view showing a schematic configuration of a hair transplanter delivery system for hair transplant surgery according to an embodiment of the present invention.
2 is a view illustrating a conventional planter.
3 is a view for explaining the conveyor belt in FIG.
4 is a view for explaining the planting machine in FIG.
FIG. 5 is a diagram illustrating the end effector in FIG. 1.
6 is a view for explaining the recovery and delivery of the seedlings.
Figure 7 is a flow chart illustrating a hair transplanter delivery method for hair transplant surgery according to another embodiment of the present invention.
FIG. 8 is a flow chart illustrating the steps of reading whether hair follicle transplantation in FIG. 7 is complete.

DETAILED DESCRIPTION OF THE INVENTION The following detailed description of the invention refers to the accompanying drawings that show, by way of illustration, specific embodiments in which the invention may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the invention. It is to be understood that the various embodiments of the invention are different but need not be mutually exclusive. For example, certain shapes, structures, and characteristics described herein may be embodied in other embodiments without departing from the spirit and scope of the invention in connection with one embodiment. In addition, it is to be understood that the location or arrangement of individual components within each disclosed embodiment may be changed without departing from the spirit and scope of the invention. The following detailed description, therefore, is not to be taken in a limiting sense, and the scope of the present invention is defined only by the appended claims, along with the full scope of equivalents to which such claims are entitled. Like reference numerals in the drawings refer to the same or similar functions throughout the several aspects.

General hair transplantation is performed by a team of 1 operator and 2 nurses, and the hair follicles are repeatedly transplanted using 5 or more planters. Hair transplant surgery procedure related to the present invention is as follows.

1) First, two nurses load hair follicles into the planter and place them on the surgery table for the doctor to use. 2) The doctor picks up the hair follicles loaded from the surgery table and moves them to the scalp of the patient. After planting the hair follicles, put the finished planter on the surgery table. 3) The nurse loads the hair follicle into a used drill and puts it back on the surgery table. 4) Repeat the above until the hair transplantation is complete.

Next, when a team is composed of one operator and three nurses, the process when one nurse plays a role of delivering a planting machine is as follows.

1) First, the assistant picks up the hair follicle loaded follicles from the table and moves them to the treatment site. 2) An assistant replaces a used and held hair follicle with a doctor. 3) The assistant puts the used planter on the operation table. 4) Repeat the above until the hair transplantation is complete.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the drawings.

1 is a view showing a schematic configuration of a hair transplanter delivery system for hair transplant surgery according to an embodiment of the present invention.

Specifically, the hair transplanter delivery system according to an embodiment of the present invention, the implanter 100, end effector 200, conveyor belt 300, robot arm 400, the camera 500 and The control unit 600 is included.

The planter 100 is loaded with hair follicles to be implanted into the subject by the loader, and is transported from the loader to the operator after being attached to the end effector 200, and then separated from the end effector 200 and delivered to the operator. .

Here, the operator refers to a doctor who receives a hair follicle-loaded mosquito 100 in a hair transplantation operation and transplants it to a place where hair transplantation is required, such as the scalp of the recipient, and the loading of the hair follicle is transplanted. Is received by the empty planter 100 refers to a nurse or assistant to load the hair follicles into the empty planter 100.

Here, the planter 100 refers to a hair transplant apparatus for transplanting the hair to the hairless site in the Food and Drug Administration. A ball-point pen-type hair transplant apparatus for transferring hair to such a hairless area is simply called a planter. In Korea, we learned about hair transplantation from Japanese who had been treating leprosy patients in Sorokdo, and devised a hair transplanter by transplanting hair mainly to patients without eyebrows. Korean and Japanese hair transplant specialists have become known for their ballpoint pens through international conferences. Currently, planters are available in the form of needle replacement, and there is only one type of hair transplanter according to medical law regulations, and other types of planters are licensed as perforated medical perforators, or they are manufactured and used by themselves without permission or notification. have.

2 is a view illustrating a conventional planter. Referring to FIG. 2, FIG. 2 (a) shows a planter of the early 90's in which a part for pushing hair roots protrudes outwards, and FIG. 2 (b) shows a planter of the mid 90's (integrated planter). As a planter is a form of the push rod that pushes the root of the hair disappears and disassembly and assembly is not possible, Figure 2 (c) is a type of needle changer (needle replacement type seedling) in the 2000s is a form that can replace the needle. In addition, in the 2000s, similar domestic mosquitoes, which can be replaced by needles, have been developed and distributed.

