United States Patent (19)
`Kloos
`
`11
`45
`
`Patent Number:
`Date of Patent:
`
`5,038,261
`Aug. 6, 1991
`
`73) Assignee:
`
`(54) OPERATING LAMP WITH ADJUSTABLE
`MOUNTING
`Thomas Kloos, Offenbach am Main,
`75) Inventor:
`Fed. Rep. of Germany
`W. C. Heraeus GmbH, Hanau am
`Main, Fed. Rep. of Germany
`(21) Appl. No.: 594,356
`22 Filed:
`Oct. 9, 1990
`30
`Foreign Application Priority Data
`Oct. 7, 1989 IDE Fed. Rep. of Germany ....... 3933596
`51 Int. Cl............................................... F21V 21/00
`52 U.S. Cl. .................................... 362/286; 362/386;
`362/804
`58) Field of Search ............... 362/233,271, 272, 286,
`362/386, 419, 428,804; 315/149, 152
`References Cited
`U.S. PATENT DOCUMENTS
`4,517,632 5/1985 Roos .................................... 362/389
`4,578,575 3/1986 Roos .........
`... 362/804X
`4,639,838 1/1987 Kato et al. ...
`... 362/804X
`4,884,008 11/1989 Bossier et al. ....................... 315/152
`
`(56)
`
`FOREIGN PATENT DOCUMENTS
`3227494 2/1984 Fed. Rep. of Germany .
`Primary Examiner-Stephen F. Husar
`Attorney, Agent, or Firm-Frishauf, Holtz, Goodman &
`Woodward
`ABSTRACT
`57
`An operating-room light fixture features a cardanic
`mounting connected to an overhead beam or other
`stationary support by joints or linkages which rotate
`about horizontal and vertical axes. After setting of the
`optimal illumination zone into the operating plane, that
`zone's coordinates, and the associated coordinates of
`the lamp housing, are stored as values in a computer.
`Upon intentional or unintentional spatial displacement
`of the lamp housing, angle sensors in the joints, and a
`distance sensor in the lamp housing, furnish data to the
`computer, which calculates a compensating adjustment
`and carries it out by applying control signals to position
`ing motors in the cardanic mounting, until the axis or
`axes of the light beam(s) again place the optimal illumi
`nation zone on the operating field.
`8 Claims, 3 Drawing Sheets
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`U.S. Patent No. 9,955,551
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`

`

`U.S. Patent
`U.S. Patent
`
`Aug. 6, 1991
`Aug. 6, 1991
`
`Sheet 1 of 3
`Sheet 1 of 3
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`5,038,261
`5,038,261
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`U.S. Patent
`
`Aug. 6, 1991
`
`Sheet 2 of 3
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`U.S. Patent
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`5,038,261
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`1.
`
`5
`
`15
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`OPERATING LAMP WITH ADJUSTABLE
`MOUNTING
`Cross-reference to related patents and pending appli
`cation, the disclosures of which are hereby incorpo
`rated by reference:
`U.S. Ser. No. 07/292,515, LUGER, Des. for Operating
`Room Light Fixture; U.S. Pat. No. 4,884,008, corre
`sponding to German DE-OS 3723 009, BOSSLERet
`10
`al/W. C. HERAEUS GmbH,
`U.S. Pat. No. 4,517,632, corresp. to German DE-OS 32
`43 709, ROOS; German Application DE-OS 3227
`494, MENKE, published Feb. 2, 1984.
`FIELD OF THE INVENTION
`The present invention relates generally to a method
`of manipulating an operating room lamp having at least
`one light beam extending from the bottom of its lamp
`housing, and, more particularly, to a system in which
`20
`the movement of the fixture is carried out using a car
`danic adjustable mounting. The lamp axis is aligned
`with the operating field as an illumination zone by at
`least one adjusting element. The adjusting element is
`controlled with automatic feedback using a distance
`meter responsive to acoustic or electromagnetic signals.
`The invention includes the operating lamp itself.
`BACKGROUND OF THE INVENTION
`U.S. Pat. No. 4,884,008 and corresponding German
`30
`DE-OS 3723009 disclose an operating theater lamp
`with multiple light beams projecting from the bottom
`on the lamp housing. These beams are aligned in such a
`way that they overlap in the operating field and form an
`intensified illumination field. The alignment is done
`35
`with the aid of an ultrasonic distance meter located in
`the fixture. The meter generates a signal representing
`the distance between fixture and operating field, and
`this signal is fed to a control circuit as a command or
`guidance value. In the control circuit, this guidance
`40
`value is compared with the angle setting of the light
`beam which serves as the control value. In the event of
`deviation or difference between these two values, an
`adjusting signal is applied until the control value agrees
`with the guidance value. The associated electrical cir
`45
`cuit inhibits the control circuit from reacting to passage,
`through the light beam, of suddenly appearing measure
`ment targets, e.g. the hands or head of the surgeon. The
`release of the beam adjustment mechanism therefore
`occurs either by manual actuation of a handle located
`on the lamp housing or by sensed increase in distance,
`such as occurs upon deepening of the operating inci
`sion. In this way, one can achieve an automatic, trouble
`free beaming or direction of the light, without special
`equipment.
