Closed-loop control of illumination in endoscope camera systems

Abstract

To provide an image capture device.SOLUTION: An illumination source may be coupled to an image capture device through a connector. A light sensor is placed downstream of the connector to measure light received by the image capture device from the illumination source. The light sensor provides the measurement of the received light to the illumination source for closed-loop control of illumination source. The light sensor may be positioned in a camera housing to take into account 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 may be used at a single light sensor location to provide validation of measurements and increase the variety of information measured.SELECTED DRAWING: Figure 7

Description

Technical Field

[0001] (Cross - Reference to Related Applications) This application claims the benefit of U.S. Provisional Patent Application No. 62 / 737,263, filed on September 27, 2018, the disclosure of which is hereby expressly incorporated by reference herein.

Background Art

[0002] Image capture devices are typically calibrated in a factory before being used in the field. During the calibration process, one or more images of a test pattern are captured and used as a reference for generating calibration data for the image capture device. For example, one or more transforms 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 can correct the captured images and compensate for errors or variations induced by color, optical, alignment, or other image sensors in the image capture device, or optically induced. The calibration process generates a set of calibration data, which is stored in the image capture device and applied to the corrected images captured by the image capture device during use.

[0003] An illumination source external to the image capture device can supply light for illuminating the scene captured by the image capture device. The illumination source may be calibrated separately from the image capture device to provide a controlled amount of light.

Summary of the Invention

[0004] A first aspect of the present disclosure includes a system having a controller system having an illumination source and a connection port configured to supply light from the illumination source to the outside of the controller system. The system also has an image capture device having an optical guide with a connector that connects to the connection port and is configured to receive light supplied by the illumination source, the image capture device being configured to illuminate a scene with the received (received) light. The system also has an optical 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.

[0005] In some implementations of the first aspect of this disclosure, power is the total power of the light received or the power at one or more wavelengths of the light received.

[0006] In some implementations of the first aspect of this disclosure, the light sensor is a spectrometer.

[0007] In some implementations of the first aspect of this disclosure, the optical sensor is located within the housing of the image capture device, in a connector, or in a connector between the optical guide and the image capture device.

[0008] In some implementations of the first aspect of this disclosure, the optical sensor is one of a plurality of optical sensors located within the housing of the image capture device, in the connector, and / or in the connector between the optical guide and the image capture 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 from the connector than the first location.

[0009] In some implementations of the first aspect of this disclosure, the controller system is configured to adjust its operation to change the output of the illuminator based on the measured power and / or wavelength of the light it receives.

[0010] In some implementations of the first aspect of this disclosure, the controller system is configured to adjust its operation to change calibration parameters for processing images received by an image capture device based on the measured power of incoming light.

[0011] In some implementations of the first aspect of this disclosure, a light sensor is clamped to an optical guide and measures a portion of the incoming light that is scattered or refracted from the optical guide.

[0012] In some implementations of the first aspect of this disclosure, the optical guide is a single optical fiber, an optical fiber bundle having multiple optical fibers, and / or a liquid-filled lumen.

[0013] In some implementations of the first aspect of this disclosure, the optical guide is used in conjunction with a rigid optical element.

[0014] In some implementations of the first aspect of this disclosure, the optical guide is a bundle of optical fibers, and a subset of optical fibers from the bundle are branched off from the bundle and directed to supply a portion of the light they receive to an optical sensor.

[0015] In some implementations of the first aspect of this disclosure, the light sensor is arranged to measure incoming light scattered at the connection between a second light guide and a second light guide.

[0016] In some embodiments of the first aspects of this disclosure, the system further includes a filter positioned between the optical guide and the optical sensor, configured to supply one or more channels of incoming light to the optical sensor. In some implementations of the first aspects of this disclosure, the filter is a dichroic filter. In some implementations of the first aspects of this disclosure, the filter is a trichromatic prism or other multi-channel spectral separation optical component or assembly.

[0017] In some implementations of the first aspect of this disclosure, the image capture device is an endoscope.

[0018] A second aspect of the present disclosure includes an image capture device having an optical guide with a connector configured to connect to a connection port of an illumination source and to receive light supplied by the illumination source. The image capture device also has an image sensor configured to capture an image of a scene illuminated by the received light. The image capture device also has an optical sensor configured to measure the power and / or wavelength of the received light, and the connector is further configured to transmit the measured power and / or wavelength of the received light.

[0019] In some implementations of the second aspect of this disclosure, power is the total power of the light received or the power at one or more wavelengths of the light received.

[0020] In some implementations of the second aspect of this disclosure, the light sensor is a spectrometer.

[0021] In some implementations of a second aspect of this disclosure, the optical sensor is located within the housing of the image capture device, in a connector, or in a connector between the optical guide and the image capture device.

[0022] In some implementations of the second aspect of the disclosure, the optical sensor is one of a plurality of optical sensors located within the housing of the image capture device, in the connector, and / or in the connector between the optical guide and the image capture device.

[0023] In some implementations of a second aspect of this disclosure, a light sensor is clamped to an optical guide and measures a portion of the incoming light that is scattered or refracted from the optical guide.

[0024] In some implementations of a second aspect of this disclosure, the optical guide is a single optical fiber, an optical fiber bundle having multiple optical fibers, and / or a lumen filled with liquid.

[0025] In some implementations of the second aspect of the present disclosure, the optical guide is used with a rigid optical element.

[0026] In some embodiments of the second aspect of the present disclosure, the optical guide is an optical fiber bundle, and a subset of the optical fibers from the optical fiber bundle is branched from the optical fiber bundle and guided to supply a portion of the received light to an optical sensor.

[0027] In some implementations of the second aspect of the present disclosure, the optical sensor is arranged to measure the received light scattered at the connection between the optical guide and the second optical guide.

[0028] In some implementations of the second aspect of the present disclosure, the system further has a filter arranged between the optical guide and the optical sensor, configured to supply one or more channels of the received light to the optical sensor.

[0029] In some implementations of the second aspect of the present disclosure, the filter has a dichroic filter.

[0030] In some implementations of the second aspect of the present disclosure, the filter has a trichroic prism or other multi-channel spectral separation optical component or assembly.

[0031] In some implementations of the second aspect of the present disclosure, the image capture device is an endoscope.

[0032] A third aspect of the present disclosure includes a controller system having an illumination source configured to supply light. The controller system also has a light sensor configured to measure the power of the supplied light. The controller system also has a connection port configured to communicate the supplied light to an external device. The connection port is further configured to receive communications from the external device of the measured power and / or wavelength of the light received by the external device. The controller system also has a controller configured to adjust its 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.

[0033] In some implementations of a third aspect of this disclosure, the connection port is further configured to receive communications from the external device of multiple measurements of light power and / or wavelength received at different locations along the optical transmission path of the external device. The controller is configured to determine the location of an illumination error based on the difference between a first measurement of multiple measurements of light power and / or wavelength received at a first location along the optical transmission path and a second measurement of multiple measurements of light power and / or wavelength received at a second location along the optical transmission path. The second location is further from the connector than the first location.

[0034] In some implementations of a third aspect of this disclosure, the controller system is configured to adjust its operation to change the output of the illuminator based on the measured power and / or wavelength of the light received by the external device.

[0035] In some implementations of the third aspect of this disclosure, the external device is an image capture device.

[0036] In some implementations of a 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 light received by the image capture device.

[0037] In some implementations of the third aspect of this disclosure, the image capture device is an endoscope.

