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WO2004068167A1 - Lighting system for controlled illumination of a region of interest - Google Patents

Lighting system for controlled illumination of a region of interest Download PDF

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Publication number
WO2004068167A1
WO2004068167A1 PCT/GB2004/000373 GB2004000373W WO2004068167A1 WO 2004068167 A1 WO2004068167 A1 WO 2004068167A1 GB 2004000373 W GB2004000373 W GB 2004000373W WO 2004068167 A1 WO2004068167 A1 WO 2004068167A1
Authority
WO
WIPO (PCT)
Prior art keywords
unit
lighting
retroreflector
tracking beam
lighting system
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/GB2004/000373
Other languages
French (fr)
Inventor
Edward Draper
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ip2ipo Innovations Ltd
Original Assignee
Imperial College Innovations Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Imperial College Innovations Ltd filed Critical Imperial College Innovations Ltd
Publication of WO2004068167A1 publication Critical patent/WO2004068167A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/78—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
    • G01S3/782—Systems for determining direction or deviation from predetermined direction
    • G01S3/785—Systems for determining direction or deviation from predetermined direction using adjustment of orientation of directivity characteristics of a detector or detector system to give a desired condition of signal derived from that detector or detector system
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/66—Tracking systems using electromagnetic waves other than radio waves
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
    • H05B47/00—Circuit arrangements for operating light sources in general, i.e. where the type of light source is not relevant
    • H05B47/10—Controlling the light source
    • H05B47/105—Controlling the light source in response to determined parameters
    • H05B47/115—Controlling the light source in response to determined parameters by determining the presence or movement of objects or living beings
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
    • H05B47/00—Circuit arrangements for operating light sources in general, i.e. where the type of light source is not relevant
    • H05B47/10—Controlling the light source
    • H05B47/155—Coordinated control of two or more light sources
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
    • H05B47/00—Circuit arrangements for operating light sources in general, i.e. where the type of light source is not relevant
    • H05B47/10—Controlling the light source
    • H05B47/175—Controlling the light source by remote control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21W—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES F21K, F21L, F21S and F21V, RELATING TO USES OR APPLICATIONS OF LIGHTING DEVICES OR SYSTEMS
    • F21W2131/00—Use or application of lighting devices or systems not provided for in codes F21W2102/00-F21W2121/00
    • F21W2131/20—Lighting for medical use
    • F21W2131/205—Lighting for medical use for operating theatres
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
    • Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection

Definitions

  • the present invention relates to a lighting system which provides for controlled illumination of a region of interest, in particular an operating theatre lighting system which allows for controlled illumination of a region of a patient.
  • Lighting systems exist which track and illuminate objects.
  • One such lighting system is disclosed in US-A-6079862.
  • the present invention provides a lighting system for controlled illumination of a region of interest, the lighting system comprising: at least one lighting assembly comprising at least one master unit, each master unit including a movable master head unit orientable to track a retroreflector, a positioning unit for orienting the master head unit towards the retroreflector, a tracking unit for tracking the retroreflector and actuating the positioning unit to move the master head unit, as required, so as to track the retroreflector and be oriented theretowards, and at least one slave unit, each including a movable slave head unit supporting at least one illumination light source, and a positioning unit for orienting the slave head unit towards the retroreflector in response to a position as determined from the orientation of the master head unit of at least one master unit.
  • the present invention provides a lighting system for controlled illumination of a region of interest, the lighting system comprising: at least one lighting assembly comprising at least one lighting unit, each lighting unit including a movable lighting head unit supporting at least one illumination light source and being orientable to track a retroreflector, a positioning unit for orienting the lighting head unit towards the retroreflector, a tracking unit for tracking the retroreflector and actuating the positioning unit to move the lighting head unit, as required, so as to follow the retroreflector and be oriented theretowards.
  • Figure 1 schematically illustrates a lighting system in accordance with a preferred embodiment of the present invention
  • Figure 2 illustrates a perspective view of the head unit of a master unit of one of the lighting assemblies of the lighting system of Figure 1;
  • Figure 3 represents the tracking unit of a master unit of one of the lighting assemblies of the lighting system of Figure 1;
  • Figures 4 to 6 illustrate the tracking movement of a head unit of a master unit of one of the lighting assemblies of the lighting system of Figure 1 in response to movement of the retroreflector;
  • Figure 7 illustrates a perspective view of the head unit of a slave unit of one of the lighting assemblies of the lighting system of Figure 1;
  • Figure 8 represents the locating unit of a slave unit of one of the lighting assemblies of the lighting system of Figure 1;
  • Figures 9 and 10 illustrate the operation of the lighting system of Figure 1, where the lighting assemblies are located on walls and a ceiling of a room.
  • the lighting system comprises at least one lighting assembly 3 for illuminating a region of interest as identified by a retroreflector 5.
  • the lighting system is an operating theatre lighting system, with the region of the interest being a region of a patient.
  • the retroreflector 5 is sterile, and can be disposable.
  • the lighting system comprises a plurality of lighting assemblies 3a, 3b, 3c, 3d which are mounted at spaced locations, for example, on the ceiling and walls of a room, in this embodiment an operating theatre, as illustrated in Figures 9 and 10.
  • Each lighting assembly 3a, 3b, 3c, 3d comprises at least one master unit 7 which is configured to track movement of the retroreflector 5 and in this embodiment provides an illumination beam for illuminating the region of interest as identified by the retroreflector 5, and in this embodiment at least one slave unit 9 which is configured to provide an illumination beam for illuminating the region of interest as identified by the retroreflector 5.
  • each lighting assembly 3a, 3b, 3c, 3d comprises a single master unit 7 and a plurality of slave units 9, with the position of the retroreflector 5 in three-dimensional space being determined trigonometrically from the orientations of the master units 7 of ones of the lighting assemblies 3a, 3b, 3c, 3d.
  • Figure 1 illustrates the lighting assemblies 3a, 3b, 3c, 3d as each including two slave units 9. It should be understood, however, that the lighting assemblies 3a, 3b, 3c, 3d can include any number of slave units 9, as illustrated in Figures 9 and 10.
  • the master unit 7 and the plurality of slave units 9 of each lighting assembly 3a, 3b, 3c, 3d are arranged in a single banked array.
  • each lighting assembly 3a, 3b, 3c, 3d could be located separately from the slave units 9 thereof.
  • the slave units 9 of each lighting assembly 3a, 3b, 3c, 3d could be arranged as a plurality of banked arrays.
  • slave units 9 of each lighting assembly 3a, 3b, 3c, 3d could each be located separately.
  • each lighting assembly 3a, 3b, 3c, 3d comprises at least one slave unit 9
  • at least one master unit 7 of each lighting assembly 3a, 3b, 3c, 3d can be configured only to track movement of the retroreflector 5 and not provide an illumination beam.
