Patent Description:
Artificial lighting provided in surgical theaters and surgical suites may present a number of issues with regard to positioning, shadows, luminosity, and glare. Often, medical professionals are not stationary and the lighting needs to be dynamic due to the shifting of personnel and instruments throughout the surgical procedure. Further, differences in the physical dimensions of personnel may make positioning light sources challenging. Accordingly, new illumination systems for surgical suites may be advantageous.

With regard to Reference D1, <CIT>, a system adapted for supporting workflow in a three-dimensional space which provides, among other things, hands-free control and adjustment of lighting within the threedimensional space is disclosed. The system of the present invention is also adapted for delivering, tracking, and retrieving tools in the three-dimensional space. The system of the present invention includes various subsystems, which are referred to herein as modules, that both act independently and co-dependently, as will be described in greater detail below, in conjunction with a central control computer module. The modules consist, in an exemplary embodiment, of the cable robot module, the central computer module, the imaging module, the illumination module, and the object manipulator module.

According to one aspect of this disclosure, a control instrument for an illumination system is defined in claim <NUM>.

These and other aspects, objects, and features of the present disclosure will be understood and appreciated by those skilled in the art upon studying the following specification, claims, and appended drawings. It will also be understood that features of each example disclosed herein may be used in conjunction with, or as a replacement for, features of the other examples.

The following is a description of the figures in the accompanying drawings. The figures are not necessarily to scale, and certain features and certain views of the figures may be shown exaggerated in scale or in schematic in the interest of clarity and conciseness.

Additional features and advantages of the invention will be set forth in the detailed description which follows and will be apparent to those skilled in the art from the description or recognized by practicing the invention as described in the following description together with the claims and appended drawings.

In this document, relational terms, such as first and second, top and bottom, and the like, are used solely to distinguish one entity or action from another entity or action, without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises. a" does not, without more constraints, preclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

Referring generally to <FIG>, the disclosure provides for an illumination system <NUM>. The illumination system <NUM> may comprise a controller <NUM> and various accessories that may be utilized in a medical suite <NUM> to selectively illuminate a location or operating region <NUM>. The illumination system <NUM> may comprise one or more light assemblies <NUM>, which may include one or more light sources <NUM>. Additionally, the system <NUM> may comprise at least one imager <NUM> operable to capture image data in a field of view <NUM> comprising the operating region <NUM>. In an exemplary embodiment, the controller <NUM> of the system <NUM> may be configured to scan the operating region <NUM> to identify a location of a marker <NUM>. Based on the location of the marker <NUM>, the controller <NUM> may control a lighting emission from the one or more light sources <NUM> to illuminate the location corresponding to the position of the marker <NUM> identified in the image data. In this way, the system <NUM> may provide for a computer-assisted control of a direction of lighting emissions directed from the one or more light sources to conveniently illuminate various locations within the operating region <NUM>.

In some examples, the system <NUM> may be configured to track the motion of the marker <NUM> to adjust the position of one or more target positions <NUM> in response to controls instructed by a user <NUM>. Such tracking may be at least partially determined by the controller <NUM> of the system <NUM> by detecting a motion and/or rate of motion of a control instrument <NUM> comprising the marker <NUM> identified in the field of view <NUM>. In some examples, the marker <NUM> may comprise a plurality of markers, user inputs, and various features that may be configured to control the illumination system <NUM>. The control instrument may comprise a handheld device that may be robust and configured to be sanitized with various surgical instruments via conventional sterilization processes (e.g. autoclave sterilization). In some examples, the instrument <NUM> may be passive in operation and rely on the imager <NUM> of the system to identify a user input in response to identifying an interaction by the user with a user input or feature of the control instrument <NUM>. Various examples of such operations are discussed in reference to <FIG>.

Referring now to <FIG>, reference numeral <NUM> generally designates an illumination system <NUM>. The illumination system <NUM> is depicted in a medical suite <NUM> and includes one or more light assemblies <NUM>. The light assemblies <NUM> may include one or more light sources <NUM>. The illumination system <NUM> may include one or more imagers <NUM> depicted to aid in the use of the illumination system <NUM>. The imagers <NUM> may be positioned within or coupled to the light assemblies <NUM> (e.g., in handles or bodies), a table <NUM>, and/or around the medical suite <NUM>. The imager <NUM> may be a charge-coupled device (CCD) imager, a complementary metal-oxide-semiconductor (CMOS) imager, other types of imagers, and/or combinations thereof. According to various examples, the imager <NUM> may include one or more lenses to collimate and/or focus the light reflected by the patient, the table <NUM>, or other features of the medical suite <NUM>.

The table <NUM> may at least partially define the operating region <NUM>. For purposes of this disclosure, the operating region <NUM> may be an operating field which is an isolated area where surgery is performed and may include all furniture and equipment covered with sterile drapes and all personnel being properly attired. Although described in connection with the medical suite <NUM>, it will be understood that the illumination system <NUM> of the present disclosure may be utilized in a variety of environments. For example, the illumination system <NUM> may be utilized in automobile repair areas, doctor's offices, dentistry, photography studios, manufacturing settings, as well as other areas where dynamic lighting solutions may be advantageous.

The table <NUM> is configured to support a patient during a surgical procedure. According to various examples, the table <NUM> may have a square, rectangular and/or oval configuration. The table <NUM> may be composed of a metal (e.g., stainless steel), a polymer and/or combinations thereof. According to various examples, a sterile covering (e.g., a cloth or paper) may be positioned across a surface of the table <NUM>. The table <NUM> may be configured to tilt, rotate and/or be raised or lowered. In examples where the table <NUM> is configured to tilt, the table <NUM> may tilt an angle from about <NUM>° to about <NUM>° about a long or a short axis of the table <NUM>. The tilting of the table <NUM> may be performed in conjunction with illumination provided from the illumination system <NUM> and/or the light assemblies <NUM>. For example, the table <NUM> may be configured to tilt toward and/or away from the light assemblies <NUM> to increase illumination, decrease illumination and/or to eliminate glare reflecting off of the patient and/or table <NUM>. Further, tilting of the table <NUM> may be advantageous in allowing users (e.g., medical personnel) positioned around the table <NUM> to more easily access the patient and/or surgical field. In addition to tilting, it will be understood that the table <NUM> may be configured to raise or lower, rotate and/or slide about an X-Y plane.

