# US 2014/0155912 A1 · Automated System and Method for Harvesting or Implanting Follicular Units > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2014/0155912 A1 - Document ID: US20140155912A1 - Status: Published application - Kind: A1 - Application number: 14/177,462 - Filed: 2014-02-11 - Published: 2014-06-05 - Earliest claimed: 2005-09-30 - Assignees: Restoration Robotics, Inc. - Applicants: Restoration Robotics, Inc. - Inventors: Mohan Bodduluri; Philip L. Gildenberg; Donald E. Caddes - Web page: https://patentgrep.com/patent/US20140155912A1 ## CPC - A61B 34/10: Computer-aided planning, simulation or modelling of surgical operations - A61B 17/32053: {Punch like cutting instruments, e.g. using a cylindrical or oval knife (A61B17/326 takes precedence; trepans A61B17/1695)} - A61B 17/3468: {for implanting or removing devices, e.g. prostheses, implants, seeds, wires (devices for implanting seeds A61M37/0069)} - A61B 34/32: operating autonomously - A61B 34/70: {Manipulators specially adapted for use in surgery} - A61B 90/36: {Image-producing devices or illumination devices not otherwise provided for} - A61B 90/361: {Image-producing devices, e.g. surgical cameras} - A61B 34/30: Surgical robots - A61B 2017/00752: {Hair removal or transplantation} - A61B 2034/107: {Visualisation of planned trajectories or target regions} - A61B 2090/064: {for measuring force, pressure or mechanical tension} - A61B 2090/363: {Use of fiducial points} - A61B 2090/371: {with simultaneous use of two cameras} - A61M 37/0076: {Tattooing apparatus (apparatus for marking animals A01K11/00; vaccine applicators having needles or other puncturing means A61B17/205)} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - A61M: DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY (introducing media into or onto the bodies of animals A61D7/00; means for inserting tampons A61F13/26; devices for administering food or medicines orally A61J; containers for collecting, storing or administering blood or medical fluids A61J1/05); DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY (surgery A61B; chemical aspects of surgical articles A61L); DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR {(Electrotherapy, e.g. producing anaesthesia by the use of alternating or intermittent currents A61N1/36021)} ## 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. ## Claims ### Claim 1 A system comprising: a procedure tool configured to perform a procedure on a body; one or more mechanisms configured to produce a combination movement of the procedure tool in response to control signals applied to the one or more mechanisms; a force sensor configured to measure a resistance force encountered by the procedure tool moving through a skin into tissue; a controller operatively associated with the one or more mechanisms; wherein the combination movement of the procedure tool comprises one or more movement parameters and the controller is configured to control one or more movements of the tool based at least in part on a force curve, the force curve being generated based on information provided by the force sensor as the tool is being moved. ### Claim 2 (depends on 1) The system of claim 1, wherein the one or more movement parameters includes speed and the controller is operatively coupled to and configured to control at least one of the one or more mechanisms to cause the procedure tool to move at two or more different speeds, or vary a speed of the movement of the tool during different times of a procedure. ### Claim 3 (depends on 1) The system of claim 1, wherein the combination movement comprises at least one or more of reciprocating backward and forward thrusting movement, an advancement movement, or a retraction movement. ### Claim 4 (depends on 1) The system of claim 1, wherein the combination movement produces at least one advance motion, at least one cutting motion, at least one rotating motion of the follicular unit transplantation tool, or a combination thereof. ### Claim 5 (depends on 1) The system of claim 1, wherein the combination movement comprises at least one translational movement and at least one rotational movement that are provided substantially simultaneously. ### Claim 6 (depends on 1) The system of claim 1, wherein the controller is further configured to terminate the procedure if the resistance force exceeds a predetermined limit. ### Claim 7 (depends on 1) The system of claim 1, wherein the one or more mechanisms comprise motors, cams, springs, an actuation system, or any suitable mechanism configured to provide at least a part of the combination movement. ### Claim 8 (depends on 1) The system of claim 1, wherein the controller is configured to adjust a rate of advancement of the procedure tool into the tissue at least partially based on information provided by the force sensor. ### Claim 9 (depends on 1) The system of claim 1, further comprising a user interface, the user interface allowing a user to provide input to specify at least one or more of a speed, an orientation, an angle, a depth of the tool advancement to achieve a desired depth, a spacing between tool insertion locations, a degree of randomness associated with a targeted insertion location, a geometric profile of a procedure region, a distance, or a density of the tool insertion locations. ### Claim 10 (depends on 1) The system of claim 1, further comprising a robotic arm, wherein the procedure tool is attached to the robotic arm. ### Claim 11 (depends on 10) The system of claim 10, wherein the combination movement is produced at least in part by movement of the robotic arm. ### Claim 12 (depends on 1) The system of claim 1, wherein the procedure tool comprises one or more marker lines and wherein the controller is configured to determine how much the procedure tool has been advanced into a tissue. ### Claim 13 (depends on 1) The system of claim 1, wherein the controller is configured to assess when a dip in the force curve is reached, and is further configured to activate the one or more mechanisms to change one of the movement parameters, when the dip is reached. ### Claim 14 (depends on 1) The system of claim 1, wherein the procedure tool is a tissue removal tool, a hair removal tool, a laser, a needle, a punch, a hair harvesting tool, a hair implantation tool, a hair transplantation tool, a tattoo tool, a tattoo removal tool, or a biopsy cannula. ### Claim 15 (depends on 1) The system of claim 1, wherein the procedure comprises diagnostic medical procedures, therapeutic medical procedures, cosmetic procedures, application of laser or radio frequency energy, tattooing, tattoo removal, tissue removal, biopsy, hair removal, hair transplantation, face lift, or injections. ### Claim 16 (depends on 1) The system of claim 1, further comprising an air jet configured for directing an air stream at a body surface on which the procedure tool is to be used. ### Claim 17 (depends on 1) The system of claim 1, further comprising a mechanism configured to provide suction. ### Claim 18 (depends on 1) The system of claim 1, further comprising a holding unit for engagement with the procedure tool, wherein the holding unit is configured to accommodate the one or more mechanisms and engage the procedure tool. ### Claim 19 A method of operating a procedure tool, the method comprising: applying control signals to one or more mechanisms to produce a combination movement of a procedure tool; using a force sensor to measure a resistance force encountered by the procedure tool moving through a skin into tissue; generating a force curve based on information provided by the force sensor; automatically determining whether to adjust one or more movements of the combination movement of the procedure tool based at least in part on the force curve.