  • the lighting assembly 3 comprises a plurality of, typically two, master units 7 and a plurality of slave units 9, with the position of the retroreflector 5 in three-dimensional space being determined trigonometrically from the orientations of ones of the master units 7.
  • the lighting system could comprise a single lighting assembly 3 which comprises a single master unit 7.
  • the position of the retroreflector 5 is determined trigonometrically by assuming that the retroreflector 5 is located in an illumination plane.
  • the retroreflector 5 could be mounted to a stand which fixes the height of the retroreflector 5 and thus determines the illumination plane, and allows for movement of the retroreflector 5 in the illumination plane.
  • Each master unit 7 comprises a head unit 11 which is movable such as to follow movement of the retroreflector 5, a positioning unit 13 for moving the head unit 11 such as to remain oriented towards the retroreflector 5 with movement of the same, a tracking unit 15 for tracking movement of the retroreflector 5 and controlling the positioning unit 13 in response to the tracked movement of the retroreflector 5, and a sensor unit 16 for sensing the orient of the head unit 11.
  • the head unit 11 is movable about first and second orthogonal rotational axes X, Y such as to follow the retroreflector 5 in three-dimensional space, as will be described in more detail hereinbelow.
  • the head unit 11 includes at least one illumination light source 17, here a plurality of light sources 17a, 17b, 17c, 17d, for providing an illumination beam of predeterminable intensity.
  • the positioning unit 13 comprises first and second positioners 18a, 18b, here motors, for rotating the head unit 11 about the rotational axes X, Y.
  • the tracking unit 15 comprises a tracking beam emitter 19 for emitting a tracking beam, as a diverging beam, which is reflected by the retroreflector 5 when intercepted thereby.
  • the tracking beam emitter 19 comprises an emitter element 21, in this embodiment an infra-red diode for emitting an infra-red beam, which is mounted to the head unit 11, and a drive circuit 23 for driving the emitter element 21, which drive circuit 23 includes an encoder 25 for encoding the tracking beam, in this embodiment as a pulsed beam comprising a pulse train having a predeterminable pattern.
  • each master unit 7 is configured to utilize a different coded tracking beam, such as to enable the tracking beams from different tracking units 15, as reflected by the retroreflector 5, to be distinguished.
  • the tracking units 15 of groups of ones of the master units 7 can be configured to utilize different coded tracking beams.
  • the tracking units 15 of all of the master units 7 can be configured to utilize the same coded tracking beam.
  • the tracking unit 15 further comprises first and second pairs of tracking beam receivers 27, 29 for receiving a tracking beam as emitted by the tracking beam emitter 19 and reflected by the retroreflector 5, with the first pair of receivers 27 comprising first and second receivers 31, 33 and the second pair of receivers 29 comprising first and second receivers 35, 37.
  • the receivers 31, 33, 35, 37 each comprise a receiver element 39a, 39b, 39c, 39d, in this embodiment an infra-red diode for sensing an infra-red beam, which are mounted to the head unit 11, and a reception circuit 41a, 41b, 41c, 41d which includes a decoder 43a, 43b, 43c, 43d for decoding the received tracking beam as reflected by the retroreflector 5, and provides a first output signal Sm, Sn 2 , S ⁇ 2 ⁇ , S ⁇ 22 which is representative of the intensity of the received tracking beam and a second output signal S D n, S X2 , S D2 i / S D22 which has one of two states dependent upon whether the received tracking beam has the code of the respective tracking beam emitter 19.
  • each of the decoders 43a, 43b, 43c, 43d is configured such as to compare the coding of the received tracking beam with the known predetermined coding of the encoder 25 of the respective tracking beam emitter 19, and provide one of a positive state signal where the coding of the received tracking beam matches the known predetermined coding of the encoder 25 of the respective tracking beam emitter 19 or a negative state signal where the coding of the received tracking beam does not match the known predetermined coding of the encoder 25 of the respective tracking beam emitter 19.
  • this coding and decoding of the tracking beam is utilized to ensure that a tracking unit 15 is responsive only to a reflected tracking beam where the tracking beam was generated by that tracking unit 15.
  • the receiver elements 39a, 39b of the tracking beam receivers 31, 33 of the first pair of tracking beam receivers 27 are located on a first axis, here the first rotational axis X, which extends through the emitter element 21, and are disposed to opposed sides of the emitter element 21, and the receiver elements 39c, 39d of the tracking beam receivers 35, 37 of the second pair of tracking beam receivers 29 are located on a second axis, here the second rotational axis Y, which extends through the emitter element 21 and is orthogonal to the first rotational axis X, and are disposed to opposed sides of the emitter element 21.
  • the intensity of a tracking beam as reflected by the retroreflector 5 to a master unit 7 is sensed at each of the receiver elements 39a, 39b, 39c, 39d, with movement of the retroreflector 5 resulting in a variation in the intensity of the reflected tracking beam as received at the receiver elements 39a, 39b, 39c, 39d.
  • movement of the retroreflector 5 results in a change in the intensity of the reflected tracking beam as received at each of the receiver elements 39a, 39b, 39c, 39d, and in particular a difference in the intensity of the reflected tracking beam as received at the receiver elements 39a, 39b, 39c, 39d of the tracking beam receivers 31, 33, 35, 37 of each of the pairs of tracking beam receivers 27, 29.
  • Figure 4 illustrates the head unit 11 of one master unit 7 where oriented directly at the retroreflector 5, in which position the intensity of the reflected tracking beam as received at the receiver elements 39a, 39b of the tracking beam receivers 31, 33 of the one pair, here the first pair, of tracking beam receivers 27 is equal.
  • Figure 5 illustrates the movement of the retroreflector 5 in relation to the head unit 11 along the first rotational axis X of the head unit 11, in which position the intensity of the reflected tracking beam as received at the receiver elements 39a, 39b of the tracking beam receivers 31, 33 of the one pair of tracking beam receivers 27 is now unequal.
  • This difference in the intensity of the reflected tracking beam as received at the receiver elements 39a, 39b is indicative of the retroreflector 5 having been moved, with the direction of movement being in a direction away from the one of the receiver elements 39a, 39b, here the receiver element 39b of the second receiver 33 of the one pair of tracking beam receivers 27, having a reduced intensity.
  • this difference in the intensity of the reflected tracking beam as received at the receiver elements 39a, 39b of the tracking beam receivers 31, 33 of the one pair of tracking beam receivers 27, 29 is utilized to drive the positioning unit 13 to orient the head unit 11 directly at the re-positioned retroreflector 5.
  • Figure 6 illustrates the head unit 11 where having been moved by the positioning unit 13 such as to be oriented directly at the re-positioned retroreflector 5, in which position the intensity of the reflected tracking beam as received at the receiver elements 39a, 39b of the tracking beam receivers 31, 33 of the one pair, here the first pair, of tracking beam receivers 27 is equal.
