Closed-loop control of illumination in an endoscopic camera system

Abstract

The subject of this invention is closed-loop control of illumination in an endoscopic camera system. An illumination source is coupled to an image capture device via a connector. A light sensor is placed downstream of the connector to measure the light received by the image capture device from the illumination source. The light sensor provides the measured value of the received light to the illumination source for closed-loop control of the illumination source. The light sensor may be positioned within the camera housing to account for light attenuation from the illumination source to the camera. The light sensor may be positioned at other locations on the image capture device. Multiple light sensors may be positioned at different locations on the image capture device to detect the source or location of attenuation. Redundant light sensors of more than one type can be used at a single light sensor location to provide verification of the measurement values ​​and increase the variety of information measured.

Description

[0001] This application is a divisional application of Chinese patent application 2019800755996 (PCT / US2019 / 053404), entitled "Closed-loop control of illumination in an endoscopic camera system," filed on September 27, 2019, with an international filing date of September 27, 2019, and entering the national phase on May 17, 2021.

[0002] Cross-references to related applications This application claims the benefit of U.S. Provisional Patent Application Serial No. 62 / 737,263, filed September 27, 2018, the disclosure of which is expressly incorporated herein by reference. Background Technology

[0003] Image capture devices are typically factory calibrated before field use. During the calibration process, one or more images of a test pattern are captured and used as a reference to generate calibration data for the image capture device. For example, one or more transformations are used to adjust the captured images from the image capture device to align with a known image of the test pattern. The calibration process calibrates the captured images to correct for errors or variations in color, optics, alignment, or other image sensor or optical properties within the image capture device. The calibration process generates a set of calibration data that is stored by the image capture device and applied to calibrate images captured by the image capture device in use.

[0004] An external lighting source can supply light to illuminate the scene captured by the image capture device. The lighting source can be calibrated separately from the image capture device to provide a controlled amount of light. Summary of the Invention

[0005] A first aspect of the invention includes a system comprising a controller system including a lighting source and a connection port configured to supply light from the lighting source to an external location. The system also includes an image capture device including a light guide with a connector configured to connect to the connection port and receive light supplied by the lighting source, wherein the image capture device is configured to illuminate a scene with the received light. The system further includes a light sensor configured to measure the power and / or wavelength of the received light. The controller system is configured to adjust its operation based on the measured power of the received light.

[0006] In some embodiments of the first aspect of this disclosure, power is the total power of the received light or the power at one or more wavelengths of the received light.

[0007] In some embodiments of the first aspect of this disclosure, the light sensor is a spectrometer.

[0008] In some embodiments of the first aspect of this disclosure, the light sensor is located within the housing of the image capturing device, at the connector, or at the connector between the light guide and the image capturing device.

[0009] In some embodiments of the first aspect of this disclosure, the light sensor is one of a plurality of light sensors located within the housing of the image capturing device, at the connector, and / or at the connector between the light guide and the image capturing device. The controller system is configured to determine the location of the illumination error based on the difference between a first measured power of light received at a first location and a second measured power of light received at a second location. The second location is further away from the connector than the first location.

[0010] In some embodiments of the first aspect of this disclosure, the controller system is configured to adjust its operation to change the output of the lighting source based on the measured power and / or wavelength of the received light.

[0011] In some embodiments of the first aspect of this disclosure, the controller system is configured to adjust its operation based on the measured power of the received light to change the calibration parameters used for processing images received by the image capture device.

[0012] In some embodiments of the first aspect of this disclosure, a light sensor is clamped to a light guide to measure a portion of the received light that is scattered or refracted from the light guide.

[0013] In some embodiments of the first aspect of this disclosure, the optical guide is a single optical fiber, a bundle of optical fibers having multiple optical fibers, and / or a cavity filled with liquid.

[0014] In some embodiments of the first aspect of this disclosure, the light guide is used in conjunction with a rigid optical element.

[0015] In some embodiments of the first aspect of this disclosure, the light guide is an optical fiber bundle, wherein a subset of optical fibers from the optical fiber bundle branches off from the bundle and is guided to provide a portion of the received light to the optical sensor.

[0016] In some embodiments of the first aspect of this disclosure, the light sensor is positioned to measure the received light scattered at the connection between the light guide and the second light guide.

[0017] In some embodiments of the first aspect of this disclosure, the system further includes a filter positioned between the light guide and the optical sensor, configured to supply one or more channels of received light to the optical sensor. In some embodiments of the first aspect of this disclosure, the filter includes a dichroic filter. In some embodiments of the first aspect of this disclosure, the filter includes a trichroic prism or other multi-channel spectral separation optical component or assembly.

[0018] In some embodiments of the first aspect of this disclosure, the image capturing device is an endoscope.

[0019] A second aspect of this disclosure includes an image capturing device comprising a light guide having a connector configured to connect to a connection port of a lighting source and receive light supplied by the lighting source. The image capturing device also includes an image sensor configured to capture an image of a scene illuminated by the received light. The image capturing device further includes a light sensor configured to measure the power and / or wavelength of the received light, wherein the connector is further configured to transmit the measured power and / or wavelength of the received light.

[0020] In some embodiments of the second aspect of this disclosure, power is the total power of the received light or the power at one or more wavelengths of the received light.

[0021] In some embodiments of the second aspect of this disclosure, the light sensor is a spectrometer.

[0022] In some embodiments of the second aspect of this disclosure, the light sensor is located within the housing of the image capturing device, at the connector, or at the connector between the light guide and the image capturing device.

[0023] In some embodiments of the second aspect of this disclosure, the light sensor is one of a plurality of light sensors located within the housing of the image capturing device, at the connector, and / or at the connector between the light guide and the image capturing device.

[0024] In some embodiments of the second aspect of this disclosure, a light sensor is clamped to a light guide to measure a portion of the received light that is scattered or refracted from the light guide.

[0025] In some embodiments of the second aspect of this disclosure, the optical guide is a single optical fiber, a bundle of optical fibers having multiple optical fibers, and / or a cavity filled with liquid.

[0026] In some embodiments of the second aspect of this disclosure, the light guide is used in conjunction with a rigid optical element.

[0027] In some embodiments of the second aspect of this disclosure, the light guide is an optical fiber bundle, wherein a subset of optical fibers from the optical fiber bundle branches off from the bundle and is guided to provide a portion of the received light to the optical sensor.

[0028] In some embodiments of the second aspect of this disclosure, the light sensor is positioned to measure the received light scattered at the connection between the light guide and the second light guide.

[0029] In some embodiments of the second aspect of this disclosure, the system further includes a filter positioned between the light guide and the light sensor, configured to supply one or more channels of received light to the light sensor.

[0030] In some embodiments of the second aspect of this disclosure, the filter includes a dichroic filter.

[0031] In some embodiments of the second aspect of this disclosure, the filter includes a tricolor prism or other multichannel spectral separation optical components or assemblies.

[0032] In some embodiments of the second aspect of this disclosure, the image capturing device is an endoscope.

