System for controlling light and for tracking tools in a three-dimensional space

• US 10,099,368 B2
• Filed: 01/06/2017
• Issued: 10/16/2018
• Est. Priority Date: 10/25/2016
• Status: Active Grant

• Current Assignee: Brandon Delspina
• Original Assignee: Brandon Delspina
• Inventors: DelSpina, Brandon
• Primary Examiner(s): Sample, Jonathan L
• Application Number:
  US15/400,378
• Publication Number:
  US 20180111265A1
• Time in Patent Office: 648 Days
• Field of Search: 700245-264
• CPC Class Codes: A61B 2017/00203 with speech control or speech recognition
• CPC Class Codes: A61B 2017/00207 with hand gesture control or hand gesture recognition
• CPC Class Codes: A61B 2017/00216 with eye tracking or head position tracking control
• CPC Class Codes: A61B 2034/2057 Details of tracking cameras
• CPC Class Codes: A61B 2090/061 for measuring dimensions, e.g. length
• CPC Class Codes: A61B 2090/067 for measuring angles
• CPC Class Codes: A61B 2090/309 using white LEDs
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 90/30 Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
• CPC Class Codes: A61B 90/35 Supports therefor
• CPC Class Codes: A61B 90/50 Supports for surgical instruments, e.g. articulated arms
• CPC Class Codes: B25J 9/0078 actuated by cables
• CPC Class Codes: B25J 9/161 Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
• CPC Class Codes: F21S 8/061 with a non-rigid pendant, i.e. a cable, wire or chain
• CPC Class Codes: F21V 21/15 specially adapted for power operation, e.g. by remote control
• CPC Class Codes: F21V 21/16 using wires or cords
• CPC Class Codes: F21W 2131/205 for operating theatres
• CPC Class Codes: F21Y 2115/10 Light-emitting diodes [LED]
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/30204 Marker
• CPC Class Codes: G06T 7/70 : Determining position or orientation of objects or cameras camera calibration G06T7/80
• CPC Class Codes: H05B 47/125 : by using cameras
• CPC Class Codes: Y02B 20/40 : Control techniques providing energy savings, e.g. smart controller or presence detection

Abstract

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 three-dimensional space. 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.

Claims

1. A system adapted for controlling light, for moving and tracking tools in three dimensional space through at least six degrees of freedom, said system comprising:

a cable robot module having a plurality of cables, winches and motors, said cable robot module adapted to move an object through X, Y, and Z coordinates of three-dimensional space, said cable robot module further including an articulation cage adapted for attachment to said object and further adapted to control roll, pitch, and yaw of said object;

a central computer module in electronic communication with said cable robot module and adapted for receiving inputs and providing command and control signals to said cable robot module; and

an imaging module carried by said cable robot module, said imaging module including a vector camera in electronic communication with said central computer module, said vector camera being adapted to identify at least two markers located within a field of view of said vector camera, and further wherein said vector camera is adapted to measure data, including an angle and a distance from one selected marker to a further selected marker, and communicating said data to said the central computer module for direction of said system.

2. The system of claim 1 wherein said system further comprises an illumination module carried by said cable robot module, said illumination module being in electronic communication with said central computer module, wherein said illumination module includes a lamp having a luminous output controlled by said central computer module.

3. The system of claim 1 wherein said system further comprises an object manipulator module carried by said cable robot module, said object manipulator module being in electronic communication with and under control of said central computer module.

4. The system of claim 1 wherein an illumination module in electronic communication with said central computer module is carried by a further cable robot module.

5. The system of claim 1 wherein an object manipulator module in electronic communication with said central computer module is carried by a further cable robot module.

6. The system of claim 3 wherein said object manipulator module is adapted to grasp and release a selected object and is further adapted to deliver said selected object to a user, track relative position and orientation of said selected object, and retrieve said selected object from said user.

7. The system of claim 1 wherein said central computer module is adapted to receive manual inputs from a manual controller and is further adapted for feature recognition, gesture recognition, gaze tracking and voice control.

8. The system of claim 1 wherein said system further comprises at least one touchless temperature sensor.

9. The system of claim 1 wherein said system is adapted to provide information and control functions to at least one auxiliary, external supersystem.