  • the tracking unit 15 further comprises first and second positioner drive circuits 45, 47 for driving respective ones of the first and second positioners 18a, 18b of the respective positioning unit 13 in response to movement of the retroreflector 5 which, as described hereinabove, is manifested as a difference in the intensity of the reflected tracking beam as received both by the receiver elements 39a, 39b of the tracking beam receivers 31, 33 of the first pair of tracking beam receivers 27 and by the receiver elements 39c, 39d of the tracking beam receivers 35, 37 of the second pair of tracking beam receivers 29.
  • the positioner drive circuits 45, 47 each comprise a differential amplifier 49, 51 and an amplifier controller 53, 55 for selectively enabling and disabling the operation of the respective differential amplifier 49, 51.
  • the differential amplifier 49 of the first positioner drive circuit 45 includes first and second signal inputs 49a, 49b which are connected to the signal outputs of respective ones of the receivers 41a, 41b, in this embodiment through respective single-ended amplifiers 57a, 57b, of the first pair of receivers 27, a control input 49c for selectively enabling and disabling the operation of the differential amplifier 49 in response to a state signal applied thereto, and a signal output 49d which provides an output signal which is representative of the differential of the input signals and is utilized to drive the first positioner 18a of the positioning unit 13.
  • the differential amplifier 51 of the second positioner drive circuit 47 includes first and second signal inputs 51a, 51b which are connected to the signal outputs of respective ones of the receivers 41c, 41d, in this embodiment through respective single-ended amplifiers 57c, 57d, of the second pair of receivers 29, a control input 51c for selectively enabling and disabling the operation of the differential amplifier 51 in response to a state signal applied thereto, and a signal output 51d which provides an output signal which is representative of the differential of the input signals and is utilized to drive the second positioner 18b of the positioning unit 13.
  • the amplifier controller 53 of the first positioner drive circuit 45 comprises a signal coupler 61, in this embodiment functioning as a logical OR gate, which includes first and second signal inputs 61a, 61b which are connected to the outputs of the decoders 43a, 43b of respective ones of the receivers 41a, 41b of the first pair of tracking beam receivers 27 and a signal output 61c which adopts the enable state signal where the output of one or both of the decoders 43a, 43b of the receivers 41a, 41b of the first pair of tracking beam receivers 27 is at the enable state signal, and a switch 65, in this embodiment a transistor switch, which is connected to the signal output 61c of the signal coupler 61, the control input 49c of the respective differential amplifier 49 and ground such that, where the output of the signal coupler 61 is an enable state signal, the switch 65 is configured to provide for normal operation of the respective differential amplifier 49, and, where the output of the signal coupler 61 is a disable state signal, the switch 65 is configured to render
  • the amplifier controller 55 of the second positioner drive circuit 47 comprises a signal coupler 63, in this embodiment functioning as a logical OR gate, which includes first and second signal inputs 63a, 63b which are connected to the outputs of the decoders 43c, 43d of respective ones of the receivers 41c, 41d of the second pair of tracking beam receivers 29 and a signal output 63c which adopts the enable state signal where the output of one or both of the decoders 43c, 43d of the receivers 41c, 41d of the second pair of tracking beam receivers 29 is at the enable state signal, and a switch 67, in this embodiment a transistor switch, which is connected to the signal output 63c of the signal coupler 63, the control input 51c of the respective differential amplifier 51 and ground such that, where the output of the signal coupler 63 is an enable state signal, the switch 67 is configured to provide for normal operation of the respective differential amplifier 51, and, where the output of the signal coupler 63 is a disable state signal, the switch 67 is
  • the differential amplifier 49 of the first positioner drive circuit 45 is operative to drive the first positioner 18a of the respective positioning unit 13 such as to move, in this embodiment rotate, the respective head unit 11 to follow the retroreflector 5 and be oriented theretowards, and, where the intensity of the reflected tracking beam as received at the receiver elements 39c, 39d of the first and second receivers 41c, 41d of the second pair of tracking beam receivers 29 is unequal and the received tracking beam has the correct coding, that is, the coding of the tracking beam emitter 19 of the respective tracking unit 15, the differential amplifier 51 of the second positioner drive circuit 47 is operative to drive the second positioner 18b of the respective positioning unit 13 such as to move, in this embodiment rotate
  • Each slave unit 9 comprises a head unit 71 which is movable such as to follow movement of the retroreflector 5, a positioning unit 73 for moving the head unit 71 such as to be oriented towards the retroreflector 5, a locating unit 75 for locating the retroreflector 5, and a sensor unit 76 for sensing the orient of the head unit 71.
  • the head unit 71 is movable about first and second orthogonal rotational axes X, Y such as to be directed towards the retroreflector 5 in three-dimensional space, as will be described in more detail hereinbelow.
  • the head unit 71 includes at least one illumination light source 77, here a plurality of light sources 77a, 77b, 77c, 77d, for providing an illumination beam of predeterminable intensity.
  • the positioning unit 73 comprises first and second positioners 78a, 78b, here motors, for rotating the head unit 71 about the rotational axes X, Y.
  • the locating unit 75 comprises a locating beam emitter 79 for emitting a locating beam, as a diverging beam, which is reflected by the retroreflector 5 when intercepted thereby.
  • the locating beam emitter 79 comprises an emitter element 81, in this embodiment an infra-red diode for emitting an infra-red beam, which is mounted to the head unit 71, and a drive circuit 83 for driving the emitter element 81, which drive circuit 83 includes an encoder 85 for encoding the locating beam, in this embodiment as a pulsed beam comprising a pulse train having a predeterminable pattern.
  • each slave unit 9 is configured to utilize a different coded locating beam, such as to enable the locating beams from different locating units 75, as reflected by the retroreflector 5, to be distinguished.
  • the locating units 75 of groups of ones of the slave units 9 can be configured to utilize different coded locating beams.
  • the locating units 75 of all of the slave units 9 can be configured to utilize the same coded tracking beam.
  • the tracking unit 75 further comprises a locating beam receiver 87 for receiving a locating beam as emitted by the locating beam emitter 79 and reflected by the retroreflector 5,
  • the locating beam receiver 87 comprises a receiver element 89, in this embodiment an infra-red diode for sensing an infra-red beam, which is mounted to the head unit 71, and a reception circuit 91 which includes a decoder 93 for decoding the received locating beam as reflected by the retroreflector 5, and provides an output signal S which has one of two states, that is, a located and a non-located state, dependent upon whether the locating beam is received and the locating beam has the code of the respective locating beam emitter 79.
  • the lighting system further comprises a control unit for controlling operation of the at least one lighting assembly 3 in response to the position of the retroreflector 5.
  • a control unit for controlling operation of the at least one lighting assembly 3 in response to the position of the retroreflector 5.
  • the normal, automatic mode of operation the position of the retroreflector 5 is followed by the at least one lighting assembly 3.
  • an operator can specify the required position of the region of illumination, in effect virtually positioning the retroreflector 5.