In one embodiment, the planter 100 may be formed of any type of planter as described above in Figure 2, it is not limited in its form.

End effector 200 is connected to one side of the conveyor belt 300, the planting machine 100 is detachable. End-effector refers to a part (eg gripper, welding torch, spray gun, nut runner, etc.) that has a function that directly acts on the work object when the robot is working. And gripper.

In one embodiment, the end effector 200, using the gripper as illustrated in Figure 5, the transplantation is completed to grab the empty planter 100, recovered to the upper direction of the hand, the hair follicle is loaded The planter 100 before use can be transmitted from the upper direction of the operator's hand to the gap between the thumb and the index finger (see FIG. 6).

The conveyor belt 300 includes a conveyor belt that is generally used so that the end effector 200 is moved along the outer side after being connected to one side, and the robot to transport the end effector 200 to the operator or the loader. Rotating movement by the arm (400).

In general, due to the nature of the work that takes longer than the operation time per unit hair follicle of the operator to load hair follicles in the hair transplanter 100, the loading time per unit hair follicle of the operator receiving the hair follicles from the seedling device 100, More work time should be provided than the operator.

Accordingly, the conveyor belt 300 of the present invention, as shown in Figure 3, is formed in the "b" shape, so that the end effector 200 to which the planting machine 100 is fastened passes the front of the loader The part facing the loader is longer than the part facing the operator so as to secure more (for example, if the conveyor belt 300 passing in front of the operator is 30 cm, the conveyor belt passing in front of the loader) 300 may be formed in 50 cm or the like).

Robot arm 400, the conveyor belt 300 is attached and driven to drive, by moving the conveyor belt 300 in multiple degrees of freedom (preferably more than three degrees of freedom), is installed connected to the conveyor belt 300 The end effector 200 may be guided in the direction of the operator's hand.

In one embodiment, the robot arm 400, when the hair follicle transplantation of the planter 100 previously delivered to the operator is completed, moving the conveyor belt 300 is connected to the conveyor belt 300 end effector 200 installed ) Can be directed in the direction of the operator's hand.

In one embodiment, the robot arm 400 may be configured to have more than three degrees of freedom, except for a drive unit for driving the conveyor belt 300.

For example, the robot arm 400, when configured with three degrees of freedom (3DOF (Degrees Of Freedom)), the conveyor belt 300 corresponding to the position of the operator horizontal (X), vertical (Y) or depth ( It is possible to deliver the planter 100 to the operator by precisely moving in the Z) direction, or composed of six degrees of freedom (6DOF) to move the conveyor belt 300 horizontally (X), vertically (Y) or depth (Z). In addition to the direction, the pitch, yaw or roll can be moved for more precise movement than in the case of three degrees of freedom.

The camera 500 may be formed of a video camera, which is generally used, and is attached to the robot arm 400 or remotely installed as shown in FIG. 1 to photograph the planter 100.

In one embodiment, the camera 500 is not limited to the installation position described above in order to shoot the planting machine 100, as shown in Figure 1 mounted on top of the robot arm 400 In addition to being able to be equipped with a separate holder, the operator or the load may be changed by the operator or the load arbitrarily moved, the number of installation is also not limited to one for the efficiency of the shooting can be installed in a plurality of two or more. .

The control unit 600 reads whether hair follicle transplantation is completed according to the image of the planter 100 photographed by the camera 500, and transports the planter 100 to the follicle transplantation position of the operator or the follicle loading position of the loader. To control the operation of the conveyor belt 300 or the robot arm 400.

In the hair transplanter delivery system for a hair transplantation surgery having the configuration as described above, the load to load the hair follicle after recovering the empty planter 100 from the end effector 200 is located on the main surface of the recovery unit in the present invention Then, the hair follicle-loaded planter 100 is fastened to the end effector 200 being transported in the conveyor belt (300). In addition, the operator receiving the hair follicle-loaded seedling device 100 to be performed on the patient, the patient is located in the vicinity of the treatment unit, the hair follicle is treated to recover the empty planter 100 to the end effector 200 and then the hair follicles Receiving the loaded planter 100 can continue the procedure.

The hair transplanter delivery system for hair transplant surgery having the configuration as described above is designed to deliver a hair follicle-loaded planter 100 to the operator, and to recover the empty planter 100 by transplanting the hair follicles. The mosquito 100, the end effector 200, the conveyor belt 300, the robot arm 400, the camera 500 and the controller 600 are included. At this time, the robot arm 400 is a device having three or more degrees of freedom, one or more end effector 200 has a structure that can be attached and detached by fastening the planting machine (100).

4 is a view for explaining the planting machine in FIG.

Referring to FIG. 4, the planting machine 100 includes a loading unit 110, a gripper 120, and a marker unit 130.

The loading unit 110 is formed at the lower portion of the gripping unit 120, the hair follicles are loaded by the hair follicles, and the hair follicles loaded by the operator are implanted into the scalp of the fish tape.

The gripper 120 has a loading unit 110 formed at a lower portion thereof, a marker unit 130 formed at an upper portion thereof, and is held by a operator or a loader by hand.

The marker unit 130 is formed on the grip unit 120 so that the controller 600 can read whether the hair follicle is transplanted through image reading.

The practitioner, in gripping the planter 100 to transplant hair follicles, the gripping part 120 from the index finger to the ring finger, gripping the thumb to cover the marker portion 130 to proceed with the procedure do. However, the gripping of the marker 130 is not necessarily limited to the thumb, and may be held by the index finger or the like according to the operator's convenience.

In one embodiment, the marking pattern of the marker unit 130 may be formed as a pattern as shown in FIG. 4, and the shape is not limited if the image is read by the controller 600.

In one embodiment, the control unit 600, when the operator grips the marker unit 130 with a finger through the image of the planter 100 and the marker unit 130 is not exposed to the outside, the hair transplantation is not completed yet. When the operator removes a finger from the marker unit 130 and the marker unit 130 is exposed to the outside, the planting may be read as being completed.

In one embodiment, the marker unit 130 may be formed of a material having magnetic properties to be detachable to the end effector 200.

In one embodiment, the control unit 600 reads the end time of the hair transplanting through the exposure of the marker unit 130 from the delivery time delivered to the operator 100, the time from the delivery time to the end time The working time corresponding to can be calculated.

Accordingly, the controller 600 responds to the conveyor belt when the calculated working time is longer than the preset working time (that is, the time taken by the operator to transplant one hair follicle on average). The driving speed of the 300 and the robot arm 400 is slowed down, and when the calculated working time is less than the preset working time stored in advance, the conveyor belt 300 and the robot arm 400 are driven in response thereto. You can control the speed quickly. However, the driving speed of the conveyor belt 300 and the robot arm 400 is controlled in consideration of the minimum loading time so that the loader can secure the minimum loading time, which is the minimum working time required to load one hair follicle. Should be.

FIG. 5 is a diagram illustrating the end effector in FIG. 1.

Referring to FIG. 5, the end effector 200 includes a main body 210, a first fastening part 220, and a second fastening part 230.

The main body 210 is installed on one side of the conveyor belt 300, and the first fastening portion 220 and the second fastening portion 230 are connected to the upper portion.

The first fastening unit 220 is connected to the upper portion of the main body 210 and fastens the hair follicle-loaded planter 100 using the gripper formed at the lower portion.

The second fastening portion 230 is connected to the upper portion of the main body 210, the hair follicle is implanted using a gripper formed in the lower portion to fasten the empty planter 100.

At this time, the fastening order of the planting machine 100 of the first fastening portion 220 and the second fastening portion 230 is not limited to the above, the first fastening portion 220 is a hair follicle transplanted empty empty Fastening 100 and the second fastening part 230 may fasten the hair transplanter 100 loaded with hair follicles.

The end effector 200 having the above-described configuration includes a first moving part 240 and a second moving part 250.

When the first moving unit 240 delivers the hair follicle-loaded planter 100 to the operator, the first moving unit 240 may move the first fastening unit 220 downward by driving a driving device such as a step motor or a cylinder. It is connected between the first fastening unit 220 and the main body 210 to be installed.

When the hair follicle is transplanted and the empty mosquito 100 is recovered from the operator, the second moving part 250 moves the second fastening part 230 downward by driving a driving device such as a step motor or a cylinder. It is connected between the second fastening portion 230 and the main body 210 to be installed.

Referring to FIG. 6A, the first moving part 240 moves the first fastening part 220 in the vertical direction to move the seedling machine 100 from the operator's hand to the space between the operator's thumb and the index finger. (In the direction of the arrow in Fig. 6 (a)). Accordingly, the practitioner, by receiving the planting machine 100 directly into the space between the thumb and index finger, which is generally a space for holding the planting machine 100, and delivers the planter 100 without any effort for separate gripping. You can proceed to planting immediately after receiving it, which can improve your work efficiency.