The light assemblies <NUM> may take a variety of configurations. The light assemblies may include one or more light sources <NUM>. In a first example, the light assemblies <NUM> may be modular and interconnected and supported on a track system. For example, the light assemblies <NUM> may have a circular, oval, oblong, triangular, square, rectangular, pentagonal or higher order polygon shape. It will be understood that different light assemblies <NUM> may be provided in different forms and that the illumination system <NUM> may include a variety of light assemblies <NUM>.

The operating region <NUM> may be illuminated by a detection emission <NUM>, shown projected in a field of view <NUM> of the imager <NUM>. The detection emission <NUM> may be emitted from one or more of the light sources <NUM> in a substantially non-visible wavelength of light. In an exemplary embodiment, the detection emission <NUM> may be emitted from a detection emitter 20a as infrared light (e.g., near-infrared, infrared, and/or far-infrared). In this configuration, the operating region <NUM> may be illuminated by the detection emission <NUM> illuminating various objects that enter the field of view <NUM> of the imager <NUM>. Accordingly, the marker <NUM> may be illuminated by the detection emission <NUM> from the emitter 20a such that the reflected light from the detection emission <NUM> is captured in the image data of the imager <NUM>. To improve an intensity of the detection emission <NUM> reflected back to the imager <NUM>, in some embodiments, the marker <NUM> may comprise a reflective surface finish configured to reflect the detection emission <NUM>.

In various examples, the light assemblies <NUM> may be positioned or suspended from one or more positioning assemblies <NUM>, which may adjust a projection direction of the light sources <NUM> by controlling one or more actuators <NUM>. Accordingly, the positioning assemblies may be configured to rotate and/or translate independently or in any combination. As shown, the system <NUM> may comprise a first positioning mechanism and a second positioning mechanism, which may be referred to as a first actuator 42a and a second actuator 42b. In general, the positioning assemblies <NUM> as discussed herein may be configured to control a direction of one or more lighting emissions <NUM> emitted from the one or more visible light sources 20b. As demonstrated and further discussed further herein, each of the light sources <NUM> as well as the positioning assemblies <NUM> may be in communication with the controller <NUM>, which may be configured to control a direction of the one or more lighting emissions <NUM> to illuminate the location of the marker <NUM> with visible light. In this way, the system <NUM> may be operable to control one or more of the visible light sources 20b to illuminate the marker <NUM> or various portions of the operating region <NUM>.

In various embodiments, the one or more positioning assemblies <NUM> may comprise one or more gimbaled arms, which may be maneuvered or adjusted in response to a movement (e.g., rotational actuation) of one or more actuators 42a and 42b. In this configuration, the controller <NUM> may be configured to control each of the actuators 42a and 42b to manipulate the orientation of a lighting module <NUM> comprising one or more of the visible light sources 20b and/or the detection emitters 20a. In this way, the positioning assembly <NUM> may control the rotation of the lighting module <NUM> about a first axis 48a and a second axis 48b. Such manipulation of the lighting module <NUM> may enable the controller <NUM> to direct the light sources 20b to selectively illuminate the operating region <NUM> or various portions of the medical suite <NUM> in response to the detected location of the marker <NUM>.

The positioning assemblies <NUM> and actuators 42a and 42b, as discussed herein, may correspond to one or more electrical motors (e.g., servo motors, stepper motors, etc.). Accordingly, each of the positioning assemblies <NUM> (e.g., the actuators <NUM>) may be configured to rotate the lighting module <NUM> degrees or within the boundary constraints of lighting modules <NUM> or other support structures that may support the lighting modules <NUM>. The controller <NUM> may control the motors or actuators <NUM> of the lighting modules <NUM> to direct the lighting emissions <NUM> of the visible light sources 20b to target a desired location in the medical suite <NUM>. In order to accurately direct the lighting module <NUM> to target the desired location, the controller <NUM> may be calibrated to control the position of the lighting module <NUM> to target locations in a grid or work envelope of the medical suite <NUM>. The calibration of such a system may require maintenance in the form of calibration updates or compensation due to variations in operation of the positioning assemblies <NUM> and actuators <NUM> that may occur over time.

Still referring to <FIG>, in operation, the marker <NUM> may be illuminated by the detection emission <NUM> in field of view <NUM> such that the imager <NUM> may capture the reflection of the marker <NUM> in image data. In some embodiments, the imager <NUM> may comprise one or more filters that may limit the transmission of wavelengths of light that are not included in the detection emission <NUM> such that the reflection of the detection emission <NUM> may be readily identifiable. Once the image data comprising the reflection of the marker <NUM> is captured, the image data may be communicated to the controller <NUM> such that the location of the marker <NUM> may be identified in the field of view <NUM>. Based on the location of the marker <NUM>, the controller <NUM> may control a lighting emission <NUM> from the one or more light sources <NUM> to illuminate the location corresponding to the position of the marker <NUM>. The light sources <NUM> configured to emit the lighting emission <NUM> may be referred to as visible light sources 20b. In this way, the system <NUM> may provide for a computer-assisted control of a direction of lighting emissions directed from the one or more light sources to conveniently illuminate various locations within the operating region <NUM>.

In some embodiments, the illumination system <NUM> may comprise a plurality of imagers <NUM> which capture image data from the medical suite <NUM> and/or from the operating region <NUM>. The imagers <NUM> may be configured to relay image data to the controller <NUM> of the illumination system <NUM>. The controller <NUM> may include a memory and a processor. The memory may store computer executable commands (e.g., routines) which are controlled by the processor. According to various examples, the memory may include a light control routine and/or an image analyzing routine. The image analyzing routine is configured to process data from the imager <NUM>. For example, the image analyzing routine may be configured to identify shadows and luminosity of the operating region <NUM>, the light from the guidance system, location of points of interest (e.g., users around the table <NUM>) and/or gestures from the users.