  • control unit comprises a control module 95 for providing overall system control and controlling the operation of the head units 11, 71 of each master unit 7 and slave unit 9 of each lighting assembly 3, and a positioning module 97 which is operable under the control of the control module 95 to sense the orient of the head unit 11 of the master unit 7 of each lighting assembly 3 and orient the head unit 71 of each respective slave unit 9 such as to directed at the retroreflector 5.
  • the control module 95 provides for operative control of each lighting assembly 3, and in one embodiment each slave unit 9 thereof.
  • each lighting assembly 3 comprises a plurality of lighting assemblies 3a, 3b, 3c, 3d
  • one or more of the lighting assemblies 3a, 3b, 3c, 3d can be disabled.
  • each lighting assembly 3 comprises at least one slave unit 9, and in a preferred embodiment a plurality of slave units 9, the one slave unit 9 or ones of the slave units 9 can be selectively disabled.
  • the control module 95 provides for control of the intensity of the illumination. In certain environments it is required that a region to be illuminated, for example, a region of a patient in an operating theatre environment, not be illuminated with light of such intensity as to cause heating above a predeterminable threshold.
  • the head unit 11 of the master unit 7 of each lighting assembly 3 follows the position of the retroreflector 5 through operation of the respective tracking unit 15 as described hereinabove, and the positioning module 97 determines the position of the retroreflector 5, in this embodiment trigonometrically, from the orient of the head unit 11 of each master unit 7 and drives the positioners 78a, 78b of the positioning unit 73 of each slave unit 9 such as to orient each slave unit 9 at the determined position of the retroreflector 5.
  • the head units 11, 71 of each of the enabled master and slave units 7, 9 are oriented at the retroreflector 5.
  • the lighting assemblies 3 can be locked, in this embodiment either by operation of the control module 95 or by concealing the at least one lighting assembly 3 from the retroreflector 5 such as not to be able to interact therewith, typically by inverting or capping the retroreflector 5.
  • the tracking unit 15 of the master unit 7 of any lighting assembly 3 cannot locate the retroreflector 5
  • the at least one illumination light source 17 of the respective master unit 7 and the at least one illumination light source 77 of each associated slave unit 9 are disabled.
  • each slave unit 9 provides that the at least one illumination light source 77 of the respective slave unit 9 is only operative when the locating beam of the locating unit 75 is sensed, and thereby the at least one illumination light source 77 of the respective slave unit 9 has a line of sight with the retroreflector 5, and hence the region to be illuminated.
  • any redundant slave units 9, insofar as those would not illuminate the region of interest can be disabled, such as to prevent unnecessary operation, thereby extending the life of each illumination light source 77 and avoiding unnecessary energy usage.
  • configuring the retroreflector 5 to require directional illumination, such as where provided with a tubular extension, intense directional illumination can be achieved, where any redundant slave units 9, insofar as those would not illuminate the region of interest, can be disabled
  • the control unit further provides for calibration of the at least one lighting assembly 3 such as to ensure the accurate orientation of the slave units 9 based on the trigonometrically-determined position of the retroreflector 5.

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  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

A lighting system for controlled illumination of a region of interest, the lighting system comprising: at least one lighting assembly comprising at least one master unit, each master unit including a movable master head unit orientable to track a retroreflector, a positioning unit for orienting the master head unit towards the retroreflector, a tracking unit for tracking the retroreflector and actuating the positioning unit to move the master head unit, as required, so as to track the retroreflector and be oriented theretowards, and at least one slave unit, each including a movable slave head unit supporting at least one illumination light source, and a positioning unit for orienting the slave head unit towards the retroreflector in response to a position as determined from the orientation of the master head unit of at least one master unit.

Description

LIGHTING SYSTEM FOR CONTROLLED ILLUMINATION OF A REGION OF INTEREST
The present invention relates to a lighting system which provides for controlled illumination of a region of interest, in particular an operating theatre lighting system which allows for controlled illumination of a region of a patient.
Lighting systems exist which track and illuminate objects. One such lighting system is disclosed in US-A-6079862.
It is an aim of the present invention to provide an improved lighting system which provides for controlled illumination of a region of interest, in particular the controlled illumination of a region of a patient in an operating theatre.
In one aspect the present invention provides a lighting system for controlled illumination of a region of interest, the lighting system comprising: at least one lighting assembly comprising at least one master unit, each master unit including a movable master head unit orientable to track a retroreflector, a positioning unit for orienting the master head unit towards the retroreflector, a tracking unit for tracking the retroreflector and actuating the positioning unit to move the master head unit, as required, so as to track the retroreflector and be oriented theretowards, and at least one slave unit, each including a movable slave head unit supporting at least one illumination light source, and a positioning unit for orienting the slave head unit towards the retroreflector in response to a position as determined from the orientation of the master head unit of at least one master unit.
In another aspect the present invention provides a lighting system for controlled illumination of a region of interest, the lighting system comprising: at least one lighting assembly comprising at least one lighting unit, each lighting unit including a movable lighting head unit supporting at least one illumination light source and being orientable to track a retroreflector, a positioning unit for orienting the lighting head unit towards the retroreflector, a tracking unit for tracking the retroreflector and actuating the positioning unit to move the lighting head unit, as required, so as to follow the retroreflector and be oriented theretowards.
Preferred embodiments of the present invention will now be described hereinbelow by way of example only with reference to the accompanying drawings, in which:
Figure 1 schematically illustrates a lighting system in accordance with a preferred embodiment of the present invention;
Figure 2 illustrates a perspective view of the head unit of a master unit of one of the lighting assemblies of the lighting system of Figure 1;
Figure 3 represents the tracking unit of a master unit of one of the lighting assemblies of the lighting system of Figure 1;
Figures 4 to 6 illustrate the tracking movement of a head unit of a master unit of one of the lighting assemblies of the lighting system of Figure 1 in response to movement of the retroreflector;
Figure 7 illustrates a perspective view of the head unit of a slave unit of one of the lighting assemblies of the lighting system of Figure 1;
Figure 8 represents the locating unit of a slave unit of one of the lighting assemblies of the lighting system of Figure 1; and
Figures 9 and 10 illustrate the operation of the lighting system of Figure 1, where the lighting assemblies are located on walls and a ceiling of a room.
The lighting system comprises at least one lighting assembly 3 for illuminating a region of interest as identified by a retroreflector 5. In this embodiment the lighting system is an operating theatre lighting system, with the region of the interest being a region of a patient. In this embodiment the retroreflector 5 is sterile, and can be disposable.
In this embodiment the lighting system comprises a plurality of lighting assemblies 3a, 3b, 3c, 3d which are mounted at spaced locations, for example, on the ceiling and walls of a room, in this embodiment an operating theatre, as illustrated in Figures 9 and 10.