[0038] A fourth aspect of this disclosure includes a method for closed-loop control of an illumination source coupled to an external device. The method includes the steps of supplying light from the illumination source to a connection port and measuring the power and / or wavelength of the light supplied by the illumination source. The method also includes the steps of receiving light at a connector of an external device coupled to the connection port and measuring the power and / or wavelength of the light received by a photosensor coupled to the external device. The method also includes the steps of communicating the measured power and / or wavelength of the light received from the external device to the illumination source and adjusting the output of the light supplied by the illumination source based on the measured power and / or wavelength of the supplied light and the measured power and / or wavelength of the received light.

[0039] In some implementations of the fourth aspect of this disclosure, the external device is an image capture device.

[0040] In some implementations of a fourth aspect of the present disclosure, the method further includes the step of adjusting calibration parameters for processing an image received by an 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.

[0041] In some implementations of the fourth aspect of this disclosure, the image capture device is an endoscope.

[0042] In some embodiments of a fourth aspect of this disclosure, the optical sensor is clamped to an optical guide of an external device.

[0043] In some implementations of a fourth aspect of this disclosure, the optical guide is a single optical fiber, an optical fiber bundle having multiple optical fibers, and / or a lumen filled with liquid.

[0044] In some implementations of the fourth aspect of this disclosure, the optical guide is used in conjunction with a rigid optical element.

[0045] In some implementations of a fourth aspect of this disclosure, the optical guide is a bundle of optical fibers, and a subset of optical fibers from the bundle are branched from the bundle and guided to supply a portion of the light they receive to an optical sensor.

[0046] In some implementations of a fourth aspect of this disclosure, the light sensor is arranged to measure incoming light scattered at the connection between a first light guide and a second light guide in an external device.

[0047] In some implementations of a fourth aspect of the present disclosure, the method further includes the step of filtering incoming light to supply one or more channels of incoming light to a photosensor.

[0048] In some implementations of the fourth aspect of this disclosure, the step of filtering the incoming light includes the step of guiding the incoming light through a dichroic filter.

[0049] In some implementations of the fourth aspect of this disclosure, the step of filtering the incoming light includes guiding the incoming light through a trichromatic prism or other multi-channel spectral separation optical component or assembly.

[0050] These and other features will be more clearly understood from the following detailed description, which is taken in conjunction with the attached drawings and claims. [Brief explanation of the drawing]

[0051] For a more complete understanding of this disclosure, please refer to the following brief description in relation to the attached drawings and detailed description, where similar reference numbers represent similar parts.

[0052] [Figure 1] This is a plan view of a minimally invasive remotely operated surgical system. [Figure 2] This is a perspective view of a user-controlled system. [Figure 3]This is a perspective view of an electronics cart. [Figure 4] This is a diagram of a remotely operated surgical system. [Figure 5] This is a perspective view of an endoscopic image capture device. [Figure 6] This is a diagram illustrating the optical coupling between the electronics cart and the optical port of the endoscopic image capture device. [Figure 7] This is a block diagram of a system for closed-loop lighting control. [Figure 8] This is a block diagram of an optical sensor clamped to an optical guide. [Figure 9] This is a block diagram of an optical sensor connected to the branching point of an optical fiber bundle. [Figure 10] This is a block diagram of the optical sensor at the junction of two optical guides. [Figure 11] This is a functional block diagram of an optical sensor assembly for measuring separate channels of incoming light. [Figure 12A] This is a block diagram of the optical sensors inside an integrating sphere, arranged around an optical guide. [Figure 12B] This is a cross-section of an integrating sphere. [Figure 13] This flowchart illustrates an exemplary process for adjusting the operation of an electronics cart based on the received optical sensor measurements. [Figure 14] An exemplary computer system is shown. [Modes for carrying out the invention]

[0053] Firstly, while exemplary implementations of one or more embodiments are shown below, it should be understood that the disclosed systems and methods may be implemented using any number of techniques, whether currently known or existing. This disclosure should not be limited to the exemplary implementations, drawings, and techniques shown below, but may be modified within the scope of the appended claims, along with the entire scope of their equivalents. The use of the phrase "and / or" indicates that any one or any combination of the list of options may 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."

[0054] Elements described in detail with reference to one embodiment, implementation, or application may, at any practical time, be included in other embodiments, implementations, or applications that are not specifically shown or described. 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 be claimed to be included in the second embodiment. Accordingly, to avoid unnecessary repetition in the following description, one or more elements shown and described in relation to one embodiment, implementation, or application may be incorporated into other embodiments, implementations, or aspects, unless otherwise specifically stated, provided that one or more elements do not render the embodiment or implementation non-functional, or that two or more elements provide conflicting functions.

[0055] Aspects of the present invention primarily describe implementations using the da Vinci® Surgical System (specifically, Model IS4000, marketed as the da Vinci® Xi® HD® Surgical System) commercialized by Intuitive Surgical, Inc. of Sunnyvale, California. However, those skilled in the art will understand that aspects of the invention disclosed herein can be carried out and implemented in a variety of ways, including robotic and, where applicable, non-robotic embodiments and implementations. Implementations of the da Vinci® Surgical System (e.g., Model IS4000 da Vinci® Xi® Surgical System, Model IS3000 da Vinci Si® Surgical System) are merely illustrative and should not be considered to limit the scope of aspects of the invention disclosed herein.

[0056] In various embodiments, 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 the scene being captured by the image capture device with light received from an illumination source. Typically, the image capture device is calibrated separately from the illumination source and introduces variability in the overall illumination system that is not addressed by the separate calibration of each device. Furthermore, the image capture device may be used with different illumination sources, leading to further variability. The main source of variability is at the connection between the illumination source and the image capture device.

[0057] To resolve this fluctuation and provide closed-loop control of the illumination source, an optical sensor is placed in the image capture device downstream of the connector. The optical sensor is configured to measure the light received by the image capture device. Preferably, the optical sensor is placed in the camera housing of the image capture device to measure the light received by the camera for closed-loop control of the illumination source that takes into account light attenuation from the illumination source to the camera. The optical sensor may be placed at other locations on the image capture device. Multiple optical sensors may be placed at different locations on the image capture device to detect the source or location of attenuation. A redundant optical sensor of more than one sensor type can be used at a single optical sensor location to provide validation of the measurement and increase the diversity of the measured information, for example, by measuring both the overall power and the spectral distribution of the received light.

[0058] In one embodiment, the endoscopic image capture device includes a camera housing having a flexible cable with an optical guide, such as a bundle of optical fibers. The cable has a connector configured to couple the optical guide to a light source. The camera housing also includes an optical sensor and a rigid camera shaft having a camera tip at its distal end. The camera tip includes one or more image sensors and associated optical systems. The camera shaft also has a second optical guide, such as a second bundle of optical fibers, configured to transmit light received from the optical guide in the flexible cable to the camera tip to illuminate a scene being imaged by one or more image sensors, such as in a diagnostic or surgical procedure. The optical sensor may be located within the camera housing in close proximity to the optical guide, the second optical guide, or the junction between the optical guide and the second optical guide. Additional optical sensors may be provided on the connector, at the connection between the optical guide and the camera housing, and / or on the camera tip. The optical sensor(s) are configured to measure the power and / or wavelength of light received from the light source.

[0059] Images captured by one or more image sensors on the camera chip are transmitted to the camera housing via wired or wireless electrical connections, and then to a connector via wired or wireless electrical connections within a flexible cable. Furthermore, measurements of incoming light from the light sensor are transmitted to the connector via wired or wireless electrical connections within the flexible cable. The operation of the light source is adjusted based on the measurements from the light sensor, providing closed-loop control of the light source to adjust the sources of light attenuation from the light source to the camera.

