Abstract: Systems and methods for aligning a tool positioned on a moveable arm with a location or an object of interest on a body surface. Some methods comprise using one or more cameras and identifying position offsets of the location or the object of interest from the one or more cameras. Some methods comprise using at least two cameras and rectifying the images from the first and the second cameras. A variety of different tools and assemblies may be located on the moveable arm for performing various diagnostic and therapeutic procedures that take advantage of the ability of the moveable arm to rapidly and precisely position the respective tool or assembly at desired locations on a skin.

Abstract: Automated systems and methods for delivery of a therapeutic or cosmetic substance into cutaneous, subcutaneous or intramuscular tissue, wherein an automated (e.g., robotic) arm is maneuvered to position a delivery device proximate a targeted location (e.g., an existing hair follicle, a location for implanting a skin filler, or a location for intradermal tattoo ink injection) on a patient's skin surface; and a substantially automated process is used to cause the delivery device to puncture the skin surface and penetrate to a desired depth into the tissue at the targeted location, and deliver the substance therein.

Abstract: A system for planning transplantation of follicular units in a body surface of a patient includes a user interface comprising a software-controlled processor, a monitor, and an input device, wherein the system is configured for acquiring images of the body surface, processing the images to produce a three-dimensional model of the body surface, displaying a graphic rendering of the body surface model on the monitor, and displaying on the body surface model a proposed recipient area for implanting follicular units based at least in part on an actual or desired physical characteristic of the patient.

Abstract: A system and method for classifying follicular units based on the number of hairs in a follicular unit of interest comprises acquiring an image of a body surface having a follicular unit of interest, processing the image to calculate a contour of the follicular unit and an outline profile which disregards concavities in the contour, and determining the number of defects in the outline profile to determine the number of hairs in the follicular unit. The system and method may also adjust for hairs which converge beneath the skin and for images which appear as a single wide hair but which are actually multiple hairs. In another aspect, a system and method for determining the end points of a follicular unit comprises generating a skeleton of a segmented image and identifying the end points from the skeletonized image.

Abstract: A method of transplanting a hair follicular units includes aligning a longitudinal axis of a harvesting cannula of a tool assembly with a longitudinal axis of a selected follicular unit, advancing the harvesting cannula relative to the body surface so that a tissue coring distal end of the harvesting cannula penetrates the body surface surrounding the selected follicular unit to a depth sufficient to substantially encapsulate the follicular unit, withdrawing the harvesting cannula distal end from the body surface with the follicular unit retained in an interior lumen of the harvesting cannula, advancing an implanting cannula of the tool assembly over the harvesting cannula relative to the body surface so that a tissue piercing distal end of the implanting cannula punctures the body surface and forms an implantation cavity therein, and displacing the follicular unit from the harvesting cannula lumen into the implantation cavity.

Abstract: A multi-part tool assembly for harvesting and implanting follicular units, comprising an outer cannula having an open, tissue-piercing distal end, and an inner cannula coaxially positioned in a lumen of the first cannula, the second cannula having an open, tissue-coring distal end sized to engage and retain single hair follicular units. An obturator may be positioned in the lumen of the second cannula, wherein at least one of the first cannula, second cannula, and obturator are movable relative to the other ones.

Abstract: A system and method for classifying follicular units based on the number of hairs in a follicular unit of interest comprises (i) acquiring a digital image of a body surface having a follicular unit of interest; (ii) selecting a region of interest with the digital image which contains the follicular unit; (iii) segmenting the selected image to produce a binary image wherein the binary image defines a contour of the follicular unit; (iv) calculating an outline profile of the binary image which disregards concavities in the contour; and (v) determining the number of defects in the outline profile to determine the number of hairs in the follicular unit. The system and method may also adjust for hairs which converge beneath the skin and for images which appear as a single wide hair but which are actually multiple hairs.

Abstract: Automated systems and methods for delivery of a therapeutic or cosmetic substance into cutaneous, subcutaneous or intramuscular tissue, wherein an automated (e.g., robotic) arm is maneuvered to position a delivery device proximate a targeted location (e.g., an existing hair follicle, a location for implanting a skin filler, or a location for intradermal tattoo ink injection) on a patient's skin surface; and a substantially automated process is used to cause the delivery device to puncture the skin surface and penetrate to a desired depth into the tissue at the targeted location, and deliver the substance therein.

Abstract: A system and method for classifying follicular units based on the number of hairs in a follicular unit of interest comprises (i) acquiring a digital image of a body surface having a follicular unit of interest; (ii) selecting a region of interest with the digital image which contains the follicular unit; (iii) segmenting the selected image to produce a binary image wherein the binary image defines a contour of the follicular unit; (iv) calculating an outline profile of the binary image which disregards concavities in the contour; and (v) determining the number of defects in the outline profile to determine the number of hairs in the follicular unit. The system and method may also adjust for hairs which converge beneath the skin and for images which appear as a single wide hair but which are actually multiple hairs.

Abstract: A system and method for counting follicular units using an automated system comprises (i) acquiring a digital image of a body surface having skin and a plurality of follicular units; (ii) selecting a region of interest with the digital image; (iii) segmenting the selected image to produce a binary image; (iv) performing a morphological open operation on the binary image; and (v) performing noise filtering by removing objects having certain characteristics which do not correspond to hair.

Abstract: A method for implanting follicular units in a body surface includes (i) acquiring and processing images of a body surface to identify an implantation site on the body surface, (ii) using an automated system including a moveable arm to position an implantation tool mounted on the moveable arm to a location adjacent the implantation site, (ii) implanting a follicular unit in the body surface by movement of the implantation tool relative to the body surface, wherein the images are acquired from one or more cameras mounted on the moveable arm.

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.

Abstract: A method of transplanting a hair follicular units includes aligning a longitudinal axis of a harvesting cannula of a tool assembly with a longitudinal axis of a selected follicular unit, advancing the harvesting cannula relative to the body surface so that a tissue coring distal end of the harvesting cannula penetrates the body surface surrounding the selected follicular unit to a depth sufficient to substantially encapsulate the follicular unit, withdrawing the harvesting cannula distal end from the body surface with the follicular unit retained in an interior lumen of the harvesting cannula, advancing an implanting cannula of the tool assembly over the harvesting cannula relative to the body surface so that a tissue piercing distal end of the implanting cannula punctures the body surface and forms an implantation cavity therein, and displacing the follicular unit from the harvesting cannula lumen into the implantation cavity.

Abstract: A method for harvesting follicular units from a body surface, includes acquiring and processing images of a body surface to identify a follicular unit on the body surface and to determine a relative position and orientation of the identified folliculat unit; using an automated system including a moveable arm to position a harvesting tool mounted on the moveable arm adjacent the identified follicular unit, based at least in part on processed image data, such that a longitudinal axis of the harvesting tool is aligned with a longitudinal axis of the follicular unit; and harvesting the follicular unit by movement of the harvesting tool relative to the body surface, wherein the images are acquired from one or more cameras mounted on the moveable arm.

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.

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.

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.