According to various examples, the image analyzing routine may also be configured to identify the location of the marker <NUM> in the image data. The marker <NUM> may include one or more symbols, computer readable codes and/or patterns which designate a point of interest in the image data. For example, the marker <NUM> can be positioned around the operating region <NUM> such that the image analyzing routine may identify the location of the marker <NUM> in the operating region <NUM>. The marker <NUM> may be disposed on one or more instruments, points of interest in the medical suite <NUM>, and/or the patient.

Once the image analyzing routine has processed the data from the imager <NUM>, the light control routine may control how the positioning assemblies <NUM> are operated. For example, the light control routine may be configured to move, steer, activate or otherwise influence the light assemblies <NUM> to emit light at the location of the marker <NUM>. Such a location may correspond to an area of interest where the user is looking or working (e.g., as measured from the guidance system). In this way, the light control routine may steer or otherwise move the one or more visible light sources 20b to emit the lighting emission <NUM> to illuminate various areas where the user is looking and/or where hands and instruments may be positioned.

As discussed herein, the illumination system <NUM> and/or the disclosure provided above are configured to operate in conjunction with a number of other features present in the medical suite <NUM>. For example, the illumination system <NUM> may be configured to track the location and use of the marker <NUM>, which may be coupled to one or more instruments. The instruments may be coded based on type (e.g., consumable tool vs. non-consumable) and/or by the operator using or placing them. The instruments may be tracked as they enter and exit the operating region <NUM> in response to a detection of the marker <NUM> in image data captured by the imager <NUM>. In yet other examples, one or more of the instruments may include a radio frequency identification tracking device.

Referring now to <FIG>, a schematic view of the illumination system <NUM> is shown comprising an exemplary implementation of the positioning assembly <NUM> referred to as an articulating head assembly <NUM>. Each of the articulating head assemblies <NUM> or articulating assemblies <NUM> may comprise a lighting module array <NUM> of the lighting modules <NUM>. Each of the articulating head assembly <NUM> may serve as an exemplary embodiment of the one or more positioning assemblies <NUM> in accordance with the disclosure. In the exemplary embodiment shown, the articulating head assembly <NUM> comprises five of the lighting modules <NUM>. The lighting modules <NUM> may be suspended from a central control arm <NUM> comprising a plurality of support arms <NUM>. Extending from each of the support arms <NUM>, a lateral support beam <NUM> or wing may extend laterally outward from each of the arms <NUM> in opposing directions. In this configuration, the lighting modules <NUM> are supported by the central control arm <NUM> in a distributed arrangement.

The central control arm <NUM> may be suspended from a support housing <NUM> along a first axis 62a (e.g., Y-axis). The support housing <NUM> may comprise the controller <NUM> and a first actuator 64a configured to rotate the central control arm <NUM> about the first axis. A first lighting module 46a may be suspended along a second axis 62b (e.g., X-axis) extending between the support arms <NUM>. A second actuator 64b may be in connection with the support arms <NUM> and the first lighting module 46a. The second actuator 64b may be configured to rotate the first lighting module 46a about the second axis 62b. In this configuration, the controller <NUM> may control the emission direction of the first lighting module 46a to rotate approximately <NUM> degrees about the first axis 62a and the second axis 62b.

Each of the lateral support beams <NUM> may support a pair of the lighting modules <NUM>. That is, a first support beam 58a may support a second lighting module 46b on a first side <NUM> and a third lighting module 46c on a second side <NUM>. The first side <NUM> and the second side <NUM> of the first support beam 58a may extend in opposing directions from the first support beam 58a along a third axis 62c. A second support beam 58b may support a fourth lighting module 46d on the first side <NUM> and a fifth lighting module 46e on the second side <NUM>. The first side <NUM> and the second side <NUM> of the second support beam 58b may extend in opposing directions from the first support beam 58a along a fourth axis 62d. The third axis 62c and the fourth axis 62d may extend perpendicular to the second axis 62b.

Each of the first support beam 58a and the second support beam 58b may connect to each of the support arms <NUM> and rotate about the second axis 62b with the first lighting module 46a. Additionally, each of the lateral support beams may comprise at least one actuator configured to rotate the lighting modules 46b, 46c, 46d, and 46e about the third axis 62c and the fourth axis 62d. For example, the first support beam 58a may comprise a third actuator 64c in connection with the second lighting module 46b and the third lighting module 46c along the third axis 62c. The second support beam 58b may comprise a fourth actuator 64d in connection with the fourth lighting module 46d and the fifth lighting module 46e along the fourth axis 62d. In this configuration, the controller <NUM> may control the second actuator 64b to rotate each of the lighting modules 46b, 46c, 46d, and 46e about the second axis 62b. Additionally, the controller <NUM> may control the third actuator 64c to rotate the second and third lighting modules 46b and 46c about the third axis 62c. Finally, the controller <NUM> may control the fourth actuator 64d to rotate the fourth and fifth lighting modules 46d and 46e about the fourth axis 62d.

As previously discussed, each of the light modules <NUM> may comprise an imager <NUM>. In some embodiments, the articulating head assembly <NUM> may comprise a single imager <NUM> or an imager array. For example, the imager array may be formed as follows: the first lighting module 46a may comprise a first imager 22a, the second lighting module 46b may comprise a second imager 22b, the third lighting module 46c may comprise a third imager 22c, the fourth lighting module 46d may comprise a fourth imager 22d, and/or the fifth lighting module 46e may comprise a fifth imager 22e. Each of the imagers <NUM> may be configured to capture the image data in corresponding fields of view 24a, 24b, 24c, 24d, and 24e (not shown for clarity). The controller <NUM> may process the image data from each of the imagers <NUM> to identify a region of interest. Accordingly, the controller <NUM> may scan the image data from each of the imagers <NUM> and adjust the orientation of each of the lighting modules <NUM> to dynamically control the light in the surgical suite <NUM>.