10. A system adapted for controlling light, for moving and tracking tools in three dimensional space through at least six degrees of freedom, said system comprising:

a robot module having a plurality of cables, winches and motors, said cable robot module adapted to move an object through X, Y, and Z coordinates of three-dimensional space, said cable robot module further including an articulation cage adapted for attachment to said object and further adapted to control roll, pitch, and yaw of said object;

a central computer module in electronic communication with said cable robot module and adapted for receiving inputs and providing command and control signals to said cable robot module;

an imaging module carried by said cable robot module, said imaging module including a vector camera in electronic communication with said central computer module, said vector camera being adapted to identify at least two markers located within a field of view of said vector camera, and further wherein said vector camera is adapted to measure data, including an angle and a distance from one selected marker to a further selected marker, and communicating said data to said the central computer module for direction of said system; and

an illumination module carried by said cable robot module, said illumination module being in electronic communication with said central computer module, wherein said illumination module includes a lamp having a luminous output controlled by said central computer module.

11. The system of claim 10 wherein said system further comprises an object manipulator module carried by said cable robot module, said object manipulator module being in electronic communication with and under control of said central computer module.

12. The system of claim 10 wherein an object manipulator module in electronic communication with said central computer module is carried by a further cable robot module.

13. The system of claim 10 wherein said object manipulator module is adapted to grasp and release a selected object and is further adapted to deliver said selected object to a user, track relative position and orientation of said selected object, and retrieve said selected object from said user.

14. The system of claim 11 wherein said central computer module is adapted to receive manual inputs from a manual controller and is further adapted for feature recognition, gesture recognition, gaze tracking and voice control.

15. The system of claim 10 wherein said system further comprises at least one touchless temperature sensor.

16. The system of claim 10 wherein said system is adapted to provide information and control functions to at least one auxiliary, external supersystem.

17. A system adapted for controlling light, for moving and tracking tools in three dimensional space through at least six degrees of freedom, said system comprising:

a cable robot module having a plurality of cables, winches and motors, said cable robot module adapted to move an object through X, Y, and Z coordinates of three-dimensional space, said cable robot module further including an articulation cage adapted for attachment to said object and further adapted to control roll, pitch, and yaw of said object;

a central computer module in electronic communication with said cable robot module and adapted for receiving inputs and providing command and control signals to said cable robot module;

an imaging module carried by said cable robot module, said imaging module including a vector camera in electronic communication with said central computer module, said vector camera being adapted to identify at least two markers located within a field of view of said vector camera, and further wherein said vector camera is adapted to measure data, including an angle and a distance from one selected marker to a further selected marker, and communicating said data to said the central computer module for direction of said system; and

an object manipulator module in electronic communication with said central computer module, said object manipulator being adapted to deliver a selected tool to a user, track relative position and orientation of said selected tool, and retrieve said selected tool from said user based upon data generated by said vector camera.

18. The system of claim 17 wherein said system further comprises an illumination module carried by said cable robot module, said illumination module being in electronic communication with said central computer module, wherein said illumination module includes a lamp having a luminous output controlled by said central computer module.

19. The system of claim 17 wherein an illumination module in electronic communication with said central computer module is carried by a further cable robot module.

20. The system of claim 17 wherein said central computer module is adapted to receive manual inputs from a manual controller and is further adapted for feature recognition, gesture recognition, gaze tracking and voice control.

21. The system of claim 17 wherein said system further comprises at least one touchless temperature sensor.

22. The system of claim 17 wherein said object manipulator module is adapted to grasp and release a selected object.

23. The system of claim 17 wherein said system is adapted to provide information and control functions to at least one auxiliary, external supersystem.

24. A system adapted for controlling light, for moving and tracking tools in three dimensional space through at least six degrees of freedom, said system comprising:

a cable robot module having a plurality of cables, winches and motors, said cable robot module adapted to move an object through X, Y, and Z coordinates of three-dimensional space, said cable robot module further including an articulation cage adapted for attachment to said object and further adapted to control roll, pitch, and yaw of said object;

a central computer module in electronic communication with said cable robot module and adapted for receiving inputs and providing command and control signals to said cable robot module;

an imaging module carried by said cable robot module, said imaging module including a vector camera in electronic communication with said central computer module, said vector camera being adapted to identify at least two markers located within a field of view of said vector camera, and further wherein said vector camera is adapted to measure data, including an angle and a distance from one selected marker to a further selected marker, and communicating said data to said the central computer module for direction of said system;

an object manipulator module in electronic communication with said central computer module, said object manipulator being adapted to grasp and release a selected object and is further adapted to deliver said selected object to a user, track relative position and orientation of said selected object, and retrieve said selected object from said user based upon data generated by said vector camera; and

an illumination module carried by said cable robot module, said illumination module being in electronic communication with said central computer module, wherein said illumination module includes a lamp having a luminous output controlled by said central computer module.

25. The system of claim 24 wherein said central computer module is adapted to receive manual inputs from a manual controller and is further adapted for feature recognition, gesture recognition, gaze tracking and voice control.