Each lighting assembly 3a, 3b, 3c, 3d comprises at least one master unit 7 which is configured to track movement of the retroreflector 5 and in this embodiment provides an illumination beam for illuminating the region of interest as identified by the retroreflector 5, and in this embodiment at least one slave unit 9 which is configured to provide an illumination beam for illuminating the region of interest as identified by the retroreflector 5.
In this embodiment each lighting assembly 3a, 3b, 3c, 3d comprises a single master unit 7 and a plurality of slave units 9, with the position of the retroreflector 5 in three-dimensional space being determined trigonometrically from the orientations of the master units 7 of ones of the lighting assemblies 3a, 3b, 3c, 3d. For ease of illustration, Figure 1 illustrates the lighting assemblies 3a, 3b, 3c, 3d as each including two slave units 9. It should be understood, however, that the lighting assemblies 3a, 3b, 3c, 3d can include any number of slave units 9, as illustrated in Figures 9 and 10.
In this embodiment the master unit 7 and the plurality of slave units 9 of each lighting assembly 3a, 3b, 3c, 3d are arranged in a single banked array.
In an alternative embodiment the at least one master unit 7 of each lighting assembly 3a, 3b, 3c, 3d could be located separately from the slave units 9 thereof. In another alternative embodiment the slave units 9 of each lighting assembly 3a, 3b, 3c, 3d could be arranged as a plurality of banked arrays.
In a further alternative embodiment the slave units 9 of each lighting assembly 3a, 3b, 3c, 3d could each be located separately.
In one alternative embodiment, where each lighting assembly 3a, 3b, 3c, 3d comprises at least one slave unit 9, at least one master unit 7 of each lighting assembly 3a, 3b, 3c, 3d can be configured only to track movement of the retroreflector 5 and not provide an illumination beam.
In another alternative embodiment, where the lighting system comprises a single lighting assembly 3, the lighting assembly 3 comprises a plurality of, typically two, master units 7 and a plurality of slave units 9, with the position of the retroreflector 5 in three-dimensional space being determined trigonometrically from the orientations of ones of the master units 7.
In one embodiment the lighting system could comprise a single lighting assembly 3 which comprises a single master unit 7. In this embodiment the position of the retroreflector 5 is determined trigonometrically by assuming that the retroreflector 5 is located in an illumination plane. In one embodiment the retroreflector 5 could be mounted to a stand which fixes the height of the retroreflector 5 and thus determines the illumination plane, and allows for movement of the retroreflector 5 in the illumination plane.
Each master unit 7 comprises a head unit 11 which is movable such as to follow movement of the retroreflector 5, a positioning unit 13 for moving the head unit 11 such as to remain oriented towards the retroreflector 5 with movement of the same, a tracking unit 15 for tracking movement of the retroreflector 5 and controlling the positioning unit 13 in response to the tracked movement of the retroreflector 5, and a sensor unit 16 for sensing the orient of the head unit 11. In this embodiment the head unit 11 is movable about first and second orthogonal rotational axes X, Y such as to follow the retroreflector 5 in three-dimensional space, as will be described in more detail hereinbelow.
In this embodiment the head unit 11 includes at least one illumination light source 17, here a plurality of light sources 17a, 17b, 17c, 17d, for providing an illumination beam of predeterminable intensity.
In this embodiment the positioning unit 13 comprises first and second positioners 18a, 18b, here motors, for rotating the head unit 11 about the rotational axes X, Y.
Referring to Figure 3, the tracking unit 15 comprises a tracking beam emitter 19 for emitting a tracking beam, as a diverging beam, which is reflected by the retroreflector 5 when intercepted thereby. The tracking beam emitter 19 comprises an emitter element 21, in this embodiment an infra-red diode for emitting an infra-red beam, which is mounted to the head unit 11, and a drive circuit 23 for driving the emitter element 21, which drive circuit 23 includes an encoder 25 for encoding the tracking beam, in this embodiment as a pulsed beam comprising a pulse train having a predeterminable pattern.
In this embodiment the tracking unit 15 of each master unit 7 is configured to utilize a different coded tracking beam, such as to enable the tracking beams from different tracking units 15, as reflected by the retroreflector 5, to be distinguished.
In an alternative embodiment the tracking units 15 of groups of ones of the master units 7 can be configured to utilize different coded tracking beams.
In another alternative embodiment the tracking units 15 of all of the master units 7 can be configured to utilize the same coded tracking beam. Referring again to Figure 3, the tracking unit 15 further comprises first and second pairs of tracking beam receivers 27, 29 for receiving a tracking beam as emitted by the tracking beam emitter 19 and reflected by the retroreflector 5, with the first pair of receivers 27 comprising first and second receivers 31, 33 and the second pair of receivers 29 comprising first and second receivers 35, 37.
The receivers 31, 33, 35, 37 each comprise a receiver element 39a, 39b, 39c, 39d, in this embodiment an infra-red diode for sensing an infra-red beam, which are mounted to the head unit 11, and a reception circuit 41a, 41b, 41c, 41d which includes a decoder 43a, 43b, 43c, 43d for decoding the received tracking beam as reflected by the retroreflector 5, and provides a first output signal Sm, Sn2, Sϊ2ι, Sτ22 which is representative of the intensity of the received tracking beam and a second output signal SDn, S X2, SD2i/ SD22 which has one of two states dependent upon whether the received tracking beam has the code of the respective tracking beam emitter 19.
In this embodiment each of the decoders 43a, 43b, 43c, 43d is configured such as to compare the coding of the received tracking beam with the known predetermined coding of the encoder 25 of the respective tracking beam emitter 19, and provide one of a positive state signal where the coding of the received tracking beam matches the known predetermined coding of the encoder 25 of the respective tracking beam emitter 19 or a negative state signal where the coding of the received tracking beam does not match the known predetermined coding of the encoder 25 of the respective tracking beam emitter 19. As will be described in more detail hereinbelow, this coding and decoding of the tracking beam is utilized to ensure that a tracking unit 15 is responsive only to a reflected tracking beam where the tracking beam was generated by that tracking unit 15. That is, one tracking unit 15 will not be responsive to received tracking beams which originated from other tracking units 15. In this embodiment the receiver elements 39a, 39b of the tracking beam receivers 31, 33 of the first pair of tracking beam receivers 27 are located on a first axis, here the first rotational axis X, which extends through the emitter element 21, and are disposed to opposed sides of the emitter element 21, and the receiver elements 39c, 39d of the tracking beam receivers 35, 37 of the second pair of tracking beam receivers 29 are located on a second axis, here the second rotational axis Y, which extends through the emitter element 21 and is orthogonal to the first rotational axis X, and are disposed to opposed sides of the emitter element 21.
