WO2011048311A2

WO2011048311A2 - Lighting device and corresponding use

Info

Publication number: WO2011048311A2
Application number: PCT/FR2010/052204
Authority: WO
Inventors: Jean-Pierre Breysse; Estelle Courtial; Aurélien GAUVIN
Original assignee: Maquet S.A.; Universite D'orleans
Priority date: 2009-10-19
Filing date: 2010-10-18
Publication date: 2011-04-28
Also published as: WO2011048311A3; FR2951524A1; FR2951524B1

Abstract

The invention relates to a device (1) for illuminating an illumination field (88), in particular of an operating field, which includes a light source (12) suitable for illuminating the illumination field (88). The illumination device (1) includes: a device (18) for moving the light source (12) suitable for moving the light source (12), a selection device (58) suitable for selecting at least one area of interest (4) to be lit by means of the light source (12), and a control means (70) suitable for controlling the moving device (18), such that the illumination field (88) is close to said at least one area of interest (4). The invention can be used in devices for illuminating a surgical operating field.

Description

LIGHTING DEVICE AND USE THEREOF

The present invention relates to a lighting device of a lighting field, in particular of an operating field, of the type comprising a light source, adapted to illuminate the lighting field.

It applies in particular to illuminate a field of intervention of a surgeon. During an operation, the surgical scene may move as the surgeon must observe tissues (different types of tissue) from different angles of view and in different positions. In particular, the surgeon is brought to intervene more or less deeply in the tissues when forming or closing cavities. In order to optimally illuminate the changing surgical scene during the operation, it is necessary to adapt the spatial parameters of the operative lighting device, ie the position and / or the orientation of the light source. of the operative lighting device.

In known operating lighting devices, the light source must be moved manually. During the entire phase of manual manipulation of the lighting device, the surgical scene is often poorly lit, which forces the surgeon to cease his activity temporarily. Since each manipulation of the lighting device delays the progress of the operation, the surgeon must make a compromise between an optimal lighting, which would considerably lengthen the duration of the operation, and the time allowed for the operation, due to the anesthesia. As a result, it may sometimes be necessary to work in poor lighting conditions in order to save time by avoiding manipulation of the lighting device. Moreover, in the case where a person other than the surgeon moves the lighting device, once the lighting device is positioned, it is not guaranteed that its positioning is ideal because the person moving the operative lighting device does not have the field of vision of the surgeon. The positioning of the operative lighting device is therefore very approximate.

The present invention aims to overcome these disadvantages and to provide a lighting device adapted to create a better illumination of the surgical scene during the intervention of the surgeon.

For this purpose, the subject of the invention is a device of the aforementioned type, characterized in that it comprises a device for moving the light source adapted to move the light source, a determination device adapted to determine at least one area of interest to be illuminated by the light source, control means adapted to control the moving device so that the illumination field is close to the at least one area of interest.

According to other embodiments, the invention comprises one or more of the following features. The control means are adapted to control the moving device such that the illumination field and the at least one area of interest overlap each other or the illumination field includes the at least one area of interest .

The determination device comprises an observation means adapted to observe the illumination field and to periodically generate an image of the illumination field, in particular a camera.

The determining device further comprises an image processing unit adapted to periodically receive the image of the illumination field generated by the observation means and to identify the at least one area of interest in the image.

The image processing unit is adapted to identify the at least one area of interest based on at least one visual primitive in the image.

The lighting device further comprises a human-machine interface adapted to define the at least one visual primitive and select the operating mode, including manual, semi-automatic or automatic mode.

The determining device further comprises a servo system adapted to

- receive periodically by the image processing unit information representing the at least one area of interest;

define a reference position and / or a reference orientation of the light source in which reference position and / or reference orientation the illumination field is brought closer to the area of interest or encompasses or overlaps the area of interest and;

- Generate a first path of the light source between a current position and / or orientation and the setpoint position and / or the setpoint orientation.