Though the imagers <NUM> are discussed as being incorporated on each of the lighting modules <NUM>, the system <NUM> may be configured to capture image data from any location in the surgical suite <NUM>. As further discussed in reference to <FIG>, a plurality of the articulating head assemblies <NUM> may be controlled by a central controller in communication with each of the controllers <NUM>. In such embodiments, the central controller may be configured to process the image data from the one or more imagers <NUM> and communicate control signals for each of the plurality of lighting modules <NUM> and the actuators <NUM> of the articulating head assemblies <NUM>. Accordingly, the system <NUM> may be implemented in a variety of beneficial embodiments without departing from the spirit of the disclosure.

<FIG> is a schematic view of the illumination system <NUM> comprising a head assembly array <NUM> formed of the articulating head assemblies <NUM>. Each of the articulating head assemblies <NUM> may comprise the lighting module array <NUM>. As demonstrated, the head assembly array <NUM> comprises a first head assembly 50a, a second head assembly 50b, a third assembly 50c, and a fourth head assembly 50d. Each of the head assemblies <NUM> comprises a corresponding lighting module array <NUM>. For example, the first head assembly 50a comprises the first lighting module array 52a, the second head assembly 50b comprises the second lighting module array 52b, the third head assembly 50c comprises the third lighting module array 52c, and the fourth head assembly 50d comprises the fourth lighting module array 52d.

Each of the head assemblies <NUM> of the head assembly array <NUM> may comprise a controller <NUM> (e.g., a first controller 12a, a second controller 12b, a third controller 12c, and a fourth controller 12d). The controllers <NUM> may be configured to independently control each of the actuators <NUM> as discussed in reference to <FIG>. Additionally, the controllers <NUM> may be in communication via a central control system or a distributed control system incorporated in each of the controllers <NUM>. In this configuration, each of the controllers <NUM> may be configured to identify an orientation of the actuators <NUM> and the corresponding positions of the lighting modules <NUM>. Based on this information, the system <NUM> may be configured to map a combined illumination pattern or illumination coverage of each of the emissions that may be emitted from the light sources <NUM> of the lighting modules <NUM>. As previously discussed, the map of the combined illumination or emission coverage of the combined lighting modules <NUM> may be programmed into the controllers <NUM> of the system <NUM> by one or more calibration methods. In this way, the system <NUM> may control each lighting module <NUM> of the head assemblies <NUM> in concert to provide a scalable, dynamic-lighting system operable to emit the various emissions of light as discussed herein.

As previously discussed, the system <NUM> may comprise one or more imagers <NUM>. In the exemplary embodiment, the controllers 12a, 12b, 12c, and 12d are in communication with a central controller <NUM>. The central controller <NUM> may comprise or be in communication with one or more of the imagers <NUM>. In such embodiments, the imager <NUM> of the central controller <NUM> may be configured to identify one or more obstructions in a region of interest <NUM>. The region of interest <NUM> may be identified by a location of the marker <NUM>, gesture, input via a user interface, identified by a radio frequency identification tracking device, or programmed into the central controller <NUM> in relation to a specific procedure. Though discussed in reference to the central controller <NUM>, each of the controllers <NUM> of the head assemblies <NUM> may alternatively have a single imager or multiple imagers. In such embodiments, the controllers <NUM> of each of the head assemblies <NUM> may be configured to detect the obstructions and communicate among one another to identify the best response to adjust the lighting modules <NUM> to illuminate the region of interest <NUM>.

The identification of one or more obstructions <NUM> may be based on a detection of an object in the image data. The obstructions <NUM> may be identified in response to detecting one or more pulsed infrared emissions emitted from the lighting modules <NUM>. For example, the central controller <NUM> may be calibrated such that the location of each of a plurality of the detection emitters 20a is indicated in programming. Accordingly, by cycling through the detection emitters 20a of each of the lighting modules (46a, 46b, 46c. <NUM>), the controller may identify a location of the obstructions <NUM> based on a timed detection of each of the infrared emissions <NUM>. In this way, the central controller <NUM> may detect a location of the obstructions <NUM> in relation to a projection trajectory of each of the detection emitters 20a to identify a clear or unobstructed trajectory <NUM>. Once the unobstructed trajectory <NUM> is identified, the central controller <NUM> may control one or more of the light sources to illuminate the region of interest <NUM>.

In some embodiments, the controllers <NUM> may communicate within the system <NUM> to identify the region of interest <NUM> between two or more of the imagers <NUM>, which may be incorporated in two or more or the lighting modules <NUM>. That is, the two or more of the lighting modules <NUM> from which the image data is processed to identify the region of interest <NUM> may be incorporated in a single head assembly <NUM> or captured by imagers <NUM> in two or more of the head assemblies <NUM> (e.g., 50a and 50b). In this way, the system <NUM> may operate as a distributed scanning and illumination system formed by the head assemblies <NUM> and controlled to operate as a unified system via communication among the controllers <NUM> and/or a central controller.

In general, the central controller <NUM> or the controllers <NUM> may be configured to identify one or more light sources <NUM> of the lighting modules <NUM> with a line of sight or projection trajectory <NUM> aligned with the region of interest <NUM> without interference by one or more obstructions <NUM>. Upon identifying at least one lighting module <NUM> in one or more of the head assemblies <NUM> with the clear projection trajectory <NUM>, the central controller <NUM> may respond by controlling one or more of the controllers <NUM> to position the at least one lighting module <NUM> to direct an emission to the region of interest <NUM>. In this configuration, the head assembly array <NUM> may provide for effective lighting even when tasked with illuminating obstructed regions that change over time.