[0033] A third aspect of this disclosure includes a controller system comprising an illumination source configured to supply light. The controller system further includes a light sensor configured to measure the power of the supplied light. The controller system also includes a connection port configured to transmit the supplied light to an external device. The connection port is further configured to receive, from the external device, a transmission of measured power and / or wavelength of light received by the external device. The controller system also includes a controller configured to adjust operation based on the measured power and / or wavelength of the supplied light and the measured power of the light received by the external device.

[0034] In some embodiments of the third aspect of this disclosure, the connection port is further configured to receive from an external device a plurality of measurements of the power and / or wavelength of light received at different locations along the optical transmission path of the external device. The controller is configured to determine the location of the illumination error based on the difference between a first measurement of the power and / or wavelength of light received at a first location along the optical transmission path and a second measurement of the power and / or wavelength of light received at a second location along the optical transmission path. The second location is further away from the connector than the first location.

[0035] In some embodiments of the third aspect of this disclosure, the controller system is configured to adjust its operation to change the output of the lighting source based on the measured power and / or wavelength of light received by an external device.

[0036] In some embodiments of the third aspect of this disclosure, the external device is an image capture device.

[0037] In some embodiments of the third aspect of this disclosure, the controller system is configured to adjust its operation to change calibration parameters for processing images received from the image capture device based on the measured power and / or wavelength of the light received by the image capture device.

[0038] In some embodiments of the third aspect of this disclosure, the image capturing device is an endoscope.

[0039] A fourth aspect of this disclosure includes a method for closed-loop control of a lighting source coupled to an external device. The method includes: supplying light from the lighting source to a connection port; and measuring the power and / or wavelength of the light supplied at the lighting source. The method further includes: receiving light at a connector of the external device coupled to the connection port; and measuring the power and / or wavelength of the received light via a light sensor coupled to the external device. The method further includes: transmitting the measured power and / or wavelength of the received light from the external device to the lighting source; and adjusting the output of the light supplied at the lighting source based on the measured power and / or wavelength of the supplied light and the measured power and / or wavelength of the received light.

[0040] In some embodiments of the fourth aspect of this disclosure, the external device is an image capture device.

[0041] In some embodiments of the fourth aspect of this disclosure, the method further includes adjusting calibration parameters for processing images received by the image capture device based on the measured power and / or wavelength of the supplied light and the measured power and / or wavelength of the received light.

[0042] In some embodiments of the fourth aspect of this disclosure, the image capturing device is an endoscope.

[0043] In some embodiments of the fourth aspect of this disclosure, the optical sensor is clamped to the light guide of an external device.

[0044] In some embodiments of the fourth aspect of this disclosure, the optical guide is a single optical fiber, a bundle of optical fibers having multiple optical fibers, and / or a cavity filled with liquid.

[0045] In some embodiments of the fourth aspect of this disclosure, the light guide is used in conjunction with a rigid optical element.

[0046] In some embodiments of the fourth aspect of this disclosure, the light guide is an optical fiber bundle, wherein a subset of optical fibers from the optical fiber bundle branches off from the bundle and is guided to provide a portion of the received light to the optical sensor.

[0047] In some embodiments of the fourth aspect of this disclosure, the optical sensor is positioned to measure received light scattered at a connection between a first and a second optical guide in an external device.

[0048] In some embodiments of the fourth aspect of this disclosure, the method further includes filtering the received light to supply one or more channels of the received light to a light sensor.

[0049] In some embodiments of the fourth aspect of this disclosure, filtering the received light includes guiding the received light through a dichroic filter.

[0050] In some embodiments of the fourth aspect of this disclosure, filtering the received light includes guiding the received light through a trichroic prism or other multi-channel spectral separation optical component or assembly.

[0051] These and other features will become clearer from the following detailed description in conjunction with the accompanying drawings and claims. Attached Figure Description

[0052] To gain a more complete understanding of this disclosure, reference is now made to the following brief description in conjunction with the accompanying drawings and detailed description, wherein like reference numerals denote like parts.

[0053] Figure 1 This is a floor plan of a minimally invasive remote surgical system.

[0054] Figure 2 It is a perspective view of the user control system.

[0055] Figure 3 This is a perspective view of an electronic component cart.

[0056] Figure 4 This is a diagram of a remotely operated surgical system.

[0057] Figure 5 This is a perspective view of the endoscopic image capture device.

[0058] Figure 6 This is a diagram showing the optical coupling between the electronic device cart and the optical port of the endoscope image capture device.

[0059] Figure 7 This is a block diagram of a system used for closed-loop lighting control.

[0060] Figure 8 This is a block diagram of an optical sensor clamped to a light guide.

[0061] Figure 9 This is a block diagram of an optical sensor coupled to the branching part of an optical fiber bundle.

[0062] Figure 10 This is a block diagram of a photosensitive sensor at the junction of two photoconductors.

[0063] Figure 11 This is a functional block diagram of a light sensor assembly with an independent channel used to measure the received light.

[0064] Figure 12A This is a block diagram of an optical sensor located in an integrating sphere surrounding a light guide.

[0065] Figure 12B This is a cross-sectional view of the integrating sphere.

[0066] Figure 13 This is a flowchart illustrating an exemplary process for adjusting the operation of an electronics cart based on received light sensor measurements.

[0067] Figure 14 An exemplary computer system is shown. Detailed Implementation

[0068] First, it should be understood that although illustrative implementations of one or more embodiments are shown below, the disclosed systems and methods can be implemented using any number of techniques, whether currently known or existing. This disclosure should not be limited in any way to the illustrative embodiments, drawings, and techniques shown below, but modifications can be made within the scope of the appended claims and their full equivalents. The phrase “and / or” indicates that any one or any combination of the options in the list can be used. For example, “A, B, and / or C” means “A”, or “B”, or “C”, or “A and B”, or “A and C”, or “B and C”, or “A and B and C”.

[0069] Elements described in detail with reference to one embodiment, implementation, or application may be included in other embodiments, implementations, or applications that are not specifically shown or described in any practical context. For example, if an element is described in detail with reference to one embodiment but not with reference to a second embodiment, that element may still be claimed as included in the second embodiment. Therefore, to avoid unnecessary repetition in the following description, unless specifically described otherwise, one or more elements shown and described in association with one embodiment, implementation, or application may be incorporated into other embodiments, implementations, or aspects, unless one or more elements would render the embodiment or implementation inoperable, or unless two or more elements provide conflicting functionality.

[0070] Various aspects of this invention are primarily based on the use of the da Vinci® surgical system (specifically, model IS4000, commercially available as da Vinci® Xi). TM HD TM The description pertains to an implementation of a surgical system sold by Intuitive Surgical, Inc. of Sunnyvale, California, USA. However, those skilled in the art will understand that the various inventive aspects disclosed herein can be embodied and implemented in various ways, including robotic and (if applicable) non-robotic embodiments and implementations. Implementations of the da Vinci® surgical system (e.g., model IS4000 da Vinci® XI) are also described. TMThe surgical system (model IS3000 da Vinci Si® surgical system) is merely exemplary and should not be considered as limiting the scope of the various inventive aspects disclosed herein.