The control means comprise a positioning system adapted to

receive periodically by the servo system the first course;

translate this first course into a control instruction and;

- send this command to the displacement device.

The device further comprises an avoidance system adapted to detect an obstacle on the first path of the light source and to define a second path, which second path ending in the same setpoint position and / or reference orientation of the source of light as the first course and avoiding the obstacle. The displacement device comprises at least one motor, in particular a motor controlled in position.

The displacement device further comprises arms, at least one double fork arch and pivot links connected to each other and to an outer end of the displacement device at the light source.

The invention furthermore relates to the use of a lighting device as mentioned above for optimally illuminating the area of interest of a field of intervention of a surgeon comprising the steps of:

define an area of interest;

- illuminate a lighting field and;

moving the illumination field so that the illumination field approaches the area of interest and in particular encompasses or overlaps the area of interest.

The invention will be better understood on reading the description which follows, given solely by way of example and with reference to the appended drawings, in which:

Figure 1 is a schematic side view of a lighting device according to the invention;

Figures 2 and 3 show schematic perspective views of a surgical scene at different times in which a lighting device is positioned to illuminate a lighting field;

Figures 4 to 7 show schematic top views of a surgical scene during its evolution requiring the readjustment of the position of the illumination field illuminated by the lighting device;

Figure 8 is a schematic representation of the functional modules of the lighting device according to the invention; and

Figure 9 is a detailed schematic representation of Part VII of Figure 8.

In Figure 1 is shown a lighting device according to the invention, designated by the reference 1. The lighting device 1 is adapted to illuminate an area of interest 4 extending along a particular horizontal illumination plane PP. In this case, the area of interest 4 is included in the scope of intervention 6 of a surgeon on a patient 8 in a medical operating room. By zone of interest 4 is meant an area that a surgeon wishes to be illuminated at a given moment of the intervention by the lighting device 1. During the intervention, the area of interest 4 is caused to move in space. The lighting device 1 comprises a support 10 on which is disposed a light source 12 formed of at least one lighting element 14. The support 10 further comprises a handle 16. The illumination device 1 further comprises a displacement device 18 comprising two outer ends and adapted to move the light source 12. The support 10 is connected to one of the outer ends of the device of FIG. displacement 18.

The displacement device 18 comprises a double fork arch 20 which consists of two curved forks 22, 24 pivotally attached to each other at their ends by means of a pivot connection 26. One of the outer ends of the double fork arch 20 is connected by means of a pivot connection 28 to the support 10 of the light source 12. The other outer end of the double fork arch 20 is connected by means of at least two pivot links 30, 32, 34 arranged alternately with at least one arm 36, 38 to an anchor 40 fixedly connected to a carrier 42, including the ceiling or a wall of the medical operating room or a movable arm. The arm may be a first arm 36 or a second arm 38. The first arm 36 is an arm that is movable in a vertical plane and in a horizontal plane. The second arm 38 extends exclusively horizontally. Each pivot connection 26, 28, 30, 32, 34 defines at least one axis of rotation A-A to F-F of the corresponding arm. More specifically, the displacement device 18 of the lighting device 1 illustrated in FIG. 1 comprises five pivot links 26, 28, 30, 32, 34, a double fork arch 20, an arm 36 which is movable in a vertical plane and in a horizontal plane and an arm 38 extending horizontally and thus has six degrees of freedom. The displacement device 18 described above is adapted to modify its configuration so that the light source 12 can take all orientations and / or positions within the range of the lighting device 1. The displacement device 18 further comprises at least one motor 44, 46, 48, 50, 52. Each motor 44, 46, 48, 50, 52 is placed so as to act on the adjacent arms connected by a pivot link 26. , 28, 30, 32, 34. The displacement device 18 is connected to a control and control unit 53 comprising a processor 54 and a memory 56. The control and control unit 53 is adapted to control at least one motors 44, 46, 48, 50, 52 and preferably each motor.