As an example of a control sequence of the system <NUM>, the system <NUM> may initially illuminate the table <NUM> via a lighting module of the second head assembly 50b by emitting a second emission <NUM> of visible light. After the initial operation of the system <NUM>, the imager <NUM> may detect the obstruction <NUM> in the field of view <NUM>, which may result in one or more shadows <NUM> in the region of interest <NUM>. In response to identifying the obstruction <NUM>, the central controller <NUM> may control controllers 12a and 12b activating a lighting module of the first head assembly 50a that may have the clear projection trajectory <NUM> via activating a first emission <NUM> of visible light. Once the first emission <NUM> is activated, the system <NUM> may continue to monitor the image data to verify that the first emission <NUM> remains unobstructed. In this way, the head assembly array <NUM> may be configured to illuminate the region of interest <NUM> by controlling a plurality of the head assemblies <NUM> in combination.

Though specific reference is made to identifying a location of the obstruction <NUM> and the clear projection trajectory <NUM> from the image data, the system <NUM> may utilize one or more algorithms configured to identify and project light to the region of interest <NUM> via a predictive or experimental algorithm. Such algorithms may apply various inference as well as trial and error to gradually move one or more of the head assemblies <NUM> and gradually activating the light sources <NUM> to illuminate the region of interest <NUM>. In these methods as well as others discussed herein, the system may consistently monitor the region or regions of interest <NUM> for changes or improvements in lighting. In this way, the system <NUM> may be configured to continue positioning operations that improve the projected trajectory of the light as indicated by the image data from the imagers <NUM>. Such a routine may be applied alone or in combination with the location detection based control discussed herein.

Referring to <FIG>, a flowchart for a method <NUM> for controlling the system <NUM> is demonstrated. In operation, the method <NUM> may begin by initializing a control routine of the illumination system <NUM> (<NUM>). Once initiated, the controller <NUM> may activate the emitter 20a to illuminate the operating region <NUM> in the detection emission <NUM> (<NUM>). In this way, the operating region <NUM> may be illuminated by the detection emission <NUM> illuminating various objects that enter the field of view <NUM> of the imager <NUM>. The controller <NUM> may then control the imager <NUM> to capture image data in the field of view <NUM> (<NUM>). Once the image data is captured, the controller <NUM> may process or scan the image data for various objects including the marker <NUM> (<NUM>).

In step <NUM>, the controller <NUM> may determine if the position of the marker <NUM> is identified in the image data. If the position of the marker is not identified, the method <NUM> may return to steps <NUM> and <NUM> to capture and scan the image data in the field of view <NUM>. If the position of the marker <NUM> is identified in step <NUM>, the controller <NUM> may control one or more of the positioning or head assemblies <NUM> to activate the lighting emission(s) <NUM> directed at the marker <NUM> (<NUM>). Once the position of the marker <NUM> is identified and illuminated by the lighting emission(s) <NUM>, the controller <NUM> may continue to track the location of the marker <NUM> and reposition the head assemblies <NUM> to maintain a consistent illumination of the marker <NUM> and the corresponding location (<NUM>).

Referring now to <FIG>, the control instrument <NUM> is shown demonstrating a plurality of the markers <NUM>. In the example shown, the control instrument <NUM> comprises a first marker 26a and a second marker 26b. The markers 26a, 26b may be disposed at opposing ends of a connecting member <NUM>, which may correspond to a narrow, elongated bar interconnecting a plurality to end portions <NUM>. In operation, the controller <NUM> may be configured to identify and distinguish between the first marker 26a and the second marker 26b. In response to identifying one of the markers 26a, 26b in the field of view <NUM>, the system <NUM> may control one or more of the positioning assemblies <NUM>, head assemblies <NUM> and corresponding lighting modules <NUM> to illuminate the operating region <NUM> in different ways.

As shown in <FIG>, the control instrument <NUM> may be configured such that the end portions <NUM> correspond to a first grip 116a and a second grip 116b. The first grip 116a may comprise the first marker 26a, and the second grip 116b may comprise the second marker 26b. In this configuration, the control instrument <NUM> may be configured such that the user <NUM> may hold the second grip 116b to display the first marker 26a or hold the first grip 116a to display the second marker 26b. As shown, when the user <NUM> holds the second grip 116b, the second marker 26b may be substantially or completely covered/masked by the hand of the user <NUM>.

Accordingly, in the illustrated example, when the user <NUM> holds the instrument <NUM> via the second grip 116b, the first marker 26a may be visible, while the second marker 26b is hidden from the field of view <NUM>. Similarly, when the user <NUM> holds the instrument <NUM> via the first grip 116a, the second marker 26b may be visible, while the first marker 26a is hidden from the field of view <NUM>. As provided herein, the instrument <NUM> may be configured to allow the user <NUM> to intuitively and selectively reveal the first marker 26a or the second marker 26b in the field of view <NUM> to control the system <NUM>. In some implementations, the first marker 26a and the second marker 26b may be disposed on opposite sides (e.g. a top surface and bottom surface) of the instrument <NUM> such that the body of the instrument <NUM> conceals one of the markers 26a, 26b from the field of view.

As previously discussed, the operation of the illumination system may vary based on the detection of the first marker 26a or the second marker 26b. For example, in response to identifying the first marker 26a, the system <NUM> may be configured to load a first control configuration, which may comprise a variety of pre-configured or user-defined operation settings. Similarly, in response to identifying the second marker 26b, the system <NUM> may be configured to load a second control configuration that may comprise pre-configured or user-defined settings that differ from the first control configuration. Each of the control configurations may differ in a variety of ways, which may include, control sensitivity, control methods, control offsets, light intensity, light coverage or focus, light color, and a variety of configurable settings for the lighting system <NUM>.

In some implementations, the instrument <NUM> may comprise a plurality of inputs <NUM>, which may correspond to virtual inputs or symbols disposed on one or more of the surfaces of the instrument <NUM>. As illustrated, the plurality of inputs <NUM> may be implemented as a plurality of symbols or details formed or printed on the instrument <NUM>. For example, the inputs may comprise a first symbol 118a and a second symbol 118b positioned on a first surface 120a (e.g. top surface). Additionally, the instrument <NUM> may comprise a third symbol 118c and a fourth symbol 118d, which may be disposed on a second surface 120b (e.g. a bottom surface), opposite the first surface 120a. In this configuration, the controller <NUM> of the system <NUM> may be configured to detect each of the markers <NUM> and the symbols to control various operations, presets, and/or configurations of the system <NUM>.