[0060] The controller system has a socket configured to receive a connector. The controller system has a light source coupled to the socket and configured to supply light to an optical guide in a flexible cable. The controller system also has an image processor coupled to the socket and configured to receive images transmitted through the electrical connections of the flexible cable. The image processor is configured to process the received images based on calibration data for the image capture device to produce one or more processed images. The controller system is also configured to receive measurements from an optical sensor on the image capture device. As the endoscopic image capture device is used, the light transmission characteristics of the optical guide in the flexible cable may change over time. In addition, the camera tip may wear down over time due to use in a medical setting. Therefore, at least the optical characteristics of the endoscopic image capture device change over time, resulting in attenuation of 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 light received from the light source in different ways.

[0061] The controller system adjusts this attenuation of light received from a 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 may be increased based on measurements received from a light sensor. Similarly, calibration values ​​for brightness, luminance, contrast, or other image processing variables may be adjusted in the calibration data for the image capture device based on measurements received from a light sensor.

[0062] In the example described above, an endoscopic image capture device is used, but any image capture device coupled to an external light source to provide closed-loop control of the light source may be used, such as a borescope or other such inspection camera. Similarly, any other device coupled to the controller system that operates based on the light received from the controller system and includes a light sensor for measuring the received light is also contemplated by this disclosure.

[0063] Referring here to the drawings, similar reference numbers throughout several figures represent similar parts, and Figure 1 is a plan view of a minimally invasive remotely operated 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, for use by a surgeon 18 during the procedure. One or more assistants 20 may also participate in the procedure. The minimally invasive remotely operated surgical system 10 further includes an operating system 22, such as a mobile patient-side cart, and a mobile electronics cart 24. In some embodiments, the 14th, user control system 16, operating system 22, and electronics cart 24 are mounted on wheels to provide mobility.

[0064] The operating system 22 or other such operating system includes a plurality of segmented mechanical support arms 72, each having one end rotatably attached to a vertical support structure 74 and the other end for attaching a surgical instrument 26 that is detachably 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 setup for a procedure, a plurality of segments of at least one support arm 72 are moved to position the surgical instrument for insertion into a minimally invasive incision in the patient's body 12.

[0065] During the procedure, while instruments are being inserted into the patient's body cavity, the surgeon 18 views the surgical site through a user control system 16. Images of the surgical site can be acquired by an endoscope 28, such as a stereoscopic endoscope, which can be operated by a control system 22 to orient the endoscope 28. Computer processors(s) located on an electronics cart 24 can be used to process images of the surgical site for subsequent use via the user control system 16 to the surgeon 18. Computer processors(s) may alternatively be referred to herein as image processors or video processors.

[0066] One or more illumination sources or illuminators may also be provided in the electronics cart 24 to supply light for use by the endoscope 28 to illuminate the surgical site. The 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 time during a surgical or diagnostic procedure. For example, the electronics cart 24 may be controlled, such as through a selection on the user control system 16, to supply light from a first set of one or more illuminators at a first point in time, and to supply light from a second set of one or more illuminators at a second point in time.

[0067] The number of surgical instruments 26 used at one time generally depends, in particular, on the diagnosis or surgical procedure and the spatial constraints within the operating room. If it is necessary to change one or more of the surgical instruments 26 being used during surgery, the assistant 20 can remove the surgical instrument 26 from the operating system 22 and replace it with another surgical instrument 26 from the tray 30 in the operating room.

[0068] Figure 2 is a perspective view of the user control system 16. The user control system 16 includes a display area 31 having 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, enabling depth perception.

[0069] The console 16 further includes one or more control input units 36. One or more surgical instruments installed for use with the operating system 22 (shown in Figure 1) move in response to the surgeon's 18 operation of one or more control input units 36. The control input units 36 may have the same mechanical degrees of freedom as the associated surgical instrument 26 (shown in Figure 1) to give the surgeon 18 telepresence, or the perception that the control input unit 36 ​​is integrated with the instrument 26, so that the surgeon has a strong sense of direct control over the instrument 26. For this purpose, position, force, and tactile feedback sensors (not shown) may be used to transmit position, force, and tactile sensations from the surgical instrument 26 back to the surgeon's hand via the control input unit 36. The height of the control input unit 36 ​​may be adjusted by a height adjustment lever 38.

[0070] The user control system 16 is typically located in the same room as the patient so that the surgeon can directly monitor the procedure, be physically present when necessary, and speak directly to the patient's assistant rather than by telephone or other communication medium. However, the surgeon may be located in a different room, an entirely different building, or another location far from the patient to enable remote surgical procedures.

[0071] Figure 3 is a perspective view of the electronics cart 24. The electronics cart 24 is coupled to the endoscope 28 via a socket 27 and may include a computer processor for processing captured images for later display, such as on a user control system 16 or on another suitable display located locally and / or remotely. For example, if a stereoscopic endoscope is used, the computer processor on the electronics 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 opposing images and 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 capture device, such as optical aberrations. The electronics cart also includes one or more illumination sources optically coupled to the socket 27 to supply light to the endoscope 28.

[0072] Optionally, the equipment in the electronics cart 24 may be integrated into a user control system 16 or an operating system 22, or it may be distributed to various other locations within the operating room. More generally, the electronics cart 24 or a user control system 16 having equipment integrated from the electronics cart 24 may be referred to herein as a controller system for providing a light source to the endoscope 28 and for processing images from an image capture device.

[0073] Figure 4 schematically illustrates a remotely operated surgical system 50 (such as the minimally invasive remotely operated surgical system 10 in Figure 1). A user control system 52 (such as the user control system 16 in Figure 1) can be used by the surgeon to control the operating system 54 (such as the operating system 22 in Figure 1) during the minimally invasive procedure. The operating system 54 may use an image capture device, such as a stereoscopic endoscope, to capture images of the surgical site and output the captured images to a computer processor located on an electronics cart 56 (such as the electronics cart 24 in Figure 1). Similar to 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 one or more illumination sources. The computer processor typically includes one or more data processing boards intended to execute computer-readable code stored in the computer processor's non-volatile memory device.

[0074] In one embodiment, the computer processor can process the captured image in various ways prior to subsequent display. For example, the computer processor can use camera calibration parameters to compensate for imaging errors in the image capture device before displaying the processed image to the surgeon via the user control system 52. For example, one or more calibration parameters may be adjusted to compensate for the attenuation of light received by the image capture device from one or more illumination sources when measured by one or more optical sensors. Alternatively, the computer processor may adjust the output of one or more illumination sources to compensate for the attenuation of light received by the image capture device from one or more illumination sources when measured by one or more optical sensors.

[0075] Furthermore, or alternatively, the captured images can undergo image processing by a computer processor located outside the electronics cart 56. In one embodiment, the remotely operated surgical system 50 includes an optional computer processor 58 (shown by a dashed line) similar to the computer processor located in the electronics cart 56, and the operating system 54 outputs the captured images to the computer processor 58 for image processing before displaying them to the user control system 52. In another embodiment, the captured images are first processed by the computer processor in the electronics cart 56, and then undergo additional image processing by the computer processor 58 before being displayed to the user control system 52. In some embodiments, the electronics cart 56 and / or the computer processor 58 are collectively referred to as the controller system.

[0076] The remotely operated surgical system 50 may include an optional display 60, as indicated by the dashed line. The display 60 is coupled with computer processors 58 located on the electronics cart 56, and captured images processed by these computer processors can be displayed on the display 60 in addition to being displayed on the display of the user control system 52. In various implementations, the display 60 may be located on the electronics cart 56, such as the display 25 on the electronics cart 24. In some implementations, the display 60 may be separated from the user control system 52 and the electronics cart 58.

