Follicular Unit Registration Based on Binocular Stereo Vision for Hair Transplantation Surgery Robot

Abstract

In this paper, we focus on the follicular unit registration problem for hair transplantation surgery robots based on binocular stereo vision system. The follicular units in both images are detected with YOLO V5 network. Because of the dull and similar pattern of the follicular units, previous regular methods which are pixel-based are reported with misalignment and poor accuracy. To solve this problem, we propose the context shape to describe the feature of the follicular unit. The distribution of units surrounding the target unit is estimated as the context shape. Then, Otsu’s method is used to segment hairs and Hungarian algorithm is used to match the hairs in the matched follicular unit. Then, the hairs are projected to 3D coordinate system and reconstructed. The experiments on the generated hair dataset demonstrate that the proposed method achieves both high accuracy and speed.