For example, in operation, the user <NUM> may selectively conceal one or more of the symbols 118a, 118b, 118c, 118d with a hand 32a, digit 32b (finger, thumb), etc. In response to identifying that one or more of the inputs <NUM> is hidden from the field of view <NUM>, the controller may be configured to change one or more settings or adjust various configurations of the system <NUM> as discussed here. For example, in response to detecting one or more of the symbols 118a, 118b, 118c, 118d disguised from the field of view <NUM>, alone or in combination with the identification of the first marker 26a and/or the second marker 26b in the field of view <NUM>, the controller may adjust a variety of settings of the system <NUM>. For example, in response to a combination of the portions (e.g. markers <NUM>, symbols 118a-118d, etc.) of the instrument <NUM> displayed in the image data captured by the imager <NUM>, the controller <NUM> may be configured to adjust a variety of settings or activate various preconfigured settings of the system <NUM>. Such settings may include but are not limited to: a control sensitivity, light intensity, light coverage or focus, light color, lighting priority, tracking function, and a variety of configurable settings for the lighting system <NUM>.

As discussed herein, the control instrument <NUM> may comprise a handheld device that may be robust and configured to be sanitized with various surgical instruments via conventional sterilization processes (e.g. autoclave sterilization). The exemplary instrument <NUM> demonstrated in <FIG> may be configured to communicate a variety of visual cues to the system <NUM> to control various settings and operations. In this way, the instrument <NUM> may be free of complex mechanical and/or electrical parts that may be damaged due to sterilization techniques that may be necessary to ensure sanitation for use in the surgical suite <NUM>.

Referring now to <FIG>, the system <NUM> may be configured to control the location of the target positions <NUM> in the field of view <NUM> via an offset control method. For example, in various examples, the user <NUM> may desire to change the location of the target position <NUM> without reaching into a region <NUM> where the target position <NUM> is located. Avoiding reaching into such the region <NUM> may prevent the user <NUM> from interfering with a working area or blocking one or more of the visible light emissions <NUM> and/or <NUM>, which may be directed at the region <NUM>. Accordingly, the user <NUM> may activate the offset control method such that the location the target position <NUM> may be adjusted relative the location of the marker <NUM> in the field of view <NUM> over a configurable offset <NUM>. In this way, the user may adjust the location of the target position without interfering with the region <NUM>. The controller <NUM> may be configured to activate the offset control method in response to the user <NUM> revealing the first marker 26a, the second marker 26b, and/or one or more of the symbols 118a, 118b, 118c, 118d to the imager <NUM> in the field of view <NUM>.

The configurable offset <NUM> may comprise an X-axis offset 132a, a Y-axis offset 132b such that the relative location of the marker <NUM> is defined relative to the target position <NUM>. During operation via the offset control method, the offset <NUM> may be set or selected by hiding and revealing the marker <NUM> in the field of view <NUM>. Once revealed, the controller <NUM> may set the configurable offset <NUM> and adjust the location of the target position <NUM> relative to a movement of the marker <NUM>. In this way, the system <NUM> may be configured to adjust the location of the target position <NUM> without interfering with the region <NUM>.

Referring now to <FIG>, in some implementations, the controller <NUM> may be configured to detect one or more, motions, gestures, and/or visual cues identified in the image data captured in the field of view <NUM> to control the system. As depicted in <FIG>, exemplary gestures <NUM> that may be identified by the controller <NUM> may include a rotation 140a, a lateral motion 140b, and/or an outline or character gesture 140c. In response to detecting each of the gestures <NUM>, the controller <NUM> may selectively control one or more settings of the illumination system <NUM>. The detection of the gestures <NUM> may be in connection with a movement of the instrument <NUM>, which may be detected by the controller <NUM> based on a position, orientation, and/or appearance or presence of the markers <NUM> or symbols 118a-118d identified in the image data. Such settings may include, but are not limited to, a control sensitivity, light intensity, light coverage or focus, light color, a lighting priority, tracking function, panning and/or control of positioning assemblies <NUM>, and a variety of configurable settings for the lighting system <NUM>.

For example, in some embodiments, the system <NUM> may be configured to control a focus or intensity of one or more of the lighting emissions <NUM>, <NUM> in response to a rotation gesture. In operation, the controller <NUM> may be configured to detect a rotation of the instrument in connection with the hand 32a of the user <NUM>. In response to a detection of a clockwise rotation or counterclockwise rotation, the controller <NUM> may increase or decrease an intensity of one or more of the lighting emissions <NUM>, <NUM>. Similarly, the controller <NUM> may be configured to increase a proportion or size of an illumination range or region, adjust a color or color temperature, and/or control various operational characteristics of the illumination system <NUM> in response to detecting each of the gestures <NUM>.

In some embodiments, the controller <NUM> may also be configured to identify the lateral motion 140b of the marker <NUM> and/or the instrument <NUM> in connection with the hand 32a. In response to the detection, the controller <NUM> may be configured to control various characteristics (e.g. intensity, focus, hue, etc.). Similarly, the controller <NUM> may be configured to identify rapid lateral movements, which may exceed a predetermined rate of movement. For example, the controller <NUM> may be configured to identify a swiping gesture, and, in response, the controller <NUM> may selectively control various operations and/or characteristics of the system <NUM>. In some embodiments, the controller <NUM> may even be configured to identify characters in the form or sign language and/or traced characters that may be demonstrated by the hand 32a in the field of view <NUM>.

The controller <NUM> may further be configured to identify one or more gestures completed by the user <NUM> with a first hand 32a and a second hand. For example, the user <NUM> may merge a plurality of illumination regions corresponding to the first lighting emission <NUM> and the second lighting emission <NUM> in response to detecting the user <NUM> moving the first hand and the second hand from a separated configuration to a close proximity. Accordingly, the controller <NUM> may selectively control the illumination system <NUM> in response to a variety of gestures <NUM> and or movements identified in the image data in the field of view <NUM>.