[0077] Figure 5 is a perspective view of the endoscopic image capture device 500. The endoscopic image capture 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 has an optical port 504 and an electrical port (not shown). The connector 502 is dimensioned and molded to fit into a socket of the electronics cart 56, such as a socket 27 of the electronics cart 24 or another mating receptacle. The optical port 504 is configured to receive light supplied to the socket 27 by the electronics cart 24.

[0078] The flexible cable 506 is coupled between the connector 502 and the camera housing 508. The flexible cable 506 includes an optical guide configured to transmit light received from the optical port 504 of the connector 502 to the camera housing 508. For example, the optical guide may be a single optical fiber, an optical fiber bundle having multiple optical fibers, and / or a fluid-filled lumen. Furthermore, the optical guide may be used in conjunction with rigid optical elements such as rods and lenses. The flexible cable 506 also includes an electrical connection configured to provide electrical communication between the electrical port of the connector 502 and the camera housing 508. The electrical connection may be a wired or wireless connection. In some implementations, the wired connection may be a wire, ladder wire, twisted wire pair, Universal Serial Bus (USB) cable, Ethernet® cable, or other wired communication line.

[0079] The camera housing 508 receives the distal end of the optical guide from the flexible cable 506. The camera housing 508 also receives the proximal end of the rigid camera shaft 512. The distal end of the rigid camera shaft 512 includes a camera chip 514 having one or more image sensors and associated optical systems. For example, the camera chip 514 may include two image sensors, each having an optical component for capturing a stereoscopic image of a scene such as a surgical or diagnostic procedure. The rigid camera shaft 512 may also include a second optical guide configured to transmit light received by the camera housing 508 from the optical guide in the flexible cable to the camera chip 514 to illuminate the scene being imaged by one or more image sensors. The second optical guide may be a single optical fiber, an optical fiber bundle having multiple optical fibers, and / or a fluid-filled lumen. Furthermore, the second optical guide may be used in conjunction with rigid optical elements such as rods and lenses. In some implementations, the second optical guide may consist only of rigid optical elements within the rigid camera shaft 512.

[0080] The rigid camera shaft 512 may also include a second electrical connection configured to provide electrical communication between one or more image sensors in the camera chip 514 and the camera housing 508. Images captured by one or more image sensors in the camera chip 514 are transmitted to the camera housing 508 via the electrical connection in the rigid camera shaft 512. The electrical connection may be wired or wireless. In some implementations, the wired connection may be a wire, ladder wire, twisted wire pair, Universal Serial Bus (USB) cable, Ethernet® cable, or other wired communication line.

[0081] The camera housing 508 may also have one or more camera control units (not shown) configured to supply power and control signals for capturing images from one or more image sensors of the camera chip 514. For example, if the camera chip 514 has two image sensors for capturing stereoscopic images, the camera housing 508 may have separate camera control units for controlling each of the two image sensors. One or more camera control units are also configured to communicate the captured images to the electrical ports of the connector 502 for processing by the electronics cart 56 and / or the computer processor 58.

[0082] The camera housing 508 may also have a display 510 for displaying one or more operational controls of the endoscopic image capture device 500. The camera housing 508 may also have a read-only memory (not shown) for storing a unique identifier and / or calibration data for the endoscopic image capture device 500. In some implementations, the unique identifier is a universally unique identifier (UUID) for the medical device. The unique identifier may be used to obtain calibration data for the endoscopic image capture device 500, such as that described in the shared U.S. Patent Application No. 62 / 722,314, entitled “Off-Camera Calibration Parameters for an Image Capture Device,” which is incorporated herein by reference in its entirety.

[0083] Figure 6 shows the optical coupling between the socket 27 of the electronics cart 24 and the optical port 504 of the endoscopic image capture device. As shown in Figure 6, an air-guide coupling (e.g., air-fiber coupling) is shown, but other optical couplings may be used. The electronics cart 24 may include light sources 602a, 602b, and 602c, collectively known as light sources 602. Although three light sources 602 are shown, more or fewer light sources 602 may be included in the electronics cart 24. Each of the light sources 602 may supply light of a different spectrum or provide different channels for the coupled light supplied by the electronics cart 24. For example, light source 602a may supply red light, light source 602b may supply blue light, and light source 602c may supply green light. Additional light sources of light outside the visible spectrum, such as infrared or ultraviolet light sources, may be provided. Light sources 602 may be provided by light-emitting diodes (LEDs), lasers, light bulbs, or any other light sources. Furthermore, one or more filters (not shown) can be used with one or more light sources 602 to supply light with desired spectral characteristics (e.g., color, polarization, etc.).

[0084] The electronics cart 24 may also include lenses 604a, 604b, and 604c, collectively known as lens 604. There is a one-to-one correspondence between lens 604 and light source 602. Each of the lenses 604 is configured to shape the light emitted by the corresponding light source 602 and focus it onto the optical port 504. For example, lens 604a is configured to shape the light emitted by light source 602a and focus it onto the optical port 504. However, manufacturing variations and mechanical tolerances may result in differences between the focal angle and size from each of the light sources 602 onto the optical port 504. For example, the projection 606a shown by the solid line in the optical port 504 represents the light focused onto the optical port 504 by light source 602a and lens 604a. The projection 606b, indicated by the dashed line within the optical port 504, represents light focused onto the optical port 504 by the light source 602b and lens 604b. The projection 606c, indicated by the dashed line within the optical port 504, represents light focused onto the optical port 504 by the light source 602c and lens 604c. The degree of misalignment between each projection 606 is shown for illustrative purposes only, and greater or smaller misalignments may exist during use, more generally referred to as the coupling loss between the light source 602 and the optical port 504.

[0085] Coupling loss is not addressed or compensated for in the calibration of the endoscopic image capture device 500 or the light source 602 in the electronics cart 24. Furthermore, coupling loss may vary between different electronics carts 24. Thus, coupling loss represents the main attenuation source of light produced by the light source 602 before it can be used to illuminate the scene captured by the image sensor(s) in the endoscopic image capture device 500.

[0086] Further sources of attenuation of the light generated by the light source 602 include degradation of the optical guide within the flexible cable 506 due to physical stress or manipulation of the optical guide. The physical degradation of the optical guide changes over time for a given endoscopic image capture device 500 and differs for different endoscopic image capture devices 500. Furthermore, solarization of the optical guide within the flexible cable 506 due to the intensity of the light supplied by the light source 602 acts as an additional source of attenuation of the light generated by the light source 602. The solarization of the optical guide changes over time for a given endoscopic image capture device 500 and differs for different endoscopic image capture devices 500. Additional sources of attenuation of the light generated by the light source 602 may exist before the light source 602 can be used to illuminate the scene to be captured by the image sensor in the endoscopic image capture device 500. One or more sources of attenuation may have different impacts on different channels of the light being received.

[0087] Figure 7 is a block diagram of a closed-loop lighting control system 700. The system 700 includes a controller system 702 having a light source 704 and a light sensor 706. For example, the controller system 702 may be an electronics cart 24 or an electronics cart 56. The light sensor 706 is located in a first position within the controller system 702 and is configured to produce measurements of the light generated by the light source 704, serving as a reference for comparison of measurements of the attenuation of the light generated by the light source 704. The controller system 702 stores the measurements from the light sensor 706 at sampling intervals.