The lighting device 1 further comprises a determination device 58 of the area of interest 4 adapted to determine at least one area of interest 4 (see Figure 9). The determining device 58 comprises an observation means 60, in particular a camera. The camera is located for example in the handle 16 of the lighting device 1.

The determining device 58 further comprises an image processing unit 62 and a servo system 64. The observation means 60 is connected to the image processing unit 62 by a first signal link 66, and the processing unit image 62 by a second signal link 68 to the servo system 64 (see Figure 9).

The lighting device 1 further comprises control means 70 adapted to control the displacement device 18 (see Figure 8). The control means 70 comprise a positioning system 72. The positioning system 72 is connected by a third signal link 74 to the servocontrol system 64 of the determination device 58 and by at least one control link 76, 78, 80 , 82, 84 to at least one of the motors 44, 46, 48, 50, 52 of the displacement device 18.

The processor 54 and the memory 56 mentioned above and represented in the

FIG. 1 is the implementation, on the one hand, of the image processing unit 62 and the control system 64 of the determination device 58 and, on the other hand, of the control means 70 comprising the positioning system 72.

The lighting device 1 further comprises a man-machine interface 86 (see FIG. 1) in order to be able to use the lighting device 1 in manual, semi-automatic or automatic mode. In the manual mode, the motors 44, 46, 48, 50, 52 and the control and control unit 53 are deactivated and the arms are moved manually by the user. In the semi-automatic mode, the motors 44, 46, 48, 50, 52 are activated and the control and control unit 53 is deactivated. In this case, the movement of the arms is effected by switches that are actuated by the user. In the automatic mode, the motors 44, 46, 48, 50, 52 and the control and control unit 53 are activated, respectively.

Another utility of this system is to be able to offer the possibility to the surgical team to manually modify an area of interest.

Below the mode of operation of the lighting device 1 is described based on an example referring to a surgical procedure (see Figures 4 to 7). For this purpose we will refer to different quantities which are defined as follows. An image \ _k is an image of the intervention field 6 provided by the observation means 60 at a time t = k. A configuration r _k is a configuration of the displacement device 18 at time t = k. This configuration r _k corresponds to a position and / or orientation of the light source 12 at the instant t = k and at the image l _k . The configuration r _k also corresponds to a configuration s _k of the displacement device 18 in the plane of the image 1 _k of the camera. In general, the magnitude r corresponds to a configuration s of the displacement device 18 in the plane of the image 1 _k of the camera

At the beginning of the surgical operation, the position and / or orientation of the light source 12 of the lighting device 1 are chosen so that a lighting field 88 includes a first area of interest 4. The first area of interest 4 is the location of the surgery at time t = 0 (see Figure 2). The light source 12 is, for example, prepositioned so that the optical axis of the light source 12 is perpendicular to the intervention field 6. As soon as the lighting device 1 is turned on, the observation means 60 observes the field of intervention 6 continuously and provides an image l _k at the instant \ = k at the image processing unit 62 which examines the image l _k for the purpose of identifying elements for the definition area of interest 4 (see Figure 9). These elements are visual characteristics called "visual primitives" such as a particular point, a rectangle, an ellipse, and so on. These visual primitives may be from a gloved hand, syringe, scalpel, forceps or other instruments necessary for an operation.

When the image processing unit 62 identifies in the image 1 _k a visual primitive, this image processing unit 62 defines at least one area of interest 4 as a function of the visual primitives identified. In order to optimally illuminate this area of interest 4, the displacement device 18 must adopt a setpoint configuration r ^* , which corresponds to a configuration s ^* in the image plane.

