Abstract: A system and method for counting follicular units using an automated system comprises acquiring an image of a body surface having skin and follicular units, filtering the image to remove skin components in the image, processing the resulted image to segment it, and filtering noise to eliminate all elements other than hair follicles of interest so that hair follicles in an area of interest can be counted. The system may comprise an image acquisition device and an image processor for performing the method. In another aspect, the system and method also classifies the follicular units based on the number of hairs in the follicular unit.

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.

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 a tool, such as a hair harvesting or a hair implantation tool, to proceed at least under a partial computer control in a selected direction of travel along a donor or recipient area of the patient, as well as changing direction of travel based on desired harvesting and/or implantation criteria.

Abstract: A system and method for counting follicular units using an automated system comprises acquiring an image of a body surface having skin and follicular units, filtering the image to remove skin components in the image, processing the resulted image to segment it, and filtering noise to eliminate all elements other than hair follicles of interest so that hair follicles in an area of interest can be counted. The system may comprise an image acquisition device and an image processor for performing the method. In another aspect, the system and method also classifies the follicular units based on the number of hairs in the follicular unit.

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.

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: Systems and methods are provided for harvesting hair grafts from a body surface utilizing a removal tool comprising first and second elongated bodies. The described systems and methods serve to eliminate and/or at least minimize unnecessary compression of adjacent tissue during the removal process, thereby minimizing damage to the follicular unit being removed, reducing the opportunities for the follicular unit to intersect the path of the harvesting tool, and/or improving the quality of the removed specimen, preferably preserving its integrity.

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: 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: 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 robotic patient positioning assembly for therapeutic radiation treatment includes a robotic positioning device for moving and supporting the patient during treatment, a sensor system for detecting the position of the robotic positioning device, and a controller operatively connected with the sensor system for receiving position data of the robotic positioning device and operatively connected to the robotic positioning device for controlling the motions of the robotic positioning device. The controller is adapted for controlling the motion of the robotic positioning device in response to information representative of the position of the robotic positioning device received from the sensor system, so that the treatment target within a patient loaded on the robotic positioning device is properly aligned with a radiation source of a therapeutic radiation treatment system.

Abstract: A patient positioning assembly is described. The patient positioning assembly including a plate member rotatably mounted on a base member, and an arm extending between a first end and a second end, wherein the first end is rotatably attached to the plate member. The patient positioning assembly further including a support device rotatably attached to the second end of the arm to support a patient thereon, with the support device is configured to move the patient in at least five degrees of freedom.

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 method of robotic patient positioning for radiation treatment using a radiation source with an arm assembly rotatably connected to a support device is described. The method includes moving the support device with respect to the radiation source in at least five degrees of freedom to align a treatment target with respect to the radiation source. Moving the support device includes rotating the support device about first, second and third rotational axes and rotating the arm assembly about fourth and fifth rotational axes. Rotations about the fourth and fifth rotational axes translate the support device for fourth and fifth degrees of freedom of the at least five degrees of freedom.

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: 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.

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 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.