26. The system of claim 24 wherein said system further comprises at least one touchless temperature sensor.

27. The system of claim 24 wherein said object manipulator module is adapted to grasp and release a selected object.

28. The system of claim 24 wherein said system is adapted to provide information and control functions to at least one auxiliary, external supersystem.

29. A system adapted for controlling light, for moving and tracking tools in three dimensional space through at least six degrees of freedom, said system comprising:

at least a first cable robot module having a plurality of cables, winches and motors, said first cable robot module adapted to move an object through X, Y, and Z coordinates of three-dimensional space, said first cable robot module further including an articulation cage adapted for attachment to said object and further adapted to control roll, pitch, and yaw of said object;

a central computer module in electronic communication with said first cable robot module and adapted for receiving inputs and providing command and control signals to said first cable robot module; and

an imaging module carried by said first cable robot module, said imaging module including a vector camera in electronic communication with said central computer module, said vector camera being adapted to identify at least two markers located within a field of view of said vector camera, and further wherein said vector camera is adapted to measure data, including an angle and a distance from one selected marker to a further selected marker, and communicating said data to said the central computer module for direction of said system.

30. The system of claim 29 wherein said system further comprises an illumination module carried by a second cable robot module, said second cable robot module being in electronic communication with said central computer module, said illumination module being in electronic communication with said central computer module, wherein said illumination module includes a lamp having a luminous output controlled by said central computer module.

31. The system of claim 29 wherein said system further comprises an object manipulator module carried by a second cable robot module, said second cable robot module being in electronic communication with said central computer module, said object manipulator module being in electronic communication with and under control of said central computer module.

32. The system of claim 30 wherein said system further comprises an object manipulator module carried by a third cable robot module, said third cable robot module being in electronic communication with said central computer module, said object manipulator module being in electronic communication with and under control of said central computer module.

33. The system of claim 31 wherein said object manipulator module is adapted to grasp and release a selected object and is further adapted to deliver said selected object to a user, track relative position and orientation of said selected object, and retrieve said selected object from said user.

34. The system of claim 29 wherein said central computer module is adapted to receive manual inputs from a manual controller and is further adapted for feature recognition, gesture recognition, gaze tracking and voice control.

35. The system of claim 29 wherein said system further comprises at least one touchless temperature sensor.

36. The system of claim 29 wherein said system is adapted to provide information and control functions to at least one auxiliary, external supersystem.

37. A system adapted for controlling light, for moving and tracking tools in three dimensional space through at least six degrees of freedom, said system comprising:

a cable robot module having a plurality of cables, winches and motors, wherein said cables and winches move an object through two coordinates of three-dimensional space, said cable robot module further including an articulation cage adapted for attachment to said object and further adapted to control roll, pitch, and yaw of said object said cable robot further including a telescoping pole adapted to move said object through a third coordinate of three-dimensional space;

a central computer module in electronic communication with said cable robot module and adapted for receiving inputs and providing command and control signals to said cable robot module; and

an imaging module carried by said cable robot module, said imaging module including a vector camera in electronic communication with said central computer module, said vector camera being adapted to identify at least two markers located within a field of view of said vector camera, and further wherein said vector camera is adapted to measure data, including an angle and a distance from one selected marker to a further selected marker, and communicating said data to said the central computer module for direction of said system.

38. The system of claim 37 wherein said system further comprises an illumination module carried by said cable robot module, said illumination module being in electronic communication with said central computer module, wherein said illumination module includes a lamp having a luminous output controlled by said central computer module.

39. The system of claim 37 wherein said system further comprises an object manipulator module carried by said cable robot module, said object manipulator module being in electronic communication with and under control of said central computer module.

40. The system of claim 37 wherein an illumination module in electronic communication with said central computer module is carried by a further cable robot module.

41. The system of claim 37 wherein an object manipulator module in electronic communication with said central computer module is carried by a further cable robot module.

42. The system of claim 39 wherein said object manipulator module is adapted to grasp and release a selected object and is further adapted to deliver said selected object to a user, track relative position and orientation of said selected object, and retrieve said selected object from said user.

43. The system of claim 37 wherein said central computer module is adapted to receive manual inputs from a manual controller and is further adapted for feature recognition, gesture recognition, gaze tracking and voice control.

44. The system of claim 37 wherein said system further comprises at least one touchless temperature sensor.

45. The system of claim 37 wherein said system is adapted to provide information and control functions to at least one auxiliary, external supersystem.

46. The system of claim 38 wherein said system further comprises an object manipulator module carried by said cable robot module, said object manipulator module being in electronic communication with and under control of said central computer module.