Referring now to <FIG> and <FIG>, in some embodiments, the controller <NUM> may be configured to set a primary lighting region 142a and a second region 142b illuminated by the light sources <NUM> of the positioning assemblies <NUM>. For example, in response to detecting one of the gestures <NUM> and/or one or more of the inputs <NUM>, within a first portion 144a of the field of view <NUM>, the controller <NUM> may designate the first portion 144a to be the primary lighting region 142a. Similarly, in response to detecting one of the gestures <NUM> and/or one or more of the inputs <NUM>, within a second portion 144b of the field of view <NUM>, the controller <NUM> may designate the second portion 144b to be the secondary lighting region 142b. In this way, the controller <NUM> may be configured to identify and/or determine that the first portion 144a and the second portion 144b are to be illuminated by the light sources <NUM>. Additionally, the controller <NUM> may prioritize the lighting of each of the first portion 144a and the second portion 144b based on the indication of the primary light region 142a and the secondary lighting region 142b.

For example, the controller <NUM> may control the positioning assemblies <NUM> to direct the light sources <NUM> to prioritize the illumination of the first portion 144a in response to the designation of the primary lighting region 142a. The controller <NUM> may assign each the light sources <NUM> of the positioning assemblies <NUM> to mitigate shadowing, as previously discussed herein, in the first portion 144a. The controller <NUM> may additionally assign a greater number of the lighting modules <NUM> to illuminate the first portion 144a relative to the second portion 144b in response to the designation as the primary lighting region 142a. Though the primary lighting region 142a and the secondary lighting region 142b are discussed herein, the number and/or scale of the lighting regions may vary depending on the application and desired operation of the system <NUM>. Accordingly, the disclosure may provide for a flexible solution that may provide for illumination in a variety of applications.

Referring now to <FIG>, a diagram is shown demonstrating a method for defining an illumination region <NUM>. As shown, the system <NUM> may be configured to identify a path <NUM> of at least one of the hand 32a of the user <NUM> and/or the instrument <NUM> in the field of view <NUM>. The path <NUM> may be tracked by the controller <NUM> of the system to define an outline <NUM> of the lighting region <NUM> in the operating region <NUM>. Similar to the identification of the gestures <NUM>, the controller <NUM> may be configured to detect the movement of the instrument <NUM>, which may be detected by the controller <NUM> based on a position, orientation, and/or appearance or presence of the markers <NUM> or symbols 118a-118d identified in the image data. The controller <NUM> may similarly be configured to detect the path <NUM> in response to the lateral motion 140b of the marker <NUM> and/or the instrument <NUM> in connection with the hand 32a forming a closed path. In this way, the system <NUM> may identify the lighting region <NUM> based on the path <NUM>.

In response to the identification of the outline, the controller <NUM> may be configured to control the positioning assemblies <NUM> to direct one or more of the light sources <NUM> to illuminate the illumination region <NUM>. As shown, the illumination region may be illuminated by a plurality of the light sources <NUM> as represented by the plurality of illuminated regions <NUM> shown in <FIG>. In order to accurately illuminate the region <NUM> defined by the outline <NUM>, the controller <NUM> may be configured to control a light intensity, light coverage or focus, emission direction, lighting priority, panning of one or more of the positioning assemblies <NUM>, etc. Accordingly, the system <NUM> may be configured to selectively illuminate the illumination region <NUM> based on the outline <NUM> drawn or gestured by the user <NUM> within the field of view <NUM>.

Referring to <FIG>, a block diagram of an illumination system <NUM> is shown. As discussed herein, the illumination system <NUM> may include one or more imagers <NUM> configured to capture image data from the medical suite <NUM> and/or from the operating region <NUM>. The imagers <NUM> may be configured to relay visual information to the controller <NUM> of the illumination system <NUM>. The controller <NUM> may include a memory <NUM> and a processor <NUM>. The memory <NUM> may store computer executable commands (e.g., routines) which are controlled by the processor <NUM>. According to various examples, the memory <NUM> may include a light control routine and/or an image analyzing routine. In exemplary embodiments, the memory <NUM> may include the lighting control method <NUM>.

Once the image analyzing routine has processed the image data from the imager <NUM>, the controller <NUM> may communicate one or more control instructions to a motor or actuator controller <NUM>. In response to the control signals, the motor controller <NUM> may control the actuators <NUM>, <NUM> or the positioning assemblies <NUM> to move, steer, or otherwise adjust an orientation of the light assemblies <NUM>. In this way, the controller <NUM> may direct the lighting assemblies <NUM> to emit the lighting emission <NUM> and/or direct the field of view <NUM> to a desired location, which may correspond to the location of the marker <NUM>. The system <NUM> may additionally comprise one or more power supplies <NUM>. The power supplies <NUM> may provide for one or more power supplies or ballasts for various components of the lighting assembly <NUM> as well as the actuators <NUM>, <NUM> or positioning assemblies <NUM>.

In some embodiments, the system <NUM> may further comprise one or more communication circuits <NUM>, which may be in communication with the processor <NUM>. The communication circuit <NUM> may be configured to communicate data and control information to a display or user interface <NUM> for operating the system <NUM>. The interface <NUM> may comprise one or more input or operational elements configured to control the system <NUM> and communicate data. The communication circuit <NUM> may further be in communication with additional lighting assemblies <NUM>, which may operate in combination as an array of lighting assemblies. The communication circuit <NUM> may be configured to communicate via various communication protocols. For example, communication protocols may correspond to process automation protocols, industrial system protocols, vehicle protocol buses, consumer communication protocols, etc. Additional protocols may include, MODBUS, PROFIBUS, CAN bus, DATA HIGHWAY, DeviceNet, Digital multiplexing (DMX512), or various forms of communication standards.