With this configuration, the intensity of a tracking beam as reflected by the retroreflector 5 to a master unit 7 is sensed at each of the receiver elements 39a, 39b, 39c, 39d, with movement of the retroreflector 5 resulting in a variation in the intensity of the reflected tracking beam as received at the receiver elements 39a, 39b, 39c, 39d. Specifically, movement of the retroreflector 5 results in a change in the intensity of the reflected tracking beam as received at each of the receiver elements 39a, 39b, 39c, 39d, and in particular a difference in the intensity of the reflected tracking beam as received at the receiver elements 39a, 39b, 39c, 39d of the tracking beam receivers 31, 33, 35, 37 of each of the pairs of tracking beam receivers 27, 29.
Referring to Figures 4 to 6, this variation in the intensity of the reflected tracking beam as received at the receiver elements 39a, 39b, 39c, 39d of the tracking beam receivers 31, 33, 35, 37 of the pairs of tracking beam receivers 27, 29 with movement of the retroreflector 5 will be exemplified by considering movement of the retroreflector 5 along one of the rotational axes X, Y, here the first rotational axis X, of the head unit 11 of one master unit 7. It should be appreciated, however, that, in practice, the direction of movement of the retroreflector 5 will usually have components along both of the rotational axes X, Y of the head unit 11. Figure 4 illustrates the head unit 11 of one master unit 7 where oriented directly at the retroreflector 5, in which position the intensity of the reflected tracking beam as received at the receiver elements 39a, 39b of the tracking beam receivers 31, 33 of the one pair, here the first pair, of tracking beam receivers 27 is equal.
Figure 5 illustrates the movement of the retroreflector 5 in relation to the head unit 11 along the first rotational axis X of the head unit 11, in which position the intensity of the reflected tracking beam as received at the receiver elements 39a, 39b of the tracking beam receivers 31, 33 of the one pair of tracking beam receivers 27 is now unequal. This difference in the intensity of the reflected tracking beam as received at the receiver elements 39a, 39b is indicative of the retroreflector 5 having been moved, with the direction of movement being in a direction away from the one of the receiver elements 39a, 39b, here the receiver element 39b of the second receiver 33 of the one pair of tracking beam receivers 27, having a reduced intensity. As will be described in more detail hereinbelow, this difference in the intensity of the reflected tracking beam as received at the receiver elements 39a, 39b of the tracking beam receivers 31, 33 of the one pair of tracking beam receivers 27, 29 is utilized to drive the positioning unit 13 to orient the head unit 11 directly at the re-positioned retroreflector 5.
Figure 6 illustrates the head unit 11 where having been moved by the positioning unit 13 such as to be oriented directly at the re-positioned retroreflector 5, in which position the intensity of the reflected tracking beam as received at the receiver elements 39a, 39b of the tracking beam receivers 31, 33 of the one pair, here the first pair, of tracking beam receivers 27 is equal.
The tracking unit 15 further comprises first and second positioner drive circuits 45, 47 for driving respective ones of the first and second positioners 18a, 18b of the respective positioning unit 13 in response to movement of the retroreflector 5 which, as described hereinabove, is manifested as a difference in the intensity of the reflected tracking beam as received both by the receiver elements 39a, 39b of the tracking beam receivers 31, 33 of the first pair of tracking beam receivers 27 and by the receiver elements 39c, 39d of the tracking beam receivers 35, 37 of the second pair of tracking beam receivers 29.
The positioner drive circuits 45, 47 each comprise a differential amplifier 49, 51 and an amplifier controller 53, 55 for selectively enabling and disabling the operation of the respective differential amplifier 49, 51.
The differential amplifier 49 of the first positioner drive circuit 45 includes first and second signal inputs 49a, 49b which are connected to the signal outputs of respective ones of the receivers 41a, 41b, in this embodiment through respective single-ended amplifiers 57a, 57b, of the first pair of receivers 27, a control input 49c for selectively enabling and disabling the operation of the differential amplifier 49 in response to a state signal applied thereto, and a signal output 49d which provides an output signal which is representative of the differential of the input signals and is utilized to drive the first positioner 18a of the positioning unit 13.
The differential amplifier 51 of the second positioner drive circuit 47 includes first and second signal inputs 51a, 51b which are connected to the signal outputs of respective ones of the receivers 41c, 41d, in this embodiment through respective single-ended amplifiers 57c, 57d, of the second pair of receivers 29, a control input 51c for selectively enabling and disabling the operation of the differential amplifier 51 in response to a state signal applied thereto, and a signal output 51d which provides an output signal which is representative of the differential of the input signals and is utilized to drive the second positioner 18b of the positioning unit 13.
The amplifier controller 53 of the first positioner drive circuit 45 comprises a signal coupler 61, in this embodiment functioning as a logical OR gate, which includes first and second signal inputs 61a, 61b which are connected to the outputs of the decoders 43a, 43b of respective ones of the receivers 41a, 41b of the first pair of tracking beam receivers 27 and a signal output 61c which adopts the enable state signal where the output of one or both of the decoders 43a, 43b of the receivers 41a, 41b of the first pair of tracking beam receivers 27 is at the enable state signal, and a switch 65, in this embodiment a transistor switch, which is connected to the signal output 61c of the signal coupler 61, the control input 49c of the respective differential amplifier 49 and ground such that, where the output of the signal coupler 61 is an enable state signal, the switch 65 is configured to provide for normal operation of the respective differential amplifier 49, and, where the output of the signal coupler 61 is a disable state signal, the switch 65 is configured to render the respective differential amplifier 49 inoperative, in this embodiment by biasing the respective differential amplifier 49 to ground, and thereby not be responsive to the received tracking beam.
The amplifier controller 55 of the second positioner drive circuit 47 comprises a signal coupler 63, in this embodiment functioning as a logical OR gate, which includes first and second signal inputs 63a, 63b which are connected to the outputs of the decoders 43c, 43d of respective ones of the receivers 41c, 41d of the second pair of tracking beam receivers 29 and a signal output 63c which adopts the enable state signal where the output of one or both of the decoders 43c, 43d of the receivers 41c, 41d of the second pair of tracking beam receivers 29 is at the enable state signal, and a switch 67, in this embodiment a transistor switch, which is connected to the signal output 63c of the signal coupler 63, the control input 51c of the respective differential amplifier 51 and ground such that, where the output of the signal coupler 63 is an enable state signal, the switch 67 is configured to provide for normal operation of the respective differential amplifier 51, and, where the output of the signal coupler 63 is a disable state signal, the switch 67 is configured to render the respective differential amplifier 51 inoperative, in this embodiment by biasing the respective differential amplifier 51 to ground, and thereby not be responsive to the received tracking beam. With this configuration, where the intensity of the reflected tracking beam as received at the receiver elements 39a, 39b of the first and second receivers 41a, 41b of the first pair of tracking beam receivers 27 is unequal and the received tracking beam has the correct coding, that is, the coding of the tracking beam emitter 19 of the respective tracking unit 15, the differential amplifier 49 of the first positioner drive circuit 45 is operative to drive the first positioner 18a of the respective positioning unit 13 such as to move, in this embodiment rotate, the respective head unit 11 to follow the retroreflector 5 and be oriented theretowards, and, where the intensity of the reflected tracking beam as received at the receiver elements 39c, 39d of the first and second receivers 41c, 41d of the second pair of tracking beam receivers 29 is unequal and the received tracking beam has the correct coding, that is, the coding of the tracking beam emitter 19 of the respective tracking unit 15, the differential amplifier 51 of the second positioner drive circuit 47 is operative to drive the second positioner 18b of the respective positioning unit 13 such as to move, in this embodiment rotate, the respective head unit 11 to follow the retroreflector 5 and be oriented theretowards.