`Further, MENKE DE-OS 32 27 494 discloses an
`operating lamp, for dental and oral surgery procedures,
`in which the light beam is kept automatically aligned on
`the mouth area of the patient throughout adjustments to
`the dental chair or couch. See discussion at U.S. Pat.
`No. 4,884,008, col. 2, lines 10-30. The associated track
`ing mechanism uses an ultrasound transmitter 32 lo
`cated on or near the patient's head, ultrasound receivers
`38 spatially separated around the treatment room, and a
`direction finding circuit 40. The tracking is done using
`servo- or stepper-motors by which the holding of the
`lamp in specified positions or inclinations can be carried
`out. Due to the need to locate an ultrasound transmitter
`
`5,038,261
`2
`in the immediate vicinity of the operating field to be
`illuminated, such an operating lamp is unusable in gen
`eral surgery. In particular, one would have to expect
`errors in adjustment, as well as difficulties in handling
`and sterilization.
`SUMMARY OF THE INVENTION
`Accordingly, it is an object of the present invention,
`upon intentional or unintentional displacement of the
`operating lamp, to readjust the beam direction setting so
`that the originally set illumination zone (operating inci
`sion) will again be exactly illuminated without new
`displacement of the lamp fixture. The optimal adjust
`ment of the light beam or beans should be carried out
`automatically.
`Briefly, the spatial coordinates/alignment of the ini
`tial lamp position and the spatial coordinates of the
`initial illumination zone are determined and stored.
`When any relative movement occurs, a compensating
`adjustment to the lamp position and/or orientation is
`calculated and carried out. The storage of the initial
`positions is triggered manually, with the initial lamp
`position and lamp pointing direction determined by
`angle measurements at all joints, and the initial coordi
`nates of the illumination zone determined by distance
`measurement along the beam or fixture axis. After
`movement of the lamp, its position and the orientation
`of its lighting axis are determined by new angle mea
`surements. The differences between the previously
`stored coordinate values and the newly measured coor
`dinate values are processed in a control circuit to gener
`ate adjustment signals to the positioning motors con
`nected with the joints of the cardanic mounting, and, by
`means of these motors, the lamp housing is displaced
`until the lighting axis intersects with the originally set
`illumination zone.
`In an operating lamp with only a single light beam,
`the profile or side-section of the light beam is optimally
`adjusted along the housing axis in dependence upon the
`distance between lamp housing and illumination zone
`(operating field) by focussing, and this is stored as a
`digital value.
`In an operating lamp with multiple light beams,
`which are aligned with the operating field using at least
`one adjusting element, the beams overlapping to form
`an intensely illuminated zone, one first makes adjust
`ments to place this zone on the operating field. Then the
`coordinates of this zone, and the coordinates of the
`lamp housing, are determined by angle measurements at
`the joints or linkages, and by distance measurement
`between the intensely illuminated zone and the lamp
`housing, and these coordinates are stored as digital
`values. In the event of displacement, the light beams are
`so readjusted, in dependence upon the distance between
`lamp housing and illumination zone, that the beams
`again overlap to form an intensely illuminated zone.
`The values furnished by the angle meters and the
`distance meter are translated by coordinate transforma
`tion into Cartesian spatial coordinates. The differences
`between the original coordinate values and the mea
`sured post-displacement coordinate values on the X-,
`Y-, and Z-axes are used to generate adjustment signals
`for the positioning motors. The spatial coordinates of
`the illumination field (operating field) serve as the Com
`mand or desired value. The servo-mechanisms adjust
`until the Actual value coincides with the Command
`value.
`
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`15
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`5,038,261
`3
`In the apparatus according to the invention, for car
`rying out the method, at least both linkages of the car
`danic adjustable mounting are provided with adjusting
`motors, and all linkages of the mounting are provided
`with a meters or transducers. Angle meters and distance
`meter Sept. 20, 1990 are connected to the input of an
`electronic computer or microprocessor which store the
`values furnished by the angle meters and distance meter
`Sept. 20, 1990. The computer has at least two outputs
`connected respectively to an adjusting motor for adjust
`ment of the cardanic mounting of the lamp housing. The
`setting of the optimal illumination zone is accomplished
`using a handle connected to the lamp housing. The
`handle can be removed for sterilization. The handle
`features a button which is pressed, when the optimal
`setting has been achieved, to store the coordinate val
`S.
`It is of course also possible to provide a handle which
`automatically stores the coordinate values whenever
`the operator or attendant releases the handle. The lamp
`fixture is then provided with sidegrips for moving it.
`Since the elements of the mounting, i.e. the rods or
`framing connected to the joints, have unvarying dimen
`sions, it is possible to specify or convey the position and
`alignment of the lamp housing merely by measurements
`25
`of the angles at the joints. The distance between lamp
`and the operating field is furnished by distance measure
`ment performed acoustically or electromagnetically.
`See, for example, the ultrasonic distance sensor 5 dