Patents Assigned to Restoration Robotics, Inc.
  • Publication number: 20140276092
    Abstract: A method of detecting a change in tension of a body surface during a medical procedure is provided. In some embodiments the method may be carried out without additional invasive devices or procedures being required. In one example the methodology is applied when using any type of body surface tensioning device. The tensioning device comprises fiducials that are visible to an image acquisition device. In another example of an embodiment of the current application, the methodology may be applied by attaching fiducials directly to the body surface. The relative motion of the fiducials relative to one another may be utilized to determine a change in body surface tension.
    Type: Application
    Filed: March 14, 2013
    Publication date: September 18, 2014
    Applicant: Restoration Robotics, Inc.
    Inventors: John A. Tenney, Mohan (a.k.a. Radhika Mohan) Bodduluri, Gabriele Zingaretti, Clifford A. Oostman, JR.
  • Patent number: 8814882
    Abstract: Tools and methods are provided for removing biological units from a body surface utilizing a removal tool. The tools may incorporate retention members and mechanisms configured to impede movement of the biological unit in the direction of a distal end of the tool and to improve retention of the biological unit in the tool. Some of the retention members are stationary and some are movable within the lumen of the biological unit removal tools. The distal tips of the tools are desirably configured to reduce the chance of transection of a biological unit, such as by including both cutting segments and blunt relief segments. A number of dual concentric tube embodiments permit a division of removal functions. Distal fluid or gas delivery may supplement a vacuum in a luminal space to help extract biological units from surrounding tissue.
    Type: Grant
    Filed: March 18, 2008
    Date of Patent: August 26, 2014
    Assignee: Restoration Robotics, Inc.
    Inventors: Clifford A. Oostman, Jr., Miguel G. Canales, Brian DuBois
  • Patent number: 8811660
    Abstract: A system and method for tracking, identifying, and labeling objects or features of interest is provided. In some embodiments, tracking is accomplished using unique signature of the feature of interest and image stabilization techniques. According to some aspects a frame of reference using predetermined markers is defined and updated based on a change in location of the markers and/or specific signature information. Individual objects or features within the frame may also be tracked and identified. Objects may be tracked by comparing two still images, determining a change in position of an object between the still images, calculating a movement vector of the object, and using the movement vector to update the location of an image device.
    Type: Grant
    Filed: March 27, 2009
    Date of Patent: August 19, 2014
    Assignee: Restoration Robotics, Inc.
    Inventors: Shehrzad A. Qureshi, Kyle R. Breton, John A. Tenney
  • Publication number: 20140171968
    Abstract: Devices and methods are disclosed which provide for harvesting hair follicular units, including severing any remaining connective tissue strands during the harvesting process, so that the harvested follicular units are retained in the harvesting tool without being damaged. The devices and methods of the present invention are especially useful with the partially or substantially automated systems and methods for hair harvesting and transplantation. The follicular unit harvesting tools may comprise a harvesting cannula and a grasping device. The harvesting tools may also comprise a retention member or a grasping member.
    Type: Application
    Filed: February 19, 2014
    Publication date: June 19, 2014
    Applicant: Restoration Robotics, Inc.
    Inventors: Clifford A. Oostman, JR., Miguel G. Canales
  • Publication number: 20140171827
    Abstract: Tools and methods of use for removing biological units from a body surface utilizing a removal tool are disclosed. The tool incorporates a retention member configured to impede movement of the biological unit in the direction of a distal end of the tool and to improve retention of the biological unit in the tool. The retention member is radially movable within the lumen of the biological unit removal tool. The distal tips of the tools are desirably configured to reduce the chance of transection of a biological unit.
    Type: Application
    Filed: February 21, 2014
    Publication date: June 19, 2014
    Applicant: Restoration Robotics, Inc.
    Inventors: Dennis Westerling, JR., Michael J. Drews, Timothy J. Kirkley
  • Patent number: 8747427
    Abstract: The present application is directed to apparatus, systems and methods for automated delivery of fluids. According to one aspect, it is especially useful in providing a restricted flow of fluid to a tool, for example, a cannula or a needle used in hair transplantation. According to another aspect, the systems and methods provided herein enable the hair harvesting or a hair implantation tool to be cleaned, flushed or lubricated.
    Type: Grant
    Filed: January 18, 2011
    Date of Patent: June 10, 2014
    Assignee: Restoration Robotics, Inc.
    Inventors: Tomás Meléndez, Clifford A. Oostman, Jr., Brian E. Tippett
  • Publication number: 20140155912
    Abstract: Automated systems and methods for operating a procedure tool to perform a procedure (for example, hair transplantation) on a body are provided. One or more mechanisms are configured to produce a combination movement of the procedure tool in response to control signals. A force sensor monitors resistance as the tool moves and transmits information from the force sensor to a computer. Movement of the procedure tool is controlled at least in part based on information from the force sensor.
    Type: Application
    Filed: February 11, 2014
    Publication date: June 5, 2014
    Applicant: Restoration Robotics, Inc.
    Inventors: Mohan Bodduluri, Philip L. Gildenberg, Donald E. Caddes
  • Patent number: 8696686
    Abstract: Tools and methods of use for removing biological units from a body surface utilizing a removal tool are disclosed. The tool incorporates a retention member configured to impede movement of the biological unit in the direction of a distal end of the tool and to improve retention of the biological unit in the tool. The retention member is radially movable within the lumen of the biological unit removal tool. The distal tips of the tools are desirably configured to reduce the chance of transection of a biological unit.
    Type: Grant
    Filed: June 26, 2012
    Date of Patent: April 15, 2014
    Assignee: Restoration Robotics, Inc.
    Inventors: Michael J. Drews, Dennis Westerling
  • Patent number: 8690894
    Abstract: An automated system for harvesting or implanting follicular units, including a moveable arm; a harvesting and/or implantation tool mounted on the moveable arm; one or more cameras mounted on the moveable arm; a processor configured to receive and process images acquired by the one or more cameras; and a controller operatively associated with the processor and configured to position the moveable arm based, at least in part, on processed images acquired by the one or more cameras, wherein the moveable arm is positionable such that the tool may be positioned at a desired orientation relative to an adjacent body surface.
    Type: Grant
    Filed: May 20, 2011
    Date of Patent: April 8, 2014
    Assignee: Restoration Robotics, Inc.
    Inventors: Mohan Bodduluri, Philip L. Gildenborg, Donald E. Caddes
  • Patent number: 8690895
    Abstract: Devices and methods are disclosed which provide for harvesting hair follicular units, including severing any remaining connective tissue strands during the harvesting process, so that the harvested follicular units are retained in the harvesting tool without being damaged. The devices and methods of the present invention are especially useful with the partially or substantially automated systems and methods for hair harvesting and transplantation. The follicular unit harvesting tools may comprise a harvesting cannula and a grasping device moveable relative to each other.
    Type: Grant
    Filed: July 15, 2013
    Date of Patent: April 8, 2014
    Assignee: Restoration Robotics, Inc.
    Inventors: Clifford A. Oostman, Jr., Miguel G. Canales
  • Publication number: 20140074115
    Abstract: Devices and methods for applying tension to an area of skin during various cosmetic or dermatological procedures, in particular for follicular unit removal and/or implantation in a hair transplantation procedure, are provided. The systems and methods utilize a segmented structure configured to conform to the body surface of various sizes, shapes and/or textures, thus allowing for customization in order to fit a variety of persons. In some embodiments, the tensioning device may be temporary secured, for example, to a patient chair.
    Type: Application
    Filed: March 6, 2013
    Publication date: March 13, 2014
    Applicant: Restoration Robotics, Inc.
    Inventor: Clifford A. Oostman, JR.
  • Patent number: 8652186
    Abstract: A system and method is provided for improving the visibility of hair on the skin surface, in a region that is bloodied or bruised, and potentially expanding the candidate pool of the hair grafts to be selected for harvesting. The system uses a light source comprising at least two emitters and the method comprises controlling the contrast between the image of the blood and the image of the skin surface. The method of the present invention may be implemented with various hair harvesting and transplantation systems, including manual, partially automated and fully automated systems.
    Type: Grant
    Filed: June 28, 2010
    Date of Patent: February 18, 2014
    Assignee: Restoration Robotics, Inc.
    Inventors: Robert N. Roy, Shehrzad A. Qureshi
  • Publication number: 20130287286
    Abstract: A variety of systems and methods are described which enable quantitative information to be extracted regarding automated procedures, including those performed at a high speed that may require a user input, without having to interrupt the procedure. In addition, these systems and methods serve to provide information on one or more parameters of the automated procedure, whereby they may be modified, if required, to improve the automated procedure or the results from such a procedure. The systems and methods provided are especially useful in automated hair transplantation procedures.
    Type: Application
    Filed: January 6, 2012
    Publication date: October 31, 2013
    Applicant: Restoration Robotics, Inc.
    Inventors: Gabriele Zingaretti, Mohan Bodduluri, Miguel G. Canales, Brian E. Tippett, Hui Zhang
  • Patent number: 8562627
    Abstract: Device and method for harvesting and implanting hair follicular units is provided. A combined harvesting and implanting tool or tool assembly provides a harvesting cannula portion detachably coupled to an implanting cannula portion. The harvesting and implanting cannula portions may be coupled by a connector that could be designed to allow for multiple uses of the tool assembly, or alternatively may be designed for single use and rendered non-functional when the implanting cannula portion of the tool is separated from the harvesting cannula portion of the tool.
    Type: Grant
    Filed: September 21, 2011
    Date of Patent: October 22, 2013
    Assignee: Restoration Robotics, Inc
    Inventor: Brian DuBois
  • Patent number: 8545517
    Abstract: Tools and methods are provided for dissecting and/or removing biological units, such as hair follicles, from the body surface based on the images both above and below a body surface to reduce potential damage to the removed biological unit. The invention may be used in fully automated systems and also in a hand-held devices and systems. A system may produce a series of three-dimensional images of the body surface indicating follicular unit size, shape, position, and orientation both above and below the skin surface. The images may be utilized by an automated follicular unit harvesting tool, or maybe stored for later use. Imaging techniques include devices that sense light in the visible or infrared spectrums, optical coherence tomography, and ultrahigh frequency ultrasound.
    Type: Grant
    Filed: June 3, 2009
    Date of Patent: October 1, 2013
    Assignee: Restoration Robotics, Inc.
    Inventors: Mohan Bodduluri, Joseph A. Heanue, Kate L. Bechtel, Brian P. Wilfley
  • Patent number: 8512356
    Abstract: Devices and methods are disclosed which provide for harvesting hair follicular units, including severing any remaining connective tissue strands during the harvesting process, so that the harvested follicular units are retained in the harvesting tool without being damaged. The devices and methods of the present invention are especially useful with the partially or substantially automated systems and methods for hair harvesting and transplantation. The follicular unit harvesting tools may comprise a harvesting cannula and a grasping device moveable relative to each other.
    Type: Grant
    Filed: June 5, 2008
    Date of Patent: August 20, 2013
    Assignee: Restoration Robotics, Inc.
    Inventors: Clifford A. Oostman, Jr., Miguel G. Canales
  • Publication number: 20130190776
    Abstract: 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. 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.
    Type: Application
    Filed: March 12, 2013
    Publication date: July 25, 2013
    Applicant: Restoration Robotics, Inc.
    Inventors: Hui Zhang, Radhika Mohan Bodduluri
  • Patent number: 8465498
    Abstract: A device and method for applying tension to an area of skin, in particular for follicular unit removal and/or implantation in a hair transplantation procedure, is provided. The tensioning device comprises at least one body surface grabber capable of engaging the body surface, and the tensioning device is configured to be able to create tension on a body or skin surface by simply displacing the tensioning device as a whole in one general direction. The tensioning device may be secured, for example, to a patient chair.
    Type: Grant
    Filed: January 15, 2010
    Date of Patent: June 18, 2013
    Assignee: Restoration Robotics, Inc.
    Inventors: Clifford A. Oostman, Jr., James A. Harris
  • Publication number: 20130144309
    Abstract: Devices and methods for applying tension to an area of skin are provided, for example, for follicular unit removal and implant in a hair transplantation procedure. The devices may include a frame with at least two skin contact members that hold to the skin. Also disclosed are various ways to apply a force displacing the skin contact members apart, thus creating tension in the skin. The devices and methods may incorporate suction, and/or barbs or microbarbs. The frame may surround the skin area with tensile forces applied outward in multiple directions or substantially uni-directionally. Adjusting members and indicators may be provided to control and display the tensile force applied to skin. The tensioning devices and methods may be incorporated into a robotic hair transplantation system.
    Type: Application
    Filed: January 29, 2013
    Publication date: June 6, 2013
    Applicant: Restoration Robotics, Inc.
    Inventor: Restoration Robotics, Inc.
  • Patent number: 8454627
    Abstract: Systems and methods are provided for determining the need to change and/or changing orientation of a tool relative to an object on a body in at least partially automated procedure. Also, systems and methods are provided for orienting a hair harvesting tool relative to a follicular unit to be harvested. Further, systems and methods of implanting follicular units are provided, which are based on the orientation of the existing follicular units or based on pre-determined insertion angle. The provided systems and methods use image processing and image-generated topological skin models. In some embodiments surface fit is performed using, for example, a planar fit, quadric fit, cubic fit, mesh fit and parametric fit.
    Type: Grant
    Filed: January 6, 2012
    Date of Patent: June 4, 2013
    Assignee: Restoration Robotics, Inc.
    Inventors: Mohan Bodduluri, Gabriele Zingaretti, Miguel G. Canales, Shehrzad A. Qureshi