Each slave unit 9 comprises a head unit 71 which is movable such as to follow movement of the retroreflector 5, a positioning unit 73 for moving the head unit 71 such as to be oriented towards the retroreflector 5, a locating unit 75 for locating the retroreflector 5, and a sensor unit 76 for sensing the orient of the head unit 71.
In this embodiment the head unit 71 is movable about first and second orthogonal rotational axes X, Y such as to be directed towards the retroreflector 5 in three-dimensional space, as will be described in more detail hereinbelow.
In this embodiment the head unit 71 includes at least one illumination light source 77, here a plurality of light sources 77a, 77b, 77c, 77d, for providing an illumination beam of predeterminable intensity. In this embodiment the positioning unit 73 comprises first and second positioners 78a, 78b, here motors, for rotating the head unit 71 about the rotational axes X, Y.
The locating unit 75 comprises a locating beam emitter 79 for emitting a locating beam, as a diverging beam, which is reflected by the retroreflector 5 when intercepted thereby. The locating beam emitter 79 comprises an emitter element 81, in this embodiment an infra-red diode for emitting an infra-red beam, which is mounted to the head unit 71, and a drive circuit 83 for driving the emitter element 81, which drive circuit 83 includes an encoder 85 for encoding the locating beam, in this embodiment as a pulsed beam comprising a pulse train having a predeterminable pattern.
In this embodiment the locating unit 75 of each slave unit 9 is configured to utilize a different coded locating beam, such as to enable the locating beams from different locating units 75, as reflected by the retroreflector 5, to be distinguished.
In an alternative embodiment the locating units 75 of groups of ones of the slave units 9 can be configured to utilize different coded locating beams.
In another alternative embodiment the locating units 75 of all of the slave units 9 can be configured to utilize the same coded tracking beam.
The tracking unit 75 further comprises a locating beam receiver 87 for receiving a locating beam as emitted by the locating beam emitter 79 and reflected by the retroreflector 5,
The locating beam receiver 87 comprises a receiver element 89, in this embodiment an infra-red diode for sensing an infra-red beam, which is mounted to the head unit 71, and a reception circuit 91 which includes a decoder 93 for decoding the received locating beam as reflected by the retroreflector 5, and provides an output signal S which has one of two states, that is, a located and a non-located state, dependent upon whether the locating beam is received and the locating beam has the code of the respective locating beam emitter 79.
With this configuration, those slave units 9 which cannot locate the retroreflector 5, that is, where locating beams having the correct coding are not received by the respective locating beam receivers 87, typically because of an obstruction, such as the surgeon in an operating theatre, can be disabled as those slave units 9 do not serve to illuminate the region of interest.
The lighting system further comprises a control unit for controlling operation of the at least one lighting assembly 3 in response to the position of the retroreflector 5. In one, the normal, automatic mode of operation, the position of the retroreflector 5 is followed by the at least one lighting assembly 3. In another, manual mode of operation, an operator can specify the required position of the region of illumination, in effect virtually positioning the retroreflector 5.
In this embodiment the control unit comprises a control module 95 for providing overall system control and controlling the operation of the head units 11, 71 of each master unit 7 and slave unit 9 of each lighting assembly 3, and a positioning module 97 which is operable under the control of the control module 95 to sense the orient of the head unit 11 of the master unit 7 of each lighting assembly 3 and orient the head unit 71 of each respective slave unit 9 such as to directed at the retroreflector 5.
The control module 95 provides for operative control of each lighting assembly 3, and in one embodiment each slave unit 9 thereof. In this embodiment, which comprises a plurality of lighting assemblies 3a, 3b, 3c, 3d, one or more of the lighting assemblies 3a, 3b, 3c, 3d can be disabled. Also, in this embodiment, where each lighting assembly 3 comprises at least one slave unit 9, and in a preferred embodiment a plurality of slave units 9, the one slave unit 9 or ones of the slave units 9 can be selectively disabled. By enabling selective control of each lighting assembly 3, and in particular each slave unit 9, the control module 95 provides for control of the intensity of the illumination. In certain environments it is required that a region to be illuminated, for example, a region of a patient in an operating theatre environment, not be illuminated with light of such intensity as to cause heating above a predeterminable threshold.
In normal operation, the head unit 11 of the master unit 7 of each lighting assembly 3 follows the position of the retroreflector 5 through operation of the respective tracking unit 15 as described hereinabove, and the positioning module 97 determines the position of the retroreflector 5, in this embodiment trigonometrically, from the orient of the head unit 11 of each master unit 7 and drives the positioners 78a, 78b of the positioning unit 73 of each slave unit 9 such as to orient each slave unit 9 at the determined position of the retroreflector 5. In this way, the head units 11, 71 of each of the enabled master and slave units 7, 9 are oriented at the retroreflector 5. Once the lighting system is illuminating the region of interest, the lighting assemblies 3 can be locked, in this embodiment either by operation of the control module 95 or by concealing the at least one lighting assembly 3 from the retroreflector 5 such as not to be able to interact therewith, typically by inverting or capping the retroreflector 5.
In this embodiment, where the tracking unit 15 of the master unit 7 of any lighting assembly 3 cannot locate the retroreflector 5, the at least one illumination light source 17 of the respective master unit 7 and the at least one illumination light source 77 of each associated slave unit 9 are disabled.
In this embodiment the locating unit 75 of each slave unit 9 provides that the at least one illumination light source 77 of the respective slave unit 9 is only operative when the locating beam of the locating unit 75 is sensed, and thereby the at least one illumination light source 77 of the respective slave unit 9 has a line of sight with the retroreflector 5, and hence the region to be illuminated. In this way, any redundant slave units 9, insofar as those would not illuminate the region of interest, can be disabled, such as to prevent unnecessary operation, thereby extending the life of each illumination light source 77 and avoiding unnecessary energy usage. Also, by configuring the retroreflector 5 to require directional illumination, such as where provided with a tubular extension, intense directional illumination can be achieved, where any redundant slave units 9, insofar as those would not illuminate the region of interest, can be disabled
The control unit further provides for calibration of the at least one lighting assembly 3 such as to ensure the accurate orientation of the slave units 9 based on the trigonometrically-determined position of the retroreflector 5.
Finally, it will be understood that the present invention has been described in its preferred embodiments and can be modified in many different ways without departing from the scope of the invention as defined by the appended claims.

