Method and system for object detection for instrument control
First Claim
1. Apparatus for controlling a device, said apparatus comprising:
- a marker having a predetermined color and being applied to the device to form a marked device;
an imager which generates imager signals representing a color image of a region proximate to the imager;
a detector which processes the imager signals to detect a range of colors, which includes the predetermined color, in the image represented by the signals and for providing an output signal representing instances of imager signals in the detected color range;
detection means for processing the output signal of the color detector to provide an indication of whether the output signal of the color detector conforms to the marked device, thereby to indicate whether the marked device is included in the color image represented by the imager signals; and
control means responsive to the detection means for disabling the marked device whenever the detection means indicates that the marked device is not in the color image, and for allowing the marked device to be enabled whenever the detection means indicates that the marked device is in the color image.
2 Assignments
0 Petitions
Accused Products
Abstract
An apparatus and method for controlling an instrument is provided. The device may be a cutting tool for use in surgery, or other type of device applied to transform a specific object located in a defined area. The apparatus comprises a marker having a predetermined color. The marker is applied to the specific device or tool to form a marked device. An imager generates video signals representing a color image of the defined area. A color detector processes the imager signals to detect a range of colors in the image represented by the imager signals. The range of colors includes the predetermined color. The color detector provides an output signal representing instances of signals in the detected color range. A detection mechanism processes the output signal of the color detector to provide an indication of whether the detected instances represented by the output signal conform to the marked device. A control mechanism disables the marked device if the detected instances do not conform to the marked device, in response to the indication provided by the detection mechanism.
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Citations
17 Claims
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1. Apparatus for controlling a device, said apparatus comprising:
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a marker having a predetermined color and being applied to the device to form a marked device; an imager which generates imager signals representing a color image of a region proximate to the imager; a detector which processes the imager signals to detect a range of colors, which includes the predetermined color, in the image represented by the signals and for providing an output signal representing instances of imager signals in the detected color range; detection means for processing the output signal of the color detector to provide an indication of whether the output signal of the color detector conforms to the marked device, thereby to indicate whether the marked device is included in the color image represented by the imager signals; and control means responsive to the detection means for disabling the marked device whenever the detection means indicates that the marked device is not in the color image, and for allowing the marked device to be enabled whenever the detection means indicates that the marked device is in the color image. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. Apparatus for controlling a device that is applied to transform a specific object, said apparatus comprising:
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a marker having a predetermined color and being applied to the device to form a marked device; an imager which generates imager signals representing a color image of a region proximate to the imager; means for selecting a subset of said imager signals to form a reduced area image of the region; a color detector which processes the subset of the imager signals to detect a range of colors, which includes the predetermined color, in the reduced area image represented by the subset of the imager signals and for providing an output signal representing instances of imager signals in the detected color range; detection means for processing the output signal of the color detector to provide an indication of whether the output signal of the color detector conforms to the marked device, thereby to indicate whether the marked device is included in the reduced area image represented by the imager signals; and control means responsive to the detection means for disabling the marked device whenever the detection means indicates that the marked device is not in the reduced area image, and for allowing the marked device to be enabled whenever the detection means indicates that the marked device is in the reduced area image.
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9. Apparatus for controlling a tool that is used to cut tissue during surgery, said apparatus comprising:
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a marker having a predetermined color and being applied to the tool to form a marked tool; a laparoscope having a field of view which includes a region in which the tissue to be cut during surgery is located and receives light therefrom; an imager coupled to receive light from the laparoscope and generate imager signals representing a color image of the field of view of the laparoscope; a color detector which processes the imager signals to detect a range of colors, which includes the predetermined color, in the image represented by the imager signals and for providing an output signal representing instances of imager signals in the detected color range; detection means for processing the output signal of the color detector to provide an indication of whether the output signal of the color detector conforms to the marked tool, thereby to indicate whether the marked tool is in the field of view of the laparoscope; and control means responsive to the detection means for disabling the marked tool whenever the detection means indicates that the marked tool is outside the field of view of the laparoscope, and for allowing the marked tool to be enabled whenever the detection means indicates that the marked tool is within the field of view of the laparoscope. - View Dependent Claims (10)
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11. A method for controlling a device that is applied to transform a specific object, said method comprising the steps of:
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(a) applying a marker having a predetermined color to the device to form a marked device; (b) generating imager signals which represent a color image of a region proximate to the imager; (c) detecting a range of colors in the color image represented by the imager signals, said range of colors including the predetermined color; (d) forming an output signal representing instances of imager signals in the detected color range; (e) processing the output signal to provide an indication of whether the output signal of the color detector conforms to the marked device, thereby identifying whether the marked device is included in the color image represented by the imager signals; (f) disabling the marked device whenever the indication identifies the marked device as not being included in the color image represented by the imager signals; and (g) allowing the marked device to be enabled whenever the indication identifies the marked device as being included in the color image represented by the imager signals. - View Dependent Claims (12, 13, 14, 15, 16, 17)
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Specification