After identification of the visual primitive, the image processing unit 62 sends information relating to the current configuration r _k of the moving device 18 to the servo system 64 (see FIG. 9). This servocontrol system 64 creates a kinematic torsor T _k composed of translations and rotations in a base R _w . R _w for example describes a fixed Cartesian space with respect to the intervention field 6. The kinematic torsor T _k is used to move the displacement device 18 so that the current position and / or orientation of the light source 12 tends to a setpoint position and / or reference orientation of the light source 12. The light source 12 is thus displaced according to the principle of visual servoing. The current position and / or orientation and the setpoint position and / or reference orientation of the light source 12 are deduced from the image \ _k at time t = k and from a reference image / * respectively . In order to determine the kinematic torsor T _k , information such as an interaction matrix Ls and a matrix K of the intrinsic parameters of the observation means 60, in particular a camera, are used. The interaction matrix Ls describes the link between the image and the movements in the Cartesian space. The matrix K is a function of the intrinsic parameters of the camera, for example the magnification factors, the aberration coefficients, the position of the central pixel, the focal length and others. In addition, possibly a reference image I ^* is necessary.

The kinematic torsor T _k is then sent to the positioning system 72 of the control means 70, which positioning system 72 translates the torsor kinematic T _k at the control setpoint (see Figure 8). The positioning system 72 provides a control setpoint to at least one of the motors 44, 46, 48, 50, 52 acting on the support 10, the forks 22, 24 and the arms 36, 38 in order to move the light source 12 , and together the observation means 60, provided that the observation means 60 is arranged in the handle 16 of the support 10. The at least one motor 44, 46, 48, 50, 52 is preferably controlled in position but it can be controlled also in speed. The control in the position controls the at least one motor 44, 46, 48, 50, 52 according to the movement to be performed in order to reduce the difference between the image l _k and the reference image / *.

If the difference between these two images is not equal to 0 or in a predefined gap range, another image l _{k + 1} is acquired at a time k + 1 by the observation means 60. At this moment k + 1, the displacement device 18 has a configuration r _{k +} i different from the configuration r _k . The procedure described above is repeated periodically until the image l _{k + n} generated at a time k + n matches the target image / * or the difference (l _{k + n} -l *) is within a predefined range of deviation, i.e., the light source 12 is in or near the setpoint position and / or the setpoint orientation, and the illumination field 88 encompasses or overlaps the at least one zone of interest 4. Alternatively, the lighting device 1 can refer to the difference (s _{k + n} -s ^* ) to determine if the light source 12 is in or near the setpoint position and / or the target orientation.

Since the area of interest 4 may change during the surgical procedure, the procedure described above is periodically repeated even if the difference between the image l _k and the target image / *, or the difference between the configuration s _k and the setpoint configuration s ^* , is equal to 0 or in a predefined range of deviation, in order to search and illuminate optimally the successive areas of interest 4.

Fig. 3 shows a position and orientation of the modified light source 12 with respect to the position and orientation of the light source 12 at time t = 0 of the surgical procedure illustrated in Fig. 2. This displacement is due to the modification of the area of interest 4.

In Figures 4 and 5, the visual primitive is defined by a scalpel 90. In these two Figures, the scalpel 90 is at the same position, the areas of interest 4 being the same. Nevertheless, the lighting fields 88 differ from each other. In Fig. 4, the scalpel 90 is at the edge of the illumination field 88 while the illumination field 88 in Fig. 5 includes the scalpel 90 so that the scalpel 90 is in the center of the field of view. Lighting 88. In Figure 5, the lighting device 1 provides optimal illumination according to the invention. Later, the scalpel 90 and therefore the area 4 are still in another location (see Figures 6 and 7). The lighting device 1 according to the invention is adapted to follow the light source 12 so that the area of interest 4 is again encompassed by the illumination field 88 as illustrated in FIG. 7, in which the area of interest 4 and the lighting field 88 are concentric.