[0088] The controller system 702 is optically coupled to the first connector 708 to supply light generated by the light source 704. For example, the first connector 708 may be connector 502. The light sensor 710 is positioned at a second location within the first connector 708 and configured to measure the light received from the light source 704. At the second location, the light sensor 710 provides a measurement of the received light that can be used to determine the coupling loss experienced at the optical connection between the controller system 702 and the connector 708. The light sensor 710 is configured to communicate the measurement of the received light at the second location to the controller system 702 at sampling intervals. The controller system 702 is then configured to determine the coupling loss based on the difference between the measurement of the light generated by the light source 704 and the measurement of the received light at the second location.

[0089] The optical guide 712 transmits the light received at the second position to the connector 714 of the camera 718. For example, the optical guide 712 may be a single optical fiber, an optical fiber bundle having multiple optical fibers, and / or a lumen filled with liquid. Furthermore, the optical guide may be used in conjunction with rigid optical elements such as rods and lenses. The connector 714 is shown externally to the camera 718, but the connector 714 may be located inside the housing of the camera 718. For example, the connector 714 may be a connection between the optical guide in the flexible cable 506 and the second optical guide in the rigid camera shaft 512 described above. In some implementations, the second connector 714 may be omitted. The optical sensor 716 is located at a third position within the second connector 714 and is configured to measure the light received from the optical guide 712. The optical sensor 716 is configured to communicate the measured values ​​of the light received at the third position to the controller system 702 at sampling intervals.

[0090] The controller system 702 is then configured to determine the combined attenuation due to coupled loss and loss in the optical guide 712 (e.g., due to physical manipulation or solarization) 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. Furthermore, the controller system 702 is configured to determine the attenuation across the optical 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.

[0091] The light sensor 720 is positioned at a fourth location within the housing of the camera 718 and is configured to measure the light received by the camera 718. For example, the light sensor 720 may be located in the housing of the camera 718 adjacent to the optical guide in the flexible cable 506, in the second optical guide in the rigid camera shaft 512, or at the junction between them. The light sensor 720 is configured to communicate the measured values ​​of the light received at the fourth location to the controller system 702 at sampling intervals.

[0092] The controller system 702 is configured to determine total attenuation based on the difference between the measured light output from the light source 704 and the measured light output from 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 the measured light output from the camera 718 at the fourth position and the measured light output from the camera 718 at the third position. The controller system 702 is also configured to determine transmission attenuation based on the difference between the measured light output from the camera 718 at the fourth position and the measured light output from the camera 718 at the second position.

[0093] Using multiple light sensors 710, 716, and 720, the controller system 702 can determine the location or source of the attenuation of light generated by the light source 704. In various implementations, one or more of the light sensors 710, 716, and 720 may be omitted. For example, in one implementation, only light sensor 710 is used to determine the coupled loss with the controller system 702, which represents the primary source of the attenuation. In another implementation, only light sensor 720 is used to determine the total attenuation. In some implementations, additional light sensors, such as those on the camera chip 514, may be used to measure the light used to illuminate the scene captured by the image sensor(s).

[0094] Although only a single optical sensor is shown for each of the second, third, and fourth positions, multiple different types of optical sensors may be present at one or more positions. For example, the first optical sensor may measure the total power of the incoming light, and the second optical sensor may measure the spectral characteristics of the incoming light (e.g., spectral power distribution, wavelengths of light present in the incoming light, polarization of the incoming light, etc.). The controller system 702 is configured to validate the measurements of multiple optical sensors at a given position against each other. For example, the total power value measured by the first optical sensor is validated against the sum of the spectral power distributions measured by the second optical sensor to verify that both optical sensors match. If one of the optical sensors at a given position does not match one or more of the other optical sensors at that position, the controller system 702 may identify the mismatched optical sensor as faulty or determine or warn of a maintenance status in another way. By using different types of optical sensors at a given position, additional spectral information of the incoming light may be obtained in addition to the validation of measurements at the given position (e.g., color balance of the incoming light).

[0095] The light sensors 710, 716, and 720 can be any type of sensor configured to measure the power and / or wavelength of light received by the light sensor. For example, each of the light sensors 710, 716, and 720 may be a simple photodiode, spectrometer, photometer, color sensor chip, or a combination thereof, or may be used with one or more optical components (e.g., prisms, filters, lenses, dichroic filters, trichromatic prisms, or other multi-channel spectral separation optical components or assemblies).

[0096] In various implementations, the sampling interval may be the same frequency as the frame rate of camera 718, or a lower frequency. For example, the sampling interval may be 16ms or approximately 16ms. In some implementations, the sampling intervals for one or more of the light sensors 710, 716, and 720 may differ. For example, the sampling interval for light sensor 720 may be greater or less than that of light sensor 710.

[0097] Figures 8-12B show various configurations of the optical sensors 710, 716, and 720. Figure 8 is a block diagram of an optical sensor clamped to an optical guide, such as an optical guide 712. A bundle clamp 802 is configured to hold the optical sensor 804 in place relative to the optical guide 806. A protective cover (not shown) on the optical guide 806 adjacent to the position of the optical sensor 804 may be removed to allow light scattered or refracted from the optical guide 806 to reach the optical sensor 804. The optical sensor 804 has one or more electrical contacts 808 configured to communicate measurements of the light received by the optical sensor 804 to a controller system 702, for example. For example, the measurements may be voltage and / or voltage or current levels corresponding to the wavelength of light received by the optical sensor 804. Alternatively or additionally, the measurements may be power level and / or wavelength(s) of the light received by the optical sensor 804.

[0098] Figure 9 is a block diagram of an optical sensor coupled to a branched portion of an optical fiber guide. In the implementation shown in Figure 9, the optical guide 712 is an optical fiber bundle, and the main bundle 902 of the optical fiber bundle is branched to provide a portion of fiber 904 that will be directed to the optical sensor 906. For example, the main bundle 902 may have 3000 or more fibers, while the branched portion of fiber 904 may contain 100 or fewer fibers. The optical sensor 906 may be the same as the optical sensor 804 described above. The remaining portion 908 of the main bundle continues to transmit light through the optical sensor 906 to the camera 718. Other configurations and components may be used.

[0099] Figure 10 is a block diagram of an optical sensor at the connection point between two optical guides, such as optical guide 712 and optical guide (not shown), in camera 718. The proximal beam 1002 is connected to the distal beam 1006 at the connection point to transmit light from the proximal beam 1002 to the distal beam 1006. The proximal beam 1002 has a ferrule 1004, and the distal beam 1006 similarly has a ferrule 1008 at the connection point. An optical sensor 1010 is positioned at the connection point to measure scattered light 1012 from the connection point. The optical sensor 1010 may be located in or as an integral part of a ferrule connector housing or clamp (not shown). The optical sensor 1010 may be similar to the optical sensor 804 described above. Other configurations and components may be used.

[0100] Figure 11 is a functional block diagram of an optical sensor assembly 1100 for measuring separate channels of incoming light at the optical sensor location. The optical sensor assembly 1100 has a beam splitter 1102 configured to split the incoming light 1104 into a plurality of different beams 1106a, 1106b, 1106b. Each of the different beams 1106a, 1106b, 1106b is led to a separate optical sensor of a plurality of optical sensors 1108a, 1108b, 1108c, each configured to measure a separate channel of the incoming light 1104. For example, the beam splitter 1102 may be a prism, a trichromatic 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, the optical elements 1110a, 1110b, and 1110c may additionally filter the incoming light to supply the light of the desired channel to the respective photosensors 1108a, 1108b, and 1108c. For example, the optical elements 1110a, 1110b, and 1110c may each be dichroic filters for supplying light of different colors to the photosensors 1108a, 1108b, and 1108c. Other variations in the configuration of the optical elements and photosensors for measuring separate channels of incoming light 1104 are contemplated in this disclosure.