Claims

1. A lighting system for controlled illumination of a region of interest, the lighting system comprising: at least one lighting assembly comprising at least one master unit, each master unit including a movable master head unit orientable to track a retroreflector, a positioning unit for orienting the master head unit towards the retroreflector, a tracking unit for tracking the retroreflector and actuating the positioning unit to move the master head unit, as required, so as to track the retroreflector and be oriented theretowards, and at least one slave unit, each including a movable slave head unit supporting at least one illumination light source, and a positioning unit for orienting the slave head unit towards the retroreflector in response to a position as determined from the orientation of the master head unit of at least one master unit.
2. The lighting system of claim 1, wherein the at least one lighting assembly comprises a single master unit.
3. The lighting system of claim 1 or 2, wherein the at least one lighting assembly comprises a plurality of slave units.
4. The lighting system of claim 3, wherein the slave units are banked in an array.
5. The lighting system of claim 3, wherein the slave units are banked in groups of arrays.
6. The lighting system of claim 3, wherein the slave units are each separately located.
7. The lighting system of any of claims 1 to 6, wherein the master head unit of the at least one master unit supports at least one illumination light source.
8. The lighting system of any of claims 1 to 7, wherein the tracking unit comprises a tracking beam emitter disposed to the master head unit for emitting a tracking beam which, in use, is reflected by the retroreflector when intercepted thereby, a plurality of tracking beam receivers disposed to the master head unit about the tracking beam emitter for receiving a tracking beam as emitted by the tracking beam emitter and reflected by the retroreflector, with the reflected tracking beam as received at the respective tracking beam receivers having substantially equal intensity when the master head unit of the respective master unit is directed towards the retroreflector and movement of the retroreflector causing the reflected tracking beam as received at the respective tracking beam receivers to have a different intensity, and drive circuitry for actuating the positioning unit to move the master head unit of the respective master unit to track any movement of the retroreflector such that the reflected tracking beam as received at the respective tracking beam receivers has substantially equal intensity and the master head unit of the respective master unit is thereby oriented towards the retroreflector.
9. The lighting system of claim 8, wherein the tracking unit comprises first and second pairs of tracking beam receivers, each pair of tracking beam receivers being disposed on a different axis and comprising first and second tracking beam receivers disposed to opposed sides of the tracking beam emitter.
10. The lighting system of claim 9, wherein the respective pairs of tracking beam receivers are disposed on substantially orthogonal axes.
11. The lighting system of any of claims 8 to 10, wherein the tracking beam emitter of the tracking unit is configured to emit a coded tracking beam and the tracking beam receivers are configured to be responsive only to a so coded reflected tracking beam.
12. The lighting system of any of claims 1 to 11, wherein at least one slave unit comprises a locating unit for locating the retroreflector and being configured to disable the at least one illumination light source thereof where the retroreflector is not located.
13. The lighting system of any of claims 1 to 12, wherein the at least one lighting assembly is disposed on a wall or ceiling of a room.
14. The lighting system of claim 13, wherein the room is an operating theatre room.
15. The lighting system of any of claims 1 to 12, comprising: a plurality of lighting assemblies.
16. The lighting system of claim 15, wherein the lighting assemblies are disposed on ones of walls and a ceiling of a room.
17. The lighting system of claim 16, wherein the room is an operating theatre room.
18. A lighting system for controlled illumination of a region of interest, the lighting system comprising: at least one lighting assembly comprising at least one lighting unit, each lighting unit including a movable lighting head unit supporting at least one illumination light source and being orientable to track a retroreflector, a positioning unit for orienting the lighting head unit towards the retroreflector, a tracking unit for tracking the retroreflector and actuating the positioning unit to move the lighting head unit, as required, so as to follow the retroreflector and be oriented theretowards.
19. The lighting system of claim 18, wherein the tracking unit comprises a tracking beam emitter disposed to the lighting head unit for emitting a tracking beam which, in use, is reflected by the retroreflector when intercepted thereby, a plurality of tracking beam receivers disposed to the lighting head unit about the tracking beam emitter for receiving a tracking beam as emitted by the tracking beam emitter and reflected by the retroreflector, with the reflected tracking beam as received at the respective tracking beam receivers having substantially equal intensity when the lighting head unit of the respective lighting unit is directed towards the retroreflector and movement of the retroreflector causing the reflected tracking beam as received at the respective tracking beam receivers to have a different intensity, and drive circuitry for actuating the positioning unit to move the lighting head unit of the respective lighting unit to track any movement of the retroreflector such that the reflected tracking beam as received at the respective tracking beam receivers has substantially equal intensity and the lighting head unit of the respective lighting unit is thereby oriented towards the retroreflector.
20. The lighting system of claim 19, wherein the tracking unit comprises first and second pairs of tracking beam receivers, each pair of tracking beam receivers being disposed on a different axis and comprising first and second tracking beam receivers disposed to opposed sides of the tracking beam emitter.
21. The lighting system of claim 20, wherein the respective pairs of tracking beam receivers are disposed on substantially orthogonal axes.
22. The lighting system of any of claims 19 to 21, wherein the tracking beam emitter of the tracking unit is configured to emit a coded tracking beam and the tracking beam receivers are configured to be responsive only to a so coded reflected tracking beam.
23. The lighting system of any of claims 18 to 22, wherein the at least one lighting assembly comprises a single lighting unit.
24. The lighting system of any of claims 18 to 23, wherein the at least one lighting assembly is disposed on a wall or ceiling of a room.
25. The lighting system of claim 24, wherein the room is an operating theatre room.
26. The lighting system of any of claims 18 to 25, comprising: a plurality of lighting assemblies.
27. The lighting system of claim 26, wherein the lighting assemblies are disposed on ones of walls and a ceiling of a room.
28. The lighting system of claim 27, wherein the room is an operating theatre room.
29. The lighting system of any of claims 18 to 28, wherein the at least one lighting assembly further comprises at least one slave unit, each including a movable slave head unit supporting at least one illumination light source, and a positioning unit for orienting the slave head unit towards the retroreflector in response to a position as determined from the orientation of the lighting head unit of at least one lighting unit.
30. The lighting system of claim 29, wherein at least one slave unit comprises a locating unit for locating the retroreflector such as to disable the at least one illumination light source thereof where the retroreflector is not located.
31. The lighting system of claim 29 or 30, wherein the at least one lighting assembly comprises a plurality of slave units.
32. The lighting system of claim 31, wherein the slave units are banked in an array.
33. The lighting system of claim 31, wherein the slave units are banked in groups of arrays.
34. The lighting system of claim 31, wherein the slave units are each separately located.
PCT/GB2004/000373 2003-01-29 2004-01-29 Lighting system for controlled illumination of a region of interest Ceased WO2004068167A1 (en)

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EP2223570A2 (en) * 2007-06-18 2010-09-01 Koninklijke Philips Electronics N.V. Direction controllable lighting unit

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