[0071] According to various aspects, this disclosure describes systems and methods for closed-loop control of an illumination source coupled to an image capture device via a connector. The image capture device uses one or more optical components or systems to illuminate a scene being imaged by the image capture device with light received from the illumination source. Typically, the image capture device is calibrated separately from the illumination source, resulting in variability in the overall illumination system that is not addressed by separate calibration of each device. Furthermore, the image capture device may be used with different illumination sources, leading to further variability. The primary source of variability occurs at the connection between the illumination source and the image capture device.

[0072] To address this variability and provide closed-loop control of the illumination source, a light sensor is placed downstream of the connector in the image capture device. The light sensor is configured to measure the light received at the image capture device. Preferably, the light sensor is positioned within the camera housing of the image capture device to measure the light received by the camera, thereby enabling closed-loop control of the illumination source that accounts for light attenuation from the illumination source to the camera. The light sensor may be positioned at other locations on the image capture device. Multiple light sensors may be positioned at different locations on the image capture device to detect sources or locations of attenuation. Redundant light sensors of more than one sensor type can be used at a single light sensor location to provide verification of the measurements and increase the variety of information measured, such as the total power of the received light and the spectral distribution of the received light.

[0073] In one example, the endoscopic image capture device includes a camera housing comprising a flexible cable with light guides (such as fiber bundles). The cable includes a connector configured to couple the light guides to a light source. The camera housing also includes a light sensor and a rigid camera shaft with a camera tip at its distal end. The camera tip includes one or more image sensors and an associated optical system. The camera shaft also includes a second light guide (such as a second fiber bundle) configured to transmit light received from the light guides in the flexible cable to the camera tip to illuminate a scene imaged by one or more image sensors, such as a diagnostic or surgical procedure. The light sensor may be located within the camera housing, near the light guide, the second light guide, or the junction between two light guides. Additional light sensors may also be provided at the connector, at the connection between the light guide and the camera housing, and / or at the camera tip. The light sensor is configured to measure the power and / or wavelength of the light received from the light source.

[0074] Images captured by one or more image sensors in the camera tip are transmitted to the camera housing via a wired or wireless connector, and then to the connector via a wired or wireless connector in a flexible cable. Additionally, measurements of the received light from the light sensor are transmitted to the connector via a wired or wireless connector in a flexible cable. The operation of the light source is adjusted based on the measurements from the light sensor to provide closed-loop control of the light source, thereby adjusting the source of light attenuation from the light source to the camera.

[0075] The controller system includes a receptacle configured to receive a connector. The controller system also includes a light source coupled to the receptacle and configured to supply light to a light guide in a flexible cable. The controller system further includes an image processor coupled to the receptacle and configured to receive images transmitted via electrical connections in the flexible cable. The image processor is configured to process the received images based on calibration data for an image capture device to generate one or more processed images. The controller system is also configured to receive measurements from a light sensor on the image capture device. Due to the use of an endoscopic image capture device, the light transmission characteristics of the light guide in the flexible cable may change over time. Additionally, the camera tip may wear over time due to use in medical procedures. Therefore, at least the optical characteristics of the endoscopic image capture device will change over time, resulting in attenuation of the light received from the light source. Furthermore, the endoscopic image capture device may be coupled to different controller systems at different times, and one or more controller systems may have different configurations that attenuate the light received from the light source in different ways.

[0076] The controller system adjusts for this attenuation of light received from the light source by adjusting the output of the light source to compensate for the attenuation, or by adjusting the calibration data of the image capture device to compensate for the attenuation. For example, the power level of the light source can be increased based on measurements received from the light sensor. Similarly, the calibration values ​​of brightness, luminance, contrast, or other such image processing variables in the calibration data of the image capture device can be adjusted based on measurements received from the light sensor.

[0077] While an endoscopic image capture device was used in the example above, any image capture device coupled to an external illumination source for providing closed-loop control of the illumination source, such as a duct endoscope or other inspection camera, could be used. Similarly, this disclosure contemplates any other device coupled to a controller system that operates based on light received from the controller system and includes a light sensor for measuring the received light.

[0078] Referring now to the accompanying drawings, in which the same reference numerals denote the same parts in several views. Figure 1This is a floor plan of a minimally invasive remote surgical system 10, typically used to perform minimally invasive diagnostic or surgical procedures on a patient 12 lying on a mobile operating table 14. The system includes a user control system 16, such as a mobile surgeon's console used by a surgeon 18 during the procedure. One or more assistants 20 may also participate in the procedure. The minimally invasive remote surgical system 10 also includes an operating system 22, such as a mobile patient-side trolley and a mobile electronics trolley 24. In some embodiments, the operating table 14, user control system 16, manipulation system 22, and electronics trolley 24 are fitted with wheels to provide mobility.

[0079] The manipulation system 22 or other such manipulation system includes a plurality of segmented mechanical support arms 72, each having one end portion rotatably mounted to a vertical support structure 74 and another end portion on which a surgical instrument 26 is removably coupled. In some embodiments, each mechanical support arm 72 includes a first segment 72-1, a second segment 72-2, and a third segment 72-3. During the setup of the procedure, the plurality of segments of at least one support arm 72 are moved to position the surgical instrument for insertion into a minimally invasive incision within the patient 12.

[0080] During the procedure, as instruments are inserted into the patient's body cavity, the surgeon 18 views the surgical site via the user control system 16. Images of the surgical site may be obtained by an endoscope 28 (such as a stereoscopic endoscope), which can be manipulated by a manipulation system 22 to orient the endoscope 28. A computer processor located on an electronics cart 24 can be used to process the images of the surgical site for subsequent display to the surgeon 18 via the user control system 16. Alternatively, the computer processor may be referred to herein as an image processor or a video processor.

[0081] One or more light sources or illuminators may also be provided on the electronic device cart 24 to provide light for the endoscope 28 to illuminate the surgical site. Illuminators may include white light sources, colored light sources (e.g., red, green, blue, cyan, magenta, yellow, etc.), infrared light sources, laser light sources, or any other type of light source or combination thereof. Different illuminators may be used at different points in the surgical or diagnostic procedure. For example, the electronic device cart 24 may be controlled, such as by selection on the user control system 16, to provide light from a first set of one or more illuminators at a first time, and light from a second set of one or more illuminators at a second time.

[0082] The number of surgical instruments 26 used at one time typically depends on factors such as diagnostic or surgical procedures and space constraints within the operating room. If it is necessary to change one or more of the surgical instruments 26 in use during the procedure, the assistant 20 can remove the surgical instrument 26 from the manipulation system 22 and replace it with another surgical instrument 26 from the tray 30 in the operating room.

[0083] Figure 2 This is a perspective view of the user control system 16. The user control system 16 includes a display area 31 with a left-eye display 32 and a right-eye display 34 for presenting a coordinated stereoscopic view of the surgical site to the surgeon 18 to achieve depth perception.

[0084] Console 16 also includes one or more control inputs 36. These are installed for use in operating system 22 ( Figure 1 One or more surgical instruments used on (as shown) move in response to manipulation by surgeon 18 of one or more control inputs 36. The control inputs 36 can provide information about the associated surgical instruments 26 (such as...). Figure 1 The same mechanical degrees of freedom (shown) are used to provide surgeon 18 with a sense of presence, or a feeling that the control input 36 is an integral part of the instrument 26, giving the surgeon a strong sense of direct control over the instrument 26. For this purpose, position, force, and tactile feedback sensors (not shown) can be used to transmit position, force, and tactile sensation from the surgical instrument 26 back to the surgeon's hand via the control input 36. The height of the control input 36 can be adjusted via a height adjustment lever 38.