[0101] Figure 12A is a block diagram of an optical sensor in an integrating sphere positioned around an optical guide such as an optical guide 712. The optical guide 1202 has an integrating sphere 1204 positioned around the optical guide 1202. Within the integrating sphere 1204, the protective cover of the optical guide 1202 may be removed, allowing light scattered or refracted from the optical guide 1202 to be directed to one or more optical sensors 1206a, 1206b, 1206c positioned around the integrating sphere 1204. The internal surface of the integrating sphere 1204 may have a diffusing coating to supply a uniform amount of light throughout the entire internal volume of the integrating sphere 1204. Figure 12B is a cross-sectional view of the integrating sphere 1204. Optionally, one or more baffles 1208a, 1208b, 1208c may be positioned in close proximity to each of the optical sensors 1206a, 1206b, 1206c. Although the light sensors 1206a, 1206b, and 1206c are shown arranged axially around the optical guide 1202 on the integrating sphere 1204, the light sensors 1206a, 1206b, and 1206c may be spaced longitudinally along the optical guide 1202 on the integrating sphere. More or fewer light sensors 1206a, 1206b, and 1206c than those shown may be used. Furthermore, one or more filters (not shown) may be arranged around each of the light sensors 1206a, 1206b, and 1206c. The light sensors 1206a, 1206b, and 1206c may be the same as the light sensor 804 described above. Other configurations and components may be used.

[0102] Figure 13 is a flowchart illustrating an exemplary process 1300 that adjusts the operation of the controller system 702 based on received optical sensor measurements. Process 1300 may be performed at each sampling interval of the controller system 702. In 1302, the controller system 702 receives measurements of light received at a second location. In 1304, the controller system 702 determines the difference between the measurements of light produced by the light source 704 and the measurements of light received at the second location. The controller system 702 evaluates whether the difference exceeds an acceptable threshold level of attenuation between the light produced by the light source 704 and the light received at the second location. If yes (Y), in 1306, the controller system 702 generates a connection error warning indicating that an abnormal amount of attenuation has been detected at the first connector 708.

[0103] Otherwise, at 1308, the controller system 702 receives a measurement of the light received at the third position. At 1310, the controller system 702 determines the difference between the measurement of the light produced 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 evaluates whether the difference exceeds an acceptable attenuation threshold level between the light produced by the light source 704 and the light received at the third position. Alternatively or additionally, the controller system 702 evaluates whether the difference exceeds an acceptable attenuation threshold between the light received at the third position and the light received at the second position. If yes (Y), at 1312, the controller system 702 generates an optical guide error warning indicating that an abnormal amount of attenuation has been detected along the optical guide 712.

[0104] Otherwise, at 1314, the controller system 702 receives a measurement of the light received at the fourth position. At 1316, the controller system 702 determines the difference between the measurement of the light produced 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 evaluates whether the difference exceeds an acceptable attenuation threshold level between the light produced by the light source 704 and the light received at the fourth position. Alternatively or additionally, the controller system 702 evaluates whether the difference exceeds an acceptable attenuation threshold between the light received at the fourth position and the light received at the second and / or third positions. If yes (Y), at 1318, the controller system 702 generates a total attenuation error warning indicating that an abnormal amount of attenuation has been detected along the system 700.

[0105] Otherwise, in 1320, the controller system 702 adjusts its operation to compensate for the attenuation of light produced by the light source 704, as determined by 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 for processing the image received from the camera 718 to compensate for the measured attenuation. For example, when the controller system 702 processes the image received from the camera 718, one or more calibration parameters may be adjusted for parameters related to brightness, luminance, or contrast.

[0106] Depending on whether the light sensor is located in each of the second, third, or fourth positions, one or more of 1302-1318 may be optionally omitted or performed in a different order.

[0107] It should be understood that the logical operations described herein with respect to various figures may be implemented as (1) a sequence of operations implemented in a computer or as a program module (i.e., software) operating on a computing device (e.g., the computing device shown in Figure 14), (2) as interconnected mechanical logic circuits or circuit modules (i.e., hardware) within a computing device, and / or (3) as a combination of software and hardware in a computing device. Therefore, the logical operations described herein are not limited to any particular combination of hardware and software. Implementation is a matter of choice depending on the performance and other requirements of the arithmetic unit. Accordingly, the logical operations described herein are referred to in various ways as operations, structural devices, actions, or modules. These operations, structural devices, actions, and modules may be implemented in software, firmware, special-purpose digital logic, and any combination thereof. It should also be understood that more or fewer operations may be performed than those shown in the drawings and described herein. These operations may also be performed in a different order than those described herein.

[0108] Referring to Figure 14, an example of a computing device 1400 in which embodiments of the present invention may be implemented is shown. For example, each of the computer processors, computer processor 58, or controller system 702 located on the 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 an example of a suitable computing environment in 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, a distributed computing environment that includes a personal computer, server, handheld or laptop device, multiprocessor system, microprocessor-based system, network personal computer (PC), minicomputer, mainframe computer, embedded system, and / or a combination of the above systems or devices. A distributed computing environment enables remote computing devices connected to a communication network or other data transmission medium to perform various tasks. In a distributed computing environment, program modules, applications, and other data are stored on local and / or remote computer storage media.

[0109] In one embodiment, the computing device 1400 may have two or more computers communicating with each other and collaborating to perform tasks. For example, an application may be divided in a manner that allows for the simultaneous and / or parallel processing of application instructions, but is not limited to this. Alternatively, data processed by the application may be divided in a manner that allows for the simultaneous and / or parallel processing of different parts of the dataset by two or more computers. In one embodiment, virtualization software may be used by the computing device 1400 to provide the functionality of several servers that are not directly constrained by the number of computers within the computing device 1400. For example, virtualization software may provide 20 virtual servers on four physical computers. In one embodiment, the functionality disclosed above may be provided by running an application and / or multiple applications in a cloud computing environment. Cloud computing may include providing computing services over network connectivity using dynamically scalable computing resources. Cloud computing may be supported, at least in part, by virtualization software. The cloud computing environment may be established by an enterprise or may be hired from a third-party provider as needed. A cloud computing environment may include cloud computing resources owned and operated by a company, or cloud computing resources leased or rented from third-party providers.

[0110] 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 may be volatile (e.g., random access memory (RAM)), non-volatile (e.g., read-only memory (ROM), flash memory), or a combination of both. This most basic configuration is shown in Figure 14 by the dashed line 1410. The processing unit 1420 may be a standard programmable processor that performs the arithmetic and logical operations necessary for the operation of the computing device 1400. For example, the processing unit may be programmed to execute the process 1300 described above. Although only one processing unit 1420 is shown, there may be multiple processors. Thus, while instructions may be discussed as being executed by processors, instructions may be executed simultaneously, sequentially, or otherwise by one or more processors. The computing device 1400 may also include a bus or other communication mechanism for communicating information between the various components of the computing device 1400.

[0111] The computing device 1400 may have additional features / functions. For example, the computing device 1400 may include additional storage devices such as removable storage devices 1440 and non-removable storage devices 1450, including but not limited to magnetic disks, optical disks, or tapes. The computing device 1400 may also include network connectivity units 1480 that enable the device to communicate with other devices, such as via communication paths described herein. Network connectivity units 1480 may take the form of modems, modem banks, Ethernet® cards, Universal Serial Bus (USB) interface cards, serial interfaces, token ring cards, fiber-distributed data interface (FDDI) cards, wireless local area network (WLAN) cards, code-division multiple access (CDMA) and other wireless transceiver cards, Global System for Mobile Communications (GSM), Long-Term Evolution (LTE), Worldwide Interoperability for Microwave Access (WiMAX), and / or other air interface protocol wireless transceiver cards, and other well-known network devices. The computing device 1400 may also have input devices 1470, such as a keyboard, keypad, switch, dial, mouse, trackball, touchscreen, voice recognition device, card reader, paper tape reader, or other well-known input devices. Output devices 1460, such as a printer, video monitor, liquid crystal display, touchscreen display, display, speaker, etc., may also be included. Additional devices may be connected to a bus to facilitate data communication between the components of the computing device 1400. All of these devices are well-known in the art and do not need to be described in detail here.

[0112] The 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 the computing device 1400 (i.e., the machine) to operate in a particular manner. Various computer-readable media may be used to provide instructions to the processing unit 1420 for execution. Examples of tangible computer-readable media include, but are not limited to, volatile, non-volatile, removable, and non-removable media implemented in any way or technique for storing information such as computer-readable instructions, data structures, program modules, or other data. The system memory 1430, the removable storage device 1440, and the non-removable storage device 1450 are all examples of tangible computer storage media. Examples of tangible computer-readable recording media include, but are not limited to, integrated circuits (e.g., field-programmable gate arrays or application-specific ICs), hard disks, optical disks, magneto-optical disks, floppy disks, magnetic tapes, holographic storage media, solid-state devices, RAM, ROM, electrically erasable program read-only memory (EEPROM), flash memory or other memory technologies, CD-ROMs, digital multipurpose disks (DVDs), or other optical storage devices, magnetic cassettes, magnetic tapes, magnetic disk storage devices, or other magnetic storage devices.

[0113] A fundamental principle of electrical and software engineering is that functionality that can be implemented by loading executable software onto a computer can be translated into a hardware implementation using well-known design rules. The decision between implementing a concept in software and hardware typically depends not on any issues inherent in translating from the software domain to the hardware domain, but rather on considerations of design stability and the number of units to be produced. Generally, designs that are still frequently modified are preferred to be implemented in software, as respinning a hardware implementation is more expensive than redesigning a software design. Generally, stable designs intended for mass production are preferred and implemented in hardware, such as application-specific integrated circuits, because hardware implementations are cheaper than software implementations in large-scale production. Often, a design is developed and tested in software form and later translated into a uniform hardware implementation in an application-specific integrated circuit that wires the software instructions using well-known design rules. Just as a machine controlled by a new ASIC is a specific machine or device, a computer programmed and / or loaded with executable instructions can similarly be viewed as a specific machine or device.

[0114] In the example implementation, the processing unit 1420 can execute program code stored in the system memory 1430. For example, the bus transports data to the system memory 1430, from which the processing unit 1420 receives and executes instructions. The data received by the system memory 1430 can optionally be stored in a removable storage device 1440 or a non-removable storage device 1450 before or after execution by the processing unit 1420.

[0115] It should be understood that the various technologies described herein may be implemented in relation to hardware or software, or, where appropriate, in combination thereof. Therefore, the methods and apparatus of the subject matter of this disclosure, or particular aspects or parts thereof, may take the form of program code (i.e., instructions) embodied on tangible media such as floppy diskettes, CD-ROMs, hard drives, or any other machine-readable storage media, where the program code is loaded onto a machine, such as a computing device, and when executed, the machine becomes an apparatus for carrying out the subject matter of this disclosure. In the case of program code execution on a programmable computer, the computing device generally includes a processor, a storage medium readable by the processor (including volatile and non-volatile memory and / or memory elements), at least one input device, and at least one output device. One or more programs may implement or utilize the processes described in relation to the subject matter of this disclosure, for example, through the use of application programming interfaces (APIs), reusable controls, etc. Such programs may be implemented in a high-level procedural or object-oriented programming language for communication with a computer system. However, if desired, the program(s) may be implemented in assembly language or machine language. In either case, the language may be a compiled or interpreted language and may be combined with the hardware implementation.

[0116] Embodiments of methods and systems may be described herein with reference to block diagrams and flowcharts of methods, systems, apparatus, and computer program products. It will be understood that each block in the block diagrams and flowcharts, and each combination of blocks in the block diagrams and flowcharts, can be implemented by computer program instructions. These computer program instructions can be loaded into a general-purpose computer, a dedicated computer, or other programmable data processing device to generate a machine such that instructions executed on the computer or other programmable data processing device create means for implementing the flowchart blocks or the functions specified in the blocks.

[0117] These computer program instructions may also be stored in computer-readable memory that enables a computer or other programmable data processing device to function in a particular manner, resulting in a product containing computer-readable instructions for implementing the functions specified in a flowchart block or block(s). The computer program instructions may also be loaded into a computer or other programmable data processing device to generate a computer implementation process by causing the computer or other programmable device to execute a series of operational steps, such that instructions executed on the computer or other programmable device provide steps for implementing the functions specified in the flowchart block(s).

[0118] Therefore, the blocks in block diagrams and flowcharts support combinations of means for performing a specified function, combinations of steps for performing a specified function, and means of program instructions for performing a specified function. It will also be understood that each block in block diagrams and flowcharts, as well as combinations of blocks in block diagrams and flowcharts, can be implemented by a special-purpose hardware-based computer system, or a combination of special-purpose hardware and computer instructions, for performing a specified function or step.

[0119] While several embodiments are provided in this disclosure, it should be understood that the disclosed systems and methods can be implemented in many other specific forms without departing from the spirit or scope of this disclosure. These examples are illustrative and not restrictive, and their intent is not limited to the details given herein. For example, various elements or components may be combined or integrated into another system, or certain features may be omitted or not implemented.

[0120] Furthermore, without departing from the scope of this disclosure, the technologies, systems, subsystems, and methods described and illustrated discretely or separately in various embodiments may be combined with or integrated with other systems, modules, technologies, or methods. Other items shown or described as directly coupled or communicating with one another may be indirectly coupled or communicating through several interfaces, devices, or intermediate components, whether electrical, mechanical, or otherwise. Other examples of modifications, substitutions, and alterations are readily apparent to those skilled in the art and can be made without departing from the spirit and scope disclosed herein.

[0121] The following note is added. (Note 1) A controller system comprising a light source and a connection port configured to supply light from the light source to the outside of the controller system; An image capture device having an optical guide equipped with a connector that connects to the aforementioned connection port and is configured to receive light supplied by the aforementioned illumination source, the image capture device being configured to illuminate a scene with the received light; The system includes a light sensor configured to measure the power and / or wavelength of the light it receives; The controller system is configured to adjust its operation based on the measured power of the light it receives. system. (Note 2) The power is the total power of the light received or the power at one or more wavelengths of the light received. The system described in Appendix 1. (Note 3) The aforementioned light sensor is a spectrometer. The system described in Appendix 1. (Note 4) The optical sensor is located inside the housing of the image capture device, in the connector, or in the connector between the optical guide and the image capture device. The system described in Appendix 1. (Note 5) The optical sensor is one of a plurality of optical sensors located within the housing of the image capture device, in the connector, and / or in the connector between the optical guide and the image capture device. The system described in Appendix 1. (Note 6) The controller system is configured to determine the location of the illumination error based on the difference between a first measured power of the light received at a first position and a second measured power of the light received at a second position. The system described in Appendix 5. (Note 7) The second position is further from the connector than the first position. The system described in Appendix 6. (Note 8) The controller system is configured to adjust its operation to change the output of the illumination source based on the measured power and / or wavelength of the light it receives. The system described in Appendix 1. (Note 9) The controller system is configured to adjust its operation to change calibration parameters for processing the image received by the image capture device based on the measured power of the light being received. The system described in Appendix 1. (Note 10) The light sensor is clamped to the light guide and measures a portion of the light that is scattered or refracted from the light guide. The system described in Appendix 1. (Note 11) The optical guide is a single optical fiber, an optical fiber bundle having multiple optical fibers, and / or a lumen filled with liquid. The system described in Appendix 1. (Note 12) The optical guide is used together with a hard optical element. The system described in Appendix 11. (Note 13) The optical guide is the optical fiber bundle, and a subset of optical fibers from the optical fiber bundle is branched from the optical fiber bundle and guided to supply a portion of the received light to the optical sensor. The system described in Appendix 11. (Note 14) The light sensor is arranged to measure the light being received which is scattered at the connection between the light guide and the second light guide. The system described in Appendix 1. (Note 15) The optical guide further comprises a filter disposed between the optical sensor and the optical guide, configured to supply one or more channels of the received light to the optical sensor. The system described in Appendix 1. (Note 16) The filter has a dichroic filter. The system described in Appendix 15. (Note 17) The filter has a trichromatic prism or other multi-channel spectral separation optical component or assembly. The system described in Appendix 15. (Note 18) The image capture device is an endoscope. The system described in Appendix 1. (Note 19) An optical guide comprising a connector that connects to the connection port of an illumination source and is configured to receive light supplied by the illumination source: An image sensor configured to capture an image of a scene illuminated by the light it receives; The system includes a light sensor configured to measure the power and / or wavelength of the light it receives; The connector is further configured to transmit the measured power and / or wavelength of the light being received. Image capture device. (Note 20) The power is the total power of the light received or the power at one or more wavelengths of the light received. The image capture device described in Appendix 19. (Note 21) The aforementioned light sensor is a spectrometer. The image capture device described in Appendix 19. (Note 22) The optical sensor is located within the housing of the image capture device, in the connector, or in the connector between the optical guide and the image capture device. The image capture device described in Appendix 19. (Note 23) The optical sensor is one of a plurality of optical sensors located within the housing of the image capture device, in the connector, and / or in the connector between the optical guide and the image capture device. The image capture device described in Appendix 19. (Note 24) The light sensor is clamped to the light guide and measures a portion of the light that is scattered or refracted from the light guide. The image capture device described in Appendix 19. (Note 25) The optical guide is a single optical fiber, an optical fiber bundle having multiple optical fibers, and / or a lumen filled with liquid. The image capture device described in Appendix 19. (Note 26) The optical guide is used together with a hard optical element. The image capture device described in Appendix 25. (Note 27) The optical guide is the optical fiber bundle, and a subset of optical fibers from the optical fiber bundle is branched from the optical fiber bundle and guided to supply a portion of the received light to the optical sensor. The image capture device described in Appendix 25. (Note 28) The light sensor is arranged to measure the light being received that is scattered at the connection between the light guide and the second light guide. The image capture device described in Appendix 19. (Note 29) The optical guide further comprises a filter disposed between the optical sensor and the optical guide, configured to supply one or more channels of the received light to the optical sensor. The image capture device described in Appendix 19. (Note 30) The filter has a dichroic filter, The image capture device described in Appendix 29. (Note 31) The filter has a trichromatic prism or other multi-channel spectral separation optical component or assembly. The image capture device described in Appendix 29. (Note 32) The image capture device is an endoscope. The image capture device described in Appendix 19. (Note 33) A lighting source configured to supply light; A light sensor configured to measure the power of the supplied light; A connection port configured to transmit the supplied light to an external device, and further configured to receive communications from the external device of the measured power and / or wavelength of the light received by the external device; A controller configured to adjust its 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; Controller system. (Note 34) The connection port is further configured to receive communications from the external device of multiple measurements of the power and / or wavelength of light received at different locations along the optical transmission path of the external device. The controller system described in Appendix 33. (Note 35) 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 controller system described in Appendix 34. (Note 36) The second position is further from the connector than the first position. The controller system described in Appendix 35. (Note 37) The controller system is configured to adjust its operation to change the output of the illumination source based on the measured power and / or wavelength of the light received by the external device. The controller system described in Appendix 33. (Note 38) The external device is an image capture device. The controller system described in Appendix 33. (Note 39) 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. The controller system described in Appendix 38. (Note 40) The image capture device is an endoscope. The controller system described in Appendix 38. (Note 41) A closed-loop control method for an illumination source coupled to an external device, wherein the method is: The steps include supplying light from the aforementioned light source to the connection port; The steps include: measuring the power and / or wavelength of the light supplied by the illumination source; The steps include: receiving light at the connector of the external device that is coupled to the connection port; The steps include: measuring the power and / or wavelength of the received light using a light sensor coupled to the external device; The steps include: communicating the measured power and / or wavelength of the light received from the external device to the illumination source; The step of adjusting the output of the light supplied in the illumination source based on the measured power and / or wavelength of the supplied light and the measured power and / or wavelength of the received light; method. (Note 42) The external device is an image capture device. The method described in Appendix 41. (Note 43) Further includes the step of adjusting calibration parameters for processing the image 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, The method described in Appendix 42. (Note 44) The image capture device is an endoscope. The method described in Appendix 42. (Note 45) The light sensor is clamped to the light guide of the external device. The method described in Appendix 41. (Note 46) The optical guide is a single optical fiber, an optical fiber bundle having multiple optical fibers, and / or a lumen filled with liquid. The method described in Appendix 45. (Note 47) The optical guide is used together with a hard optical element. The method described in Appendix 46. (Note 48) The optical guide is the optical fiber bundle, and a subset of optical fibers from the optical fiber bundle is branched from the optical fiber bundle and guided to supply a portion of the received light to the optical sensor. The method described in Appendix 46. (Note 49) The light sensor is arranged to measure the light being received that is scattered at the connection between the first light guide and the second light guide in the external device. The method described in Appendix 41. (Note 50) Further includes the step of filtering the received light so that one or more channels of the received light are supplied to the light sensor, The method described in Appendix 41. (Note 51) The step of filtering the received light includes the step of guiding the received light through a dichroic filter. The method described in Appendix 50. (Note 52) The step of filtering the received light includes the step of guiding the received light through a trichromatic prism or other multi-channel spectral separation optical component or assembly. The method described in Appendix 50.

Claims

1. An optical guide comprising a connector configured to connect to a connection port of a lighting source and to receive light supplied by the lighting source: An image sensor configured to capture an image of a scene illuminated by the light it receives; A light sensor configured to measure the power and / or wavelength of the light it receives; The connector is further configured to transmit the measured power and / or wavelength of the light being received, The light sensor is clamped to the light guide and measures a portion of the incoming light that is scattered or refracted from the light guide. Image capture device.

2. An optical guide comprising a connector configured to connect to a connection port of a lighting source and to receive light supplied by the lighting source: An image sensor configured to capture an image of a scene illuminated by the light it receives; A light sensor configured to measure the power and / or wavelength of the light it receives; The connector is further configured to transmit the measured power and / or wavelength of the light being received, The light sensor is positioned to measure the light being received that is scattered at the connection between the light guide and the second light guide. Image capture device.

Images