In various embodiments, the system <NUM> may comprise a variety of additional circuits, peripheral devices, and/or accessories, which may be incorporated into the system <NUM> to provide various functions. For example, in some embodiments, the system <NUM> may comprise a wireless transceiver <NUM> configured to communicate with a mobile device <NUM>. In such embodiments, the wireless transceiver <NUM> may operate similar to the communication circuit <NUM> and communicate data and control information for operating the system <NUM> to a display or user interface of the mobile device <NUM>. The wireless transceiver <NUM> may communicate with the mobile device <NUM> via one or more wireless protocols (e.g. Bluetooth®; Wi-Fi (<NUM>. 11a, b, g, n, etc.); ZigBee®; and Z-Wave®; etc.). In such embodiments, the mobile device <NUM> may correspond to a smartphone, tablet, personal data assistant (PDA), laptop, etc..

In various embodiments, the light sources <NUM> may be configured to produce unpolarized and/or polarized light of one handedness including, but not limited to, certain liquid crystal displays (LCDs), laser diodes, light-emitting diodes (LEDs), incandescent light sources, gas discharge lamps (e.g., xenon, neon, mercury), halogen light sources, and/or organic light-emitting diodes (OLEDs). In polarized light examples of the light sources <NUM>, the light sources <NUM> are configured to emit a first handedness polarization of light. According to various examples, the first handedness polarization of light may have a circular polarization and/or an elliptical polarization. In electrodynamics, circular polarization of light is a polarization state in which, at each point, the electric field of the light wave has a constant magnitude, but its direction rotates with time at a steady rate in a plane perpendicular to the direction of the wave.

As discussed, the light assemblies <NUM> may include one or more of the light sources <NUM>. In examples including a plurality of light sources <NUM>, the light sources <NUM> may be arranged in an array. For example, an array of the light sources <NUM> may include an array of from about 1x2 to about 100x100 and all variations therebetween. As such, the light assemblies <NUM> including an array of the light sources <NUM> may be known as pixelated light assemblies <NUM>. The light sources <NUM> of any of the light assemblies <NUM> may be fixed or individually articulated. The light sources <NUM> may all be articulated, a portion may be articulated, or none may be articulated. The light sources <NUM> may be articulated electromechanically (e.g., a motor) and/or manually (e.g., by a user). In static, or fixed, examples of the light sources <NUM>, the light sources <NUM> may be assigned to focus on various predefined points (e.g., on a patient and/or on the table <NUM>).

Modifications of the disclosure will occur to those skilled in the art and to those who make or use the disclosure. Therefore, it is understood that the embodiments shown in the drawings and described above are merely for illustrative purposes and not intended to limit the scope of the disclosure, which is defined by the following claims as interpreted according to the principles of patent law, including the Doctrine of Equivalents.

It will be understood by one having ordinary skill in the art that construction of the described disclosure, and other components, is not limited to any specific material. Other exemplary embodiments of the disclosure disclosed herein may be formed from a wide variety of materials unless described otherwise herein.

For purposes of this disclosure, the term "coupled" (in all of its forms: couple, coupling, coupled, etc.) generally means the joining of two components (electrical or mechanical) directly or indirectly to one another.

It is also important to note that the construction and arrangement of the elements of the disclosure, as shown in the exemplary embodiments, is illustrative only. Although only a few embodiments of the present innovations have been described in detail in this disclosure, those skilled in the art who review this disclosure will readily appreciate that many modifications are possible (e.g., variations in sizes, dimensions, structures, shapes and proportions of the various elements, values of parameters, mounting arrangements, use of materials, colors, orientations, etc.) without materially departing from the novel teachings and advantages of the subject matter recited. For example, elements shown as integrally formed may be constructed of multiple parts or elements shown as multiple parts may be integrally formed, the operation of the interfaces may be reversed or otherwise varied, the length or width of the structures and/or members or connector or other elements of the system <NUM> may be varied, and the nature or numeral of adjustment positions provided between the elements may be varied. It should be noted that the elements and/or assemblies of the system <NUM> may be constructed from any of a wide variety of materials that provide sufficient strength or durability, in any of a wide variety of colors, textures, and combinations. Accordingly, all such modifications are intended to be included within the scope of the present innovations. Other substitutions, modifications, changes, and omissions may be made in the design, operating conditions, and arrangement of the desired and other exemplary embodiments without departing from the spirit of the present innovations.

It will be understood that any described processes, or steps within described processes, may be combined with other disclosed processes or steps to form structures within the scope of the present disclosure. The exemplary structures and processes disclosed herein are for illustrative purposes and are not to be construed as limiting.

As used herein, the term "about" means that amounts, sizes, formulations, parameters, and other quantities and characteristics are not and need not be exact, but may be approximate and/or larger or smaller, as desired, reflecting tolerances, conversion factors, rounding off, measurement error and the like, and other factors known to those of skill in the art. When the term "about" is used in describing a value or an end-point of a range, the disclosure should be understood to include the specific value or end-point referred to. Whether or not a numerical value or end-point of a range in the specification recites "about," the numerical value or end-point of a range is intended to include two embodiments: one modified by "about," and one not modified by "about. " It will be further understood that the end-points of each of the ranges are significant both in relation to the other end-point and independently of the other end-point.

Claim 1:
A control instrument (<NUM>) for an illumination system (<NUM>), the illumination system (<NUM>) configured to selectively illuminate a location in an operating region (<NUM>), the control instrument (<NUM>) comprising:
a first end portion (<NUM>, 116a) and a second end portion (<NUM>, 116b);
an elongated handle (<NUM>) interconnecting the first end portion (<NUM>, 116a) and the second end portion (<NUM>, 116b);
at least one marker (<NUM>) disposed proximate the first end portion (<NUM>, 116a), wherein the at least one marker (<NUM>) comprises a first symbol (118a); and
characterised by further comprising
at least one user input disposed on the elongated handle (<NUM>) between the first end portion (<NUM>, 116a) and the second end portion (<NUM>, 116b), wherein the at least one user input comprises at least one symbol (<NUM>) configured to define a user function identifiable by the illumination system (<NUM>).