JP2021512734A - 画像ベースの制御を備えた適応性照明アレイ - Google Patents
画像ベースの制御を備えた適応性照明アレイ Download PDFInfo
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Abstract
【選択図】図5
Description
Claims (20)
- 外科手術室で手術領域を選択的に照射するように構成された照明アセンブリであって、前記照明アセンブリが、
光を放射するように構成された複数の光源を含む複数の照明モジュールと、
前記照明モジュールのうちの少なくとも一つに配置された、画像データを捕捉するように構成された少なくとも一つの撮像装置と、
前記照明モジュールのそれぞれを支持するように構成された関節式ヘッドアセンブリであって、前記関節式ヘッドアセンブリが複数のアクチュエータを含み、前記アクチュエータが前記照明モジュールのそれぞれを第一の軸および第二の軸を中心に回転させるように構成される、前記関節式ヘッドアセンブリと、
一つまたは複数の前記照明モジュールからの前記光を関心領域に向けるように前記複数のアクチュエータを制御するように構成される、コントローラと、を備える、照明アセンブリ。 - 前記照明モジュールが、中央制御アームを介して前記関節式ヘッドアセンブリに接続するアレイを形成する、請求項1に記載の照明アセンブリ。
- 前記関節式ヘッドアセンブリが、第一の軸を画定する中央制御アームを含み、前記中央制御アームが、前記複数の照明モジュールを前記第一の軸を中心に回転させるように構成された第一のアクチュエータと接続する、請求項2に記載の照明アセンブリ。
- 前記関節式ヘッドアセンブリが、前記中央支持アームから延在する複数の第二の支持アームをさらに含む、請求項3に記載の照明アセンブリ。
- 前記複数の第二の支持アームが第二の軸を画定し、前記第二の支持アームが、前記複数の照明モジュールを前記第二の軸を中心に回転させるように構成された第二のアクチュエータと接続する、請求項4に記載の照明アセンブリ。
- 前記第二の軸が前記第一の軸に対して実質的に垂直である、請求項5に記載の照明アセンブリ。
- 前記複数の照明モジュールの少なくとも一つを支持するように構成された横方向支持構造をさらに備える、請求項5または6に記載の照明アセンブリ。
- 前記複数の照明モジュールの前記少なくとも一つが、第三のアクチュエータを介して前記横方向支持構造と接続する、請求項7に記載の照明アセンブリ。
- 前記第三のアクチュエータが、前記複数の照明モジュールの前記少なくとも一つの照明モジュールを前記複数の照明モジュールに対して回転させるように構成される、請求項8に記載の照明アセンブリ。
- 前記少なくとも一つの照明モジュールの前記回転が、前記複数の照明モジュールの照明領域を調整する、請求項9に記載の照明アセンブリ。
- 照明アセンブリを制御するための方法であって、
複数の照明モジュールからの複数の光放射の複数の放射方向を制御することであって、前記照明アセンブリのそれぞれが、複数の回転軸を中心とした前記放射方向を制御するように構成された関節式ヘッドアセンブリを含む、前記制御することと、
前記複数の光放射で手術領域を照射することと、
少なくとも一つのカメラの視野において画像データを捕捉することであって、前記画像データが前記複数の放射からの反射光を含む、前記捕捉することと、
前記画像データ内の照明の変化を識別することと、
前記画像データ内の前記照明の変化を制限するように前記複数の照明モジュールを制御することと、を含む、方法。 - 前記第一の照明モジュールの第一の関節式ヘッドアセンブリを第一の基点から、第二の照明モジュールの第二の関節式ヘッドアセンブリを第二の基点から制御することをさらに含む、請求項11に記載の方法。
- 前記第二の基点が前記第一の基点から空間的に分離されている、請求項12に記載の方法。
- 前記画像データ内の前記照明の変化を閉塞領域として識別することであって、前記閉塞領域が前記第一の放射による透過が遮断された位置を含む、前記識別することをさらに含む、請求項13に記載の方法。
- 前記閉塞領域を前記第二の放射で照射することをさらに含む、請求項14に記載の方法。
- 前記第一の基点に対する前記第二の基点の前記空間的分離が、前記第二の放射による前記閉塞領域の照射を提供する、請求項15に記載の方法。
- 手術領域を照射するよう構成されたシステムであって、
複数の照明アセンブリであって、
複数の光源を含む複数の照明モジュール、および、
前記照明モジュールのそれぞれと接続している関節式ヘッドアセンブリであって、前記関節式ヘッドアセンブリが、前記照明モジュールのそれぞれを支持し、前記照明モジュールのそれぞれを第一の軸および第二の軸を中心に回転させるように構成される、前記関節式ヘッドアセンブリ、を含む、前記複数の照明アセンブリと、
前記手術領域内の前記光源から反射された光を含む画像データを捕捉するように構成された少なくとも一つの撮像装置と、
一つまたは複数の前記照明モジュールからの前記光を関心領域に向けるように前記複数のアクチュエータを制御するように構成される、コントローラと、を備える、システム。 - 前記複数の照明アセンブリが、第一の照明モジュールから第一の放射を発するように構成された第一の照明アセンブリと、第二の照明モジュールから第二の放射を発するように構成された第二の照明アセンブリと、を含む、請求項17に記載のシステム。
- 前記第二の放射の第二の基点が、前記第一の放射の第一の基点から空間的に分離されている、請求項18に記載のシステム。
- 前記コントローラが、
前記画像データ内の照明の変化を閉塞領域として識別することであって、前記閉塞領域が前記第一の放射による透過が遮断された位置を含む、前記識別することと、
前記第二の放射を前記閉塞領域を照射するように配向することと、を行うようにさらに構成される、請求項19に記載のシステム。
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