[0085] The user control system 16 is typically located in the same room as the patient, allowing the surgeon to directly monitor the procedure, be physically present if needed, and speak directly with the patient-side assistant rather than via telephone or other communication medium. However, the surgeon may be located in a different room, a completely different building, or other location far from the patient, thus allowing for remote surgical procedures.

[0086] Figure 3This is a perspective view of the electronic device cart 24. The electronic device cart 24 is coupled to the endoscope 28 via a socket 27 and includes a computer processor to process the captured images for subsequent display, such as on a user control system 16 for presentation to a surgeon, or on another suitable display located locally and / or remotely. For example, if a stereoscopic endoscope is used, the computer processor on the electronic device cart 24 can process the captured images to present the surgeon with a coordinated stereoscopic image of the surgical site. Such coordination may include alignment between relative images and may include adjusting the stereoscopic working distance of the stereoscopic endoscope. As another example, image processing may use camera calibration parameters to compensate for imaging errors of the image capturing device, such as optical aberrations. The electronic device cart also includes one or more illumination sources optically coupled to the socket 27 for supplying light to the endoscope 28.

[0087] Optionally, the equipment in the electronic device cart 24 can be integrated into the user control system 16 or the operating system 22, or it can be distributed in various other locations within the operating room. More generally, the electronic device cart 24 or the user control system 16 with integrated equipment from the electronic device cart 24 can herein be referred to as a controller system for providing a light source to the endoscope 28 and processing images from the image capture device.

[0088] Figure 4 A remotely operated surgical system 50 (such as...) is schematically shown. Figure 1 The minimally invasive remote surgical system 10). Surgeons can use a user control system 52 (such as...) Figure 1 The user control system 16) controls the manipulation system 54 (such as...) during minimally invasive procedures. Figure 1 The control system 54 can use an image capture device, such as a stereoscopic endoscope, to capture images of the surgical site and output the captured images to an electronic device cart 56 (such as...). Figure 1 The computer processor is located on the electronics cart 24. Like the electronics cart 24, the electronics cart 56 also includes one or more illumination sources for supplying light to the image capture device. The image capture device also includes one or more light sensors for measuring the light received by the image capture device from the one or more illumination sources. The computer processor typically includes one or more data processing boards for executing computer-readable code stored in a non-volatile memory device of the computer processor.

[0089] In one aspect, the computer processor can process the captured image in a variety of ways prior to any subsequent display. For example, before displaying the processed image to the surgeon via the user control system 52, the computer processor can use camera calibration parameters to compensate for imaging errors of the image capture device. For example, one or more calibration parameters can be adjusted to compensate for attenuation of light received by the image capture device from one or more illumination sources, which is measured by one or more light sensors. Additionally or alternatively, the computer processor can adjust the output of one or more illumination sources to compensate for attenuation of light received by the image capture device from one or more illumination sources, which is measured by one or more light sensors.

[0090] Additionally or alternatively, the captured images may be image-processed by a computer processor located external to the electronics cart 56. In one aspect, the remote surgical system 50 includes an optional computer processor 58 (as indicated by the dashed line), similar to the computer processor located on the electronics cart 56, and the operating system 54 outputs the captured images to the computer processor 58 for image processing before display on the user control system 52. In another aspect, the captured images are first image-processed by the computer processor on the electronics cart 56, and then further image-processed by the computer processor 58 before being displayed on the user control system 52. In some embodiments, the electronics cart 56 and / or the computer processor 58 are collectively referred to as a controller system.

[0091] The remote surgical system 50 may include an optional display 60, as indicated by the dashed line. The display 60 is coupled to a computer processor located on and connected to a computer processor 58 on an electronics cart 56, and captured images processed by these computer processors may be displayed on the display 60 in addition to those displayed on the display of the user control system 52. In various embodiments, the display 60 may be located on the electronics cart 56, for example, together with a display 25 on the electronics cart 24. In some embodiments, the display 60 may be separate from the user control system 52 and the electronics cart 58.

[0092] Figure 5 This is a perspective view of an endoscopic image capturing device 500. The endoscopic image capturing device 500 includes a connector 502, a flexible cable 506, a camera housing 508, a rigid camera shaft 512, and a camera tip 514. The connector 502 includes an optical port 504 and an electrical port (not shown). The connector 502 is sized and shaped to insert into a socket on an electronics cart 56, such as socket 27 of an electronics cart 24, or other mating sockets. The optical port 504 is configured to receive light supplied by the electronics cart 24 to socket 27.

[0093] A flexible cable 506 is coupled between connector 502 and camera housing 508. The flexible cable 506 includes a light guide configured to transmit light received from optical port 504 of connector 502 to camera housing 508. For example, the light guide may be a single optical fiber, a bundle of optical fibers with multiple fibers, and / or a fluid-filled cavity. Alternatively, the light guide may be used with rigid optical elements such as rods, lenses, etc. The flexible cable 506 also includes an electrical connection configured to provide electrical communication between electrical ports of connector 502 and camera housing 508. This electrical connection may be wired or wireless. In some embodiments, the wired connection is a power line, trapezoidal wire, twisted pair, Universal Serial Bus (USB) cable, Ethernet cable, or other wired communication line.

[0094] Camera housing 508 receives the distal end of a light guide from flexible cable 506. Camera housing 508 also receives the proximal end of a rigid camera shaft 512. The distal end of the rigid camera shaft 512 includes a camera tip 514 having one or more image sensors and associated optical systems. For example, camera tip 514 may include two image sensors with corresponding optical components for capturing stereoscopic images of a scene, such as a surgical procedure or diagnostic protocol. Rigid camera shaft 512 may also include a second light guide configured to transmit light received from the light guide in the flexible cable at camera housing 508 to camera tip 514 to illuminate the scene imaged by one or more image sensors. The second light guide may be a single optical fiber, a bundle of optical fibers with multiple fibers, and / or a fluid-filled cavity. Additionally, the second light guide may be used with rigid optical elements such as rods, lenses, etc. In some embodiments, the second light guide may consist solely of rigid optical elements within the rigid camera shaft 512.

[0095] The rigid camera shaft 512 may also include a second electrical connection configured to provide electrical communication between one or more image sensors at the camera tip 514 and the camera housing 508. Images captured by the one or more image sensors at the camera tip 514 are transmitted to the camera housing 508 via the electrical connection in the rigid camera shaft 512. This electrical connection may be wired or wireless. In some embodiments, the wired connection is a power line, trapezoidal wire, twisted pair, Universal Serial Bus (USB) cable, Ethernet cable, or other wired communication line.

[0096] The camera housing 508 may also include one or more camera control units (not shown) configured to supply power and provide control signals for capturing images from one or more image sensors in the camera tip 514. For example, when the camera tip 514 includes two image sensors for capturing stereo images, the camera housing 508 may have a corresponding camera control unit for controlling each of the two image sensors. The one or more camera control units are also configured to transmit the captured images to an electrical port of the connector 502 for processing by the electronics cart 56 and / or the computer processor 58.