Referring to FIG. 6 (b), the second moving part 250 moves the second fastening part 230 in the vertical direction to recover the seedling machine 100 from the operator's thumb and index finger upwards (FIG. Arrow direction 6 (b)). Accordingly, the operator does not need to perform a separate operation to recover the empty planter 100, and can directly recover the empty planter 100 in the upward direction, thereby improving work efficiency.

In one embodiment, the first fastening portion 220 or the second fastening portion 230, may be formed of a material exhibiting a magnetic so as to attach and detach the planter 100.

Figure 7 is a flow chart illustrating a hair transplanter delivery method for hair transplant surgery according to another embodiment of the present invention.

Referring to FIG. 7, in the method for delivering a hair transplanter for a hair transplant surgery, first, an end effector 200 to which a hair follicle-loaded hair transplanter 100 is fastened is transported along a side of the conveyor belt 300 to the operator ( S710).

After the end effector 200 is transported to the operator along one side of the conveyor belt 300 in step S710 described above, it is read whether the hair follicle transplantation of the planter 100 previously delivered to the operator is completed (S720). If the hair follicle transplantation is not yet completed (in the case of No in S720), the recovery or delivery of the planter 100 is awaited. (S730)

When the hair follicle transplantation is completed in the above-described step S720 (Yes of S720), the conveyor belt 300 is moved in multiple degrees of freedom in accordance with the driving of the robot arm 400 to move the end effector 200 in the direction of the operator's hand. Induced (S740).

When the end effector 200 is guided in the direction of the operator's hand in step S740, the hair follicle is transplanted using the end effector 200 to recover the empty planter 100 from the operator (S750).

After recovering the planter 100 from the operator in step S750 described above, the planter 100 is loaded with hair follicles that are fastened to the end effector 200 (S750).

In one embodiment, in step S760 of delivering the planter 100 to the operator, the planter 100 may be transferred to a space between the operator's thumb and the index finger from the operator's hand.

When the planter 100 is delivered to the operator in step S760 described above, the end effector 200 to which the empty planter 100 recovered from the operator is fastened is transported to the loader along one side of the conveyor belt 300 ( S770).

FIG. 8 is a flow chart illustrating the steps of reading whether hair follicle transplantation in FIG. 7 is complete.

Referring to FIG. 8, in step S720 of reading whether hair follicle transplantation is completed, first, an upper portion of the planter 100 is photographed (S721).

When the upper part of the planter 100 is photographed in the above-described step S721, the marker unit 130 formed on the upper part of the planter 100 is detected (S722).

When the marker unit 130 is detected in step S722 described above, the completion of transplantation is read through whether the detected marker unit 130 is externally exposed (S723).

When the operator grips the marker unit 130 with a finger through the marker unit 130 detected in the above-described step S723 and the marker unit 130 is not exposed to the outside (in the case of No in S723), hair transplanting is not yet completed. If it is not read (S725), and the operator removes the finger from the marker unit 130 and the marker unit 130 is exposed to the outside (YES in S723), the planting can be read as complete (S724).

Although described above with reference to the embodiments, those skilled in the art can be variously modified and changed within the scope of the present invention without departing from the spirit and scope of the invention described in the claims below. I can understand.

The size of the domestic market for hair transplant surgery is estimated to be about 266.4 billion won, and sales of the mosquito net used in surgery are 1.2 billion won in 2014.

According to the present invention, a hair follicle-loaded planter is delivered to the operator's hand through a surgical assistant system including a camera, a robot arm, an end effector, and the like for the delivery of the planter. By providing a transplant system and method for hair transplant surgery, which can automatically perform the task of delivering the used planters to nurses loading hair follicles, it can be sold to over 200 hospitals performing hair follicle transplantation. In addition, the company is expected to continue to generate profits in conjunction with specially-equipped maize.