The light source 12 is moved between its current position and / or orientation and its target position and / or setpoint orientation provided that the path of movement presents no obstacles. The lighting device 1 further comprises an avoidance system 92 adapted to detect an obstacle on a first path of the light source 12, the first path being the path described by an initial kinematic torsor Ti and along which the source light 12 is moved from its current position and / or orientation to its setpoint position and / or target orientation. In the case where there is an obstacle on the first course, the avoidance system 92 defines a second course, which second course ending in the same setpoint position and / or target orientation of the light source 12 as the first one. course and avoiding the obstacle.

The lighting device 1 according to the invention has several advantages over lighting devices according to the state of the art: The lighting device 1 according to the invention adapted to move the light source 12 without intervention direct human decreases the duration of the surgical procedure, optimizes the lighting of the area of interest 4 and accurately positions the light source 12.

Claims

1. Lighting device (1) for a lighting field (88), in particular an operating field, of the type comprising

a light source (12) adapted to illuminate the lighting field (88), characterized in that the lighting device (1) comprises

a moving device (18) for the light source (12) adapted to move the light source (12),

a determining device (58) adapted to determine at least one area of interest (4) to be illuminated by the light source (12), control means (70) adapted to control the moving device (18) of such that the illumination field (88) approaches the at least one area of interest (4).

2. Lighting device (1) according to claim 1 characterized in that the control means (70) are adapted to control the displacement device

(18) so that the illumination field (88) and the at least one area of interest (4) overlap each other or the illumination field (88) encompasses the at least one area of interest (4).

Illumination device (1) according to claim 1 or 2, characterized in that the determining device (58) comprises an observation means (60) adapted to observe the illumination field (88) and to generate periodically an image of the lighting field (88), in particular a camera.

4. Lighting device (1) according to claim 3, characterized in that the determining device (58) further comprises an image processing unit (62) adapted to periodically receive the image of the illumination field. (88) generated by the observation means (60) and for identifying the at least one area of interest (4) in the image.

5. Lighting device (1) according to claim 4, characterized in that the image processing unit (62) is adapted to identify the at least one area of interest (4) based on minus a visual primitive in the image.

6. Lighting device (1) according to claim 5, characterized in that it further comprises a man-machine interface (86) adapted to define the at least one visual primitive and select the mode of operation, including manual , semi-automatic or automatic.

Lighting device (1) according to claim 4 to 6, characterized in that the determining device (58) further comprises a servocontrol system (64) suitable for - receive periodically by the image processing unit (62) information representing the at least one area of interest;

- Set a setpoint position and / or a setpoint orientation of the light source (12) in which setpoint position and / or target orientation the lighting field (88) is brought closer to the area of interest (4). ) or encompasses or overlaps the area of interest (4) and;

- generating a first path of the light source (12) between a current position and / or orientation and the setpoint position and / or the target orientation.

8. Lighting device (1) according to claim 7, characterized in that the control means (7) comprises a positioning system (72) adapted to receive periodically by the servo system (64) the first course;

translate this first course into a control instruction and;

send this command reference to the displacement device (18).

9. Lighting device (1) according to claim 7 or 8, characterized in that it further comprises an avoidance system (92) adapted to detect an obstacle on the first path of the light source (12). and to define a second path, which second path terminates in the same setpoint position and / or target orientation of the light source (12) as the first path and avoids the obstacle.

10. Lighting device (1) according to any one of claims 1 to 9, characterized in that the displacement device (18) comprises at least one motor (44, 46, 48, 50, 52), in particular a motor controlled in position.

1 1. Lighting device (1) according to any one of claims 1 to 10, characterized in that the displacement device (18) further comprises arms (36), (38), at least one double fork arch (20). ) and pivot links (26, 28, 30, 32, 34) connected to each other and to an outer end of the displacement device (18) at the light source (12).

12. Use of a lighting device (1) according to any one of the preceding claims for optimally illuminating the area of interest (4) of a field of intervention of a surgeon comprising the steps of :

define an area of interest (4);

illuminating a lighting field (88) and;

moving the illumination field (88) so that the illumination field (88) approaches the area of interest (4) and in particular encompasses or overlaps the area of interest (4).