[0097] The camera housing 508 may also include a display 510 for displaying one or more operational controls of the endoscopic image capture device 500. The camera housing 508 may also include a read-only memory (not shown) that stores a unique identifier and / or calibration data for the endoscopic image capture device 500. In some embodiments, the unique identifier is a universally unique identifier (UUID) for a medical device. The unique identifier can be used to obtain calibration data for the endoscopic image capture device 500, as described by reference in co-owned U.S. Application No. 62 / 722,314 entitled “Off-Camera Calibration Parameters for an ImageCapture Device,” which is incorporated herein by reference in its entirety.

[0098] Figure 6 This is a diagram showing the optical coupling between the socket 27 of the electronic device cart 24 and the optical port 504 of the endoscope image acquisition device. (See diagram) Figure 6 The diagram depicts an air-optical coupling (e.g., air-fiber), but other optical couplings may be used. The electronics cart 24 may include light sources 602a, 602b, and 602c, collectively referred to as light sources 602. Although three light sources 602 are shown, the electronics cart 24 may include more or fewer light sources 602. Each light source 602 may provide light of a different spectrum or provide different channels for the combined light provided by the electronics cart 24. For example, light source 602a may provide red light, light source 602b may provide blue light, and light source 602c may provide green light. Additional light sources beyond the visible spectrum, such as infrared or ultraviolet light sources, may also be provided. Light sources 602 may be provided by light-emitting diodes (LEDs), lasers, bulbs, or any other light source. Additionally, one or more filters (not shown) may be used in conjunction with one or more of the light sources 602 to provide light with desired spectral characteristics (e.g., color, polarization, etc.).

[0099] The electronic device cart 24 may also include lenses 604a, 604b, and 604c, collectively referred to as lenses 604. There is a one-to-one correspondence between lenses 604 and light sources 602. Each of the lenses 604 is configured to shape and focus light emitted by the corresponding light source 602 onto the optical port 504. For example, lens 604a is configured to shape and focus light emitted by light source 602a onto the optical port 504. However, variations in manufacturing and mechanical tolerances may result in differences in the focusing angle and size of the focal point of each light source 602 at the optical port 504. For example, projection 606a, shown as a solid line within the optical port 504, represents light focused onto the optical port 504 by light source 602a and lens 604a. Projection 606b, shown as a dashed line within the optical port 504, represents light focused onto the optical port 504 by light source 602b and lens 604b. The projection 606c shown by dashed lines within optical port 504 represents light focused onto optical port 504 by light source 602c and lens 604c. The degree of misalignment between each projection 606 is shown for illustrative purposes only, and may be greater or lesser in use, and is more generally referred to as the coupling loss between light source 602 and optical port 504.

[0100] Coupling loss is not addressed or compensated during the calibration of the endoscopic image capture device 500 or the light source 602 in the electronics cart 24. Furthermore, coupling loss can vary between different electronics carts 24. Therefore, coupling loss represents the primary source of attenuation of the light generated by the light source 602 before it can be used to illuminate the scene captured by the image sensor in the endoscopic image capture device 500.

[0101] Additional sources of attenuation for the light generated by light source 602 include degradation of the light guide in flexible cable 506 due to physical stress or manipulation of the light guide. For a given endoscopic image capture device 500, the physical degradation of the light guide varies over time and is different for different endoscopic image capture devices 500. Additionally, the solarization effect of the light guide in flexible cable 506 caused by the intensity of the light provided by light source 602 is another source of attenuation for the light generated by light source 602. For a given endoscopic image capture device 500, the solarization effect of the light guide varies over time and is different for different endoscopic image capture devices 500. Other sources of attenuation may also exist for the light generated by light source 602 before it can be used to illuminate the scene captured by the image sensor in the endoscopic image capture device 500. One or more attenuation sources may have different effects on different channels of the received light.

[0102] Figure 7This is a block diagram of a closed-loop lighting control system 700. System 700 includes a controller system 702 with a light source 704 and a light sensor 706. For example, controller system 702 may be an electronics cart 24 or an electronics cart 56. Light sensor 706 is positioned at a first location within controller system 702 and configured to generate a measurement of the light produced by light source 704, which is used as a basis for comparison to measure the attenuation of the light produced by light source 704. Controller system 702 stores the measurements from light sensor 706 at sampling intervals.

[0103] Controller system 702 is optically coupled to first connector 708 to supply light generated by light source 704. For example, first connector 708 may be connector 502. Optical sensor 710 is positioned at a second location within first connector 708 and configured to measure light received from light source 704. At the second location, optical sensor 710 provides a measurement of the received light that can be used to determine coupling loss experienced at the optical connection between controller system 702 and connector 708. Optical sensor 710 is configured to transmit the measurement of the received light at the second location to controller system 702 at sampling intervals. Controller system 702 is then configured to determine coupling loss based on the difference between the measurement of light generated by light source 704 and the measurement of light received at the second location.

[0104] The light guide 712 transmits the light received at the second position to the connector 714 at the camera 718. For example, the light guide 712 may be a single optical fiber, a bundle of optical fibers with multiple fibers, and / or a fluid-filled cavity. Additionally, the light guide may be used with rigid optical elements such as rods, lenses, etc. Although the connector 714 is depicted as being external to the camera 718, the connector 714 may be located inside the housing of the camera 718. For example, as described above, the connector 714 may be a connection between the light guide in the flexible cable 506 and the second light guide in the rigid camera shaft 512. In some embodiments, the second connector 714 may be omitted. A light sensor 716 is positioned at a third position within the second connector 714 and is configured to measure the light received from the light guide 712. The light sensor 716 is configured to transmit the measured value of the received light at the third position to the controller system 702 at sampling intervals.

[0105] The controller system 702 is then configured to determine the combined attenuation due to coupling loss and losses in the light guide 712 (e.g., due to physical operation or negative inductance) based on the difference between the measured value of the light generated by the light source 704 and the measured value of the light received at the third position. Additionally, the controller system 702 is configured to determine the attenuation on the light guide 712 based on the difference between the measured value of the light received at the third position and the measured value of the light received at the second position.

[0106] A light sensor 720 is positioned at a fourth location within the housing of camera 718 and is configured to measure the light received by camera 718. For example, the light sensor 720 may be located within the housing of camera 718 near a light guide in flexible cable 506, a second light guide in rigid camera shaft 512, or at the junction between them. The light sensor 720 is configured to transmit measurements of the received light at the fourth location to controller system 702 at sampling intervals.

[0107] The controller system 702 is configured to determine total attenuation based on the difference between a measured value of the light generated by the light source 704 and a measured value of the light received by the camera 718 at the fourth position. The controller system 702 is also configured to determine coupling loss at the second connector 714 based on the difference between a measured value of the light received by the camera 718 at the fourth position and a measured value of the light received by the camera 718 at the third position. The controller system 702 is further configured to determine transmission attenuation based on the difference between a measured value of the light received by the camera 718 at the fourth position and a measured value of the light received by the camera 718 at the second position.