100: planting machine
110: loading unit
120: gripper
130: marker portion
200: end effector
210: main body
220: first connection
230: second connection
240: first moving part
250: second moving part
300: conveyor belt
400: robot arm
500: camera
600: control unit

Claims (15)

A hair transplanter loaded with hair follicles to be implanted into an operator;
An end effector to which the planter is detached;
A conveyor belt coupled to one end of the end effector, the conveyor belt rotating to move the end effector to an operator or a loader;
A robot arm attached to the conveyor belt and capable of moving the conveyor belt at multiple degrees of freedom;
A camera attached to the robot arm or remotely installed to photograph the planter; And
Reads whether the hair follicle transplantation is completed according to the image of the planter photographed by the camera, and controls the operation of the conveyor belt or the robot arm so as to transport the planter to the operator's hair follicle transplantation position or the loading of the loader's hair follicle loading position. Including a control unit,
The planter,
A loading unit in which hair follicles are loaded;
A gripping portion held by the operator or the loader by hand; And
The control unit includes a marker portion formed on top of the gripping portion to read whether the hair follicle transplantation is completed through the image reading, hair transplant surgery transplant system.
delete The method of claim 1, wherein the control unit,
When the operator grasps the marker part with a finger and the marker part is not exposed to the outside through the image of the planter, the hair is read as not yet completed, and the operator removes the finger from the marker part and exposes the marker part to the outside. The hair transplanter delivery system for hair transplantation, characterized in that when the reading is complete.
The method of claim 1, wherein the marker unit,
Hair transplant surgery for transplantation system characterized in that the magnetic material is formed to be detachable to the end effector.
The method of claim 1, wherein the end effector,
A main body connected to one side of the conveyor belt;
A first fastening part connected to the upper part of the main body and fastening the hair transplanter loaded with hair follicles; And
Connected to the upper portion of the main body, hair transplantation transplanter for transplanting hair transplanter, characterized in that it comprises a second fastening portion for fastening the empty planter.
The method of claim 5, wherein the end effector,
A first moving part installed between the first fastening part and the main body so as to move the first fastening part downward when the hair follicle is loaded with the hair transplanter; And
When the hair follicle is transplanted to recover the empty planter from the operator, characterized in that it comprises a second moving portion connected between the second fastening portion and the main body so as to move the second fastening portion downward Hair transplant delivery system for hair transplantation.
The method of claim 6, wherein the first moving unit,
Moving the first fastening portion in the vertical direction to transfer the hair transplanter to the space between the operator's thumb and index finger from the operator's hand.
The method of claim 6, wherein the second moving unit,
And moving the second fastening portion upward and downward to recover the flounder in the upward direction from between the thumb and index finger of the operator.
The method of claim 5, wherein the first fastening portion or the second fastening portion,
Hair transplant surgery plant delivery system, characterized in that formed with a magnetic material so as to detach the planter.
The method of claim 1, wherein the conveyor belt,
The transplanter system for hair transplant surgery, characterized in that the part facing the loader is formed longer in the horizontal direction than the part facing the operator so as to secure more time passing the front of the loader.
The method of claim 1, wherein the robot arm,
When the hair follicle transplantation of the planter previously delivered to the operator is completed, moving the conveyor belt to guide the end effector installed to the conveyor belt in the direction of the operator's hand to transfer the hair transplanter system.
In the hair transplant surgery implantation method performed by a hair transplant surgery implant system including a planter, end effector, conveyor belt, robot arm,
Transporting the end effector to which the hair follicle-loaded planter is fastened along one side of the conveyor belt to the operator;
Reading whether hair follicle transplantation of the planter previously delivered to the operator has been completed;
When the hair follicle transplantation is completed, the conveyor belt is moved in multiple degrees of freedom according to the driving of the robot arm to guide the end effector in the direction of the operator's hand;
Recovering the empty planter from the operator by transplanting the hair follicles;
Delivering the planter loaded with hair follicles to an operator; And
Comprising a step of transporting the end effector with the empty planter collected from the operator to the loader along one side of the conveyor belt,
The step of delivering the planter to the operator,
Transfer of the planter to the space between the operator's thumb and index finger from the operator's hand to transfer, the transplanter for hair transplant surgery.
The method of claim 12, wherein the step of reading whether the hair follicle transplantation is complete,
Photographing an upper portion of the planter;
Detecting a marker formed on an upper portion of the planter; And
A method for delivering a hair transplanter for a hair transplant surgery, comprising: reading a transplant completion through the detected marker portion.
The method of claim 13, wherein reading the completion of implantation comprises:
When the operator grasps the marker part with a finger through the detected marker part and the marker part is not exposed to the outside, the hair is read as not yet completed, and the operator removes the finger from the marker part and the marker part is exposed to the outside. If the hair transplantation is read when the hair transplant surgery, characterized in that the delivery method.
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