[0108] By using multiple light sensors 710, 716, and 720, the controller system 702 is able to determine the location or source of attenuation of the light generated by the light source 704. In various embodiments, one or more of the light sensors 710, 716, and 720 may be omitted. For example, in one embodiment, only light sensor 710 is used to determine the coupling loss with the controller system 702, which represents the primary source of attenuation. In another embodiment, only light sensor 720 is used to determine the total attenuation. In some embodiments, additional light sensors (such as at the camera tip 514) may also be used to measure the light used to illuminate the scene captured by the image sensor.

[0109] Although only a single light sensor is shown at each of the second, third, and fourth locations, multiple different types of light sensors may be present at one or more of these locations. For example, a first light sensor may measure the total power of the received light, and a second light sensor may measure the spectral characteristics of the received light (e.g., spectral power distribution, wavelength of light present in the received light, polarization of the received light, etc.). The controller system 702 is configured to verify the measurements of the multiple light sensors at a given location against each other. For example, the value of the total power measured by the first light sensor may be verified against the sum of the spectral power distributions measured by the second light sensor to verify consistency between the two light sensors. If one of the light sensors at a given location is inconsistent with one or more of the other light sensors at that location, the controller system 702 may identify the inconsistent light sensor as faulty or otherwise determine or alert to a maintenance condition. By using different types of light sensors at a given location, additional spectral information about the received light (e.g., the color balance of the received light) can be obtained in addition to verifying the measurements at that location.

[0110] The light sensors 710, 716, and 720 can be any type of sensor configured to measure the power and / or wavelength of light received at the light sensor. For example, each of the light sensors 710, 716, and 720 can be a simple photodiode, spectrometer, photometer, color sensor chip, or a combination thereof, or used in conjunction with one or more optical components (e.g., prisms, filters, lenses, dichroic filters, trichroic prisms, or other multi-channel spectral separation optical components or assemblies).

[0111] In various embodiments, the sampling interval can be a frequency of the frame rate of camera 718 or a frequency lower than the frame rate of camera 718. For example, the sampling interval can be 16 milliseconds or approximately 16 milliseconds. In some embodiments, the sampling intervals of one or more of the light sensors 710, 716, and 720 can be different. For example, the sampling interval of light sensor 720 can be greater than or less than the sampling interval of light sensor 710.

[0112] Figures 8-12B Various arrangements of optical sensors 710, 716, and 720 are depicted. Figure 8This is a block diagram of a light sensor clamped to a light guide (such as light guide 712). A bundle clamp 802 is configured to hold the light sensor 804 in place relative to the light guide 806. A protective cover (not shown) on the light guide 806 can be removed near the light sensor 804 to allow light scattered or refracted from the light guide 806 to reach the light sensor 804. The light sensor 804 includes one or more electrical contacts 808 configured to transmit measurements of the light received at the light sensor 804 to a controller system 702. For example, the measurements could be voltage or current levels corresponding to the voltage and / or wavelength of the light received at the light sensor 804. Alternatively or additionally, the measurements could be values ​​for the power level and / or wavelength of the light received at the light sensor 804.

[0113] Figure 9 This is a block diagram of an optical sensor coupled to the branching section of an optical fiber bundle guide. Figure 9 In the illustrated embodiment, the light guide 712 is an optical fiber bundle, wherein the main bundle 902 of the fiber bundle is branched to provide a portion of optical fiber 904 that will point to the optical sensor 906. For example, the main bundle 902 may have 3,000 or more optical fibers, while the branched portion of optical fiber 904 may include 100 or fewer optical fibers. The optical sensor 906 may be similar to the optical sensor 804 described above. The remainder of the main bundle 908 continues to transmit light through the optical sensor 906 to the camera 718. Other configurations and components may be used.

[0114] Figure 10 This is a block diagram of a light sensor at the junction of two light guides (such as light guide 712 and a light guide within camera 718 (not shown)). A proximal beam 1002 is connected at this junction to a distal beam 1006 to transmit light from the proximal beam 1002 to the distal beam 1006. The proximal beam 1002 includes a collar 1004 at the junction, and the distal beam 1002 also includes a collar 1008 at the junction. A light sensor 1010 is positioned at the junction to measure scattered light 1012 from the connection. The light sensor 1010 may be positioned within a sleeve connector housing or clamp (not shown) or as an integral part thereof. The light sensor 1010 may be similar to the light sensor 804 described above. Other configurations and components may be used.

[0115] Figure 11This is a functional block diagram of an optical sensor assembly 1100 for measuring a single channel of received light at the location of an optical sensor. The optical sensor assembly 1100 includes a beam splitter 1102 configured to split the received light 1104 into a plurality of different beams 1106a, 1106b, 1106b. Each of the different beams 1106a, 1106b, 1106b is directed to a single one of a plurality of optical sensors 1108a, 1108b, 1108c, each optical sensor configured to measure a single channel of the received light 1104. For example, the beam splitter 1102 may be a prism or a trichroic prism or other multi-channel spectral separation optical component or assembly. Optionally, one or more optical elements 1110a, 1110b, 1110c may shape, focus, and / or filter the light supplied to the respective optical sensors 1108a, 1108b, 1108c. For example, optical elements 1110a, 1110b, and 1110c may additionally filter the received light to supply only the light of the desired channel to the respective light sensors 1108a, 1108b, and 1108c. For example, optical elements 1110a, 1110b, and 1110c may each be a dichroic filter for supplying light of different colors to the light sensors 1108a, 1108b, and 1108c. This disclosure contemplates other variations in the configuration of the optical elements and light sensors for measuring separate channels of the received light 1104.

[0116] Figure 12A This is a block diagram of a photosensitive sensor located in an integrating sphere surrounding a light guide (such as light guide 712). The light guide 1202 has an integrating sphere 1204 surrounding it. Within the integrating sphere 1204, a protective cover for the light guide 1202 can be removed to allow light scattered or refracted from the light guide 1202 to be directed to one or more photosensitive sensors 1206a, 1206b, 1206c located around the integrating sphere 1204. The inner surface of the integrating sphere 1204 may have a diffuse coating to provide a uniform amount of light throughout the entire internal volume of the integrating sphere 1204. Figure 12BThis is a cross-sectional view of the integrating sphere 1204. Optionally, one or more baffles 1208a, 1208b, 1208c may be located near each of the light sensors 1206a, 1206b, 1206c. Although the light sensors 1206a, 1206b, 1206c are shown positioned on the integrating sphere 1204 about the axial direction of the light guide 1202, the light sensors 1206a, 1206b, 1206c may also be longitudinally spaced along the light guide 1202 on the integrating sphere. More or fewer light sensors 1206a, 1206b, 1206c than those shown may be used. Additionally, one or more filters (not shown) may be positioned around each of the light sensors 1206a, 1206b, 1206c. The light sensors 1206a, 1206b, 1206c may be similar to the light sensor 804 described above. Other configurations and components may be used.

[0117] Figure 13 This is a flowchart illustrating an exemplary process 1300 for adjusting the operation of controller system 702 based on received light sensor measurements. Process 1300 can be implemented at each sampling interval of controller system 702. At 1302, controller system 702 receives a measurement of the received light at a second position. At 1304, controller system 702 determines the difference between the measurement of the light generated by light source 704 and the measurement of the light received at the second position. Controller system 702 assesses whether this difference exceeds a threshold level of permissible attenuation between the light generated by light source 704 and the light received at the second position. If so, at 1306, controller system 702 generates an alarm indicating a connection error indicating that an abnormal amount of attenuation has been detected at first connector 708.

[0118] Otherwise, at 1308, the controller system 702 receives a measurement of the received light at the third position. At 1310, the controller system 702 determines the difference between the measurement of the light generated by the light source 704 and the measurement of the light received at the third position. Alternatively or additionally, the controller system 702 determines the difference between the measurement of the light received at the third position and the measurement of the light received at the second position. The controller system 702 assesses whether this difference exceeds a threshold level of permissible attenuation between the light generated by the light source 704 and the light received at the third position. Alternatively or additionally, the controller system 702 assesses whether this difference exceeds a threshold level of permissible attenuation between the light received at the third position and the light received at the second position. If so, at 1312, the controller system 702 generates an alarm indicating a light guide error indicating that an abnormal amount of attenuation has been detected along the light guide 712.

[0119] Otherwise, at 1314, the controller system 702 receives a measurement of the received light at the fourth position. At 1316, the controller system 702 determines the difference between the measurement of the light generated by the light source 704 and the measurement of the light received at the fourth position. Alternatively or additionally, the controller system 702 determines the difference between the measurement of the light received at the fourth position and the measurement of the light received at the second and / or third positions. The controller system 702 assesses whether this difference exceeds a threshold level of permissible attenuation between the light generated by the light source 704 and the light received at the fourth position. Alternatively or additionally, the controller system 702 assesses whether this difference exceeds a threshold level of permissible attenuation between the light received at the fourth position and the light received at the second and / or third positions. If so, at 1318, the controller system 702 generates an alarm indicating a total attenuation error indicating that an abnormal amount of attenuation has been detected along system 700.

[0120] Otherwise, at 1320, the controller system 702 adjusts its operation to compensate for the attenuation of light generated by the light source 704 by the system 700. For example, the controller system 702 may adjust the output of the light source 704 to increase the output to compensate for the measured attenuation. Alternatively or additionally, the controller system 702 may adjust one or more calibration parameters used for processing images received from the camera 718 to compensate for the measured attenuation. For example, when the controller system 702 processes images received from the camera 718, one or more calibration parameters may be adjusted for parameters associated with brightness, luminance, or contrast.

[0121] Depending on whether the optical sensor is positioned at each of the second, third, or fourth positions, one or more of 1302-1318 may be omitted or performed in a different order.

[0122] It should be understood that the logical operations described herein with respect to the various figures can be implemented as (1) in a computing device (e.g., Figure 14 The logical operations discussed herein are (1) a sequence of computer-implemented actions or program modules (i.e., software) running on the computing device described herein, (2) as interconnected machine logic circuits or circuit modules (i.e., hardware) within the computing device, and / or (3) as a combination of the software and hardware of the computing device. Therefore, the logical operations discussed herein are not limited to any particular combination of hardware and software. Specific implementation is a matter of choice depending on the performance and other requirements of the computing device. Therefore, the logical operations described herein are referred to differently as operations, structural devices, actions, or modules. These operations, structural devices, actions, and modules may be implemented in software, firmware, dedicated digital logic, and any combination thereof. It should also be understood that more or fewer operations may be performed than those shown in the figures and described herein. These operations may also be performed in a different order than those described herein.

[0123] refer to Figure 14 An exemplary computing device 1400 on which embodiments of the present invention may be implemented is illustrated. For example, each of the computer processors 58 or controller systems 702 located on electronics cart 56 or electronics cart 24 described herein may be implemented as a computing device, such as computing device 1400. It should be understood that the exemplary computing device 1400 is merely one example of a suitable computing environment on which embodiments of the present invention may be implemented. Optionally, computing device 1400 may be a well-known computing system, including but not limited to personal computers, servers, handheld or laptop devices, multiprocessor systems, microprocessor-based systems, networked personal computers (PCs), minicomputers, mainframe computers, embedded systems, and / or distributed computing environments comprising multiple of any of the above systems or devices. Distributed computing environments enable remote computing devices connected to communication networks or other data transmission media to perform a variety of tasks. In a distributed computing environment, program modules, applications, and other data may be stored on local and / or remote computer storage media.

[0124] In one embodiment, computing device 1400 may include two or more computers communicating with each other and collaborating to perform tasks. For example, but not limited to, applications may be partitioned to allow concurrent and / or parallel processing of application instructions. Alternatively, data processed by an application may be partitioned to allow two or more computers to process different portions of the dataset concurrently and / or in parallel. In one embodiment, computing device 1400 may employ virtualization software to provide the functionality of several servers not directly bound to several computers within computing device 1400. For example, virtualization software may provide twenty virtual servers on four physical computers. In one embodiment, the functionality disclosed above may be provided by executing one and / or more applications in a cloud computing environment. Cloud computing may include providing computing services via network connections using dynamically scalable computing resources. Cloud computing may be at least partially supported by virtualization software. Cloud computing environments may be established by an enterprise and / or may be employed from third-party vendors as needed. Some cloud computing environments may include cloud computing resources owned and operated by the enterprise as well as cloud computing resources employed and / or leased from third-party vendors.

[0125] In its most basic configuration, the computing device 1400 typically includes at least one processing unit 1420 and system memory 1430. Depending on the exact configuration and type of the computing device, the system memory 1430 can be volatile (such as random access memory (RAM)), non-volatile (such as read-only memory (ROM), flash memory, etc.), or some combination of both. This most basic configuration in... Figure 14The processing unit 1420 is shown in dashed line 1410. It can be a standard programmable processor that performs the arithmetic and logical operations required to operate the computing device 1400. For example, the processing unit can be programmed to perform the process 1300 described above. Although only one processing unit 1420 is shown, multiple processors may exist. Therefore, while instructions may be discussed as being executed by a processor, instructions may be executed simultaneously, serially, or otherwise by one or more processors. The computing device 1400 may also include a bus or other communication mechanism for transferring information between various components of the computing device 1400.

[0126] Computing device 1400 may have additional features / functions. For example, computing device 1400 may include additional storage devices, such as removable storage device 1440 and non-removable storage device 1450, including but not limited to disks, optical discs, or magnetic tapes. Computing device 1400 may also include network connectivity 1480, which allows the device to communicate with other devices, such as through the communication paths described herein. Network connectivity 1480 may take the form of a modem, modem group, Ethernet card, Universal Serial Bus (USB) interface card, serial interface, token ring card, Fiber Distributed Data Interface (FDDI) card, Wireless Local Area Network (WLAN) card, radio transceiver card (such as Code Division Multiple Access (CDMA), Global System for Mobile Communications (GSM), Long Term Evolution (LTE), WiMAX, and / or other air interface protocol radio transceiver cards), and other well-known network devices. The computing device 1400 may also include input devices 1470, such as a keyboard, keypad, switch, dial pad, mouse, trackball, touchscreen, voice recognizer, card reader, paper tape reader, or other well-known input devices. It may also include output devices 1460, such as a printer, video monitor, liquid crystal display (LCD), touchscreen display, monitor, speaker, etc. Additional devices may be connected to a bus to facilitate data communication between components of the computing device 1400. All these devices are well-known in the art and need not be discussed in detail here.

[0127] Processing unit 1420 may be configured to execute program code encoded in a tangible computer-readable medium. A tangible computer-readable medium refers to any medium capable of providing data that causes computing device 1400 (i.e., the machine) to operate in a particular manner. Various computer-readable media may be used to provide instructions to processing unit 1420 for execution. Exemplary tangible computer-readable media may include, but are not limited to, volatile media, non-volatile media, removable media, and non-removable media, implemented using any method or technique for storing information such as computer-readable instructions, data structures, program modules, or other data. System memory 1430, removable storage device 1440, and non-removable storage device 1450 are examples of tangible computer storage media. Exemplary tangible computer-readable recording media include, but are not limited to, integrated circuits (e.g., field-programmable gate arrays or application-specific integrated circuits), hard disks, optical disks, magneto-optical disks, floppy disks, magnetic tapes, holographic storage media, solid-state devices, RAM, ROM, electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies; CD-ROMs, digital versatile discs (DVDs) or other optical storage devices; magnetic cassettes, magnetic tapes, disk storage devices or other magnetic storage devices.

[0128] Functionality achievable by loading executable software into a computer can be translated into a hardware implementation according to well-known design rules, which is fundamental to the fields of electrical and software engineering. The decision between implementing a concept in software versus hardware typically depends on the stability of the design and the number of units to be produced, rather than any issues involved in the transition from software to hardware. Often, designs still subject to frequent changes may be preferred for software implementation because recreating a hardware implementation is more expensive than recreating a software design. Stable designs suitable for mass production are often preferred for hardware implementation, such as in application-specific integrated circuits (ASICs), because hardware implementations may be cheaper than software implementations for large-scale production runs. Typically, a design can be developed and tested in software and then translated into an equivalent hardware implementation in an ASIC with hard-wired software instructions according to well-known design rules. Similarly, a computer that has been programmed and / or loaded with executable instructions can be considered a specific machine or device, just as a machine controlled by a new ASIC is a specific machine or device.

[0129] In an exemplary embodiment, processing unit 1420 may execute program code stored in system memory 1430. For example, a bus may transmit data to system memory 1430, and processing unit 1420 may receive and execute instructions from system memory. Data received by system memory 1430 may optionally be stored on removable storage device 1440 or non-removable storage device 1450 before or after execution by processing unit 1420.

[0130] It should be understood that the various techniques described herein can be implemented in combination with hardware or software, or in a combination thereof where appropriate. Therefore, the methods and apparatus of the currently disclosed subject matter, or certain aspects or parts thereof, may take the form of program code (i.e., instructions) embodied in a tangible medium (such as a floppy disk, CD-ROM, hard disk, or any other machine-readable storage medium), wherein when the program code is loaded into and executed by a machine such as a computing device, the machine becomes an apparatus for practicing the currently disclosed subject matter. In the case of program code execution on a programmable computer, the computing device typically includes a processor, a processor-readable storage medium (including volatile and non-volatile memory and / or storage elements), at least one input device, and at least one output device. One or more programs may be implemented, for example, by using an application programming interface (API), reusable controls, etc., or utilize the processes described in conjunction with the currently disclosed subject matter. Such programs may be implemented in a high-level procedural or object-oriented programming language to communicate with a computer system. However, if desired, the program may be implemented in assembly language or machine language. In any case, the language may be a compiled or interpreted language, and it may be combined with hardware implementations.

[0131] This document describes embodiments of methods and systems with reference to block diagrams and flowcharts illustrating methods, systems, apparatuses, and computer program products. It should be understood that each block in the block diagrams and flowcharts, as well as combinations of blocks in the block diagrams and flowcharts, can be implemented by computer program instructions. These computer program instructions can be loaded onto a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to create a machine, such that the instructions, which execute on the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more blocks of the flowchart.

[0132] These computer program instructions may also be stored in a computer-readable storage medium that directs a computer or other programmable data processing apparatus to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of writing comprising computer-readable instructions for implementing the functions specified in one or more boxes of the flowchart. The computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more boxes of the flowchart.

[0133] Therefore, the boxes in the block diagrams and flowcharts support combinations of means for performing a specified function, combinations of steps for performing a specified function, and program instruction means for performing a specified function. It will also be understood that each box in the block diagrams and flowcharts, and combinations of boxes in the block diagrams and flowcharts, can be implemented by a dedicated hardware-based computer system or a combination of dedicated hardware and computer instructions that performs the specified function or steps.

[0134] While several embodiments have been provided in this disclosure, it should be understood that the disclosed systems and methods may be embodied in many other specific forms without departing from the spirit or scope of this disclosure. The present examples are to be considered illustrative rather than limiting, and are intended to be limited to the details given herein. For example, various elements or components may be combined or integrated in another system, or certain features may be omitted or not implemented.

[0135] Furthermore, the technologies, systems, subsystems, and methods described and illustrated as discrete or independent in the various embodiments may be combined or integrated with other systems, modules, technologies, or methods without departing from the scope of this disclosure. Other items shown or discussed as directly coupled or communicating with each other may be indirectly coupled or communicating through an interface, device, or intermediate component, whether electrically, mechanically, or otherwise. Those skilled in the art can identify other examples of changes, substitutions, and modifications, and these can be made without departing from the spirit and scope of the disclosure herein.

Claims

1. A system comprising: A controller system includes a lighting source and a connection port configured to supply light from the lighting source to the outside of the controller system; An image capture device includes a light guide with a connector configured to connect to the connection port and receive light supplied by the illumination source, wherein the image capture device is configured to illuminate a scene with the received light; as well as A light sensor configured to measure the power and / or wavelength of received light, wherein the controller system is configured to adjust operation based on the measured power of the received light.

2. The system of claim 1, wherein the power is the total power of the received light or the power at one or more wavelengths of the received light.

3. The system according to claim 1, wherein the optical sensor is a spectrometer.

4. The system of claim 1, wherein the light sensor is located within the housing of the image capturing device, at the connector, or at the connector between the light guide and the image capturing device.

5. The system of claim 1, wherein the optical sensor is one of a plurality of optical sensors located within the housing of the image capturing device, at the connector, and / or at the connector between the light guide and the image capturing device.

6. The system of claim 5, wherein the controller system is configured to determine the location of the illumination error based on the difference between a first measured power of light received at a first location and a second measured power of light received at a second location.

7. The system of claim 6, wherein the second position is further away from the connector than the first position.

8. The system of claim 1, wherein the controller system is configured to adjust operation to change the output of the illumination source based on the measured power and / or wavelength of the received light.

9. The system of claim 1, wherein the controller system is configured to adjust operation based on the measured power of the received light to change calibration parameters for processing images received by the image capture device.

10. The system of claim 1, wherein the optical sensor is clamped to the light guide to measure a portion of the received light scattered or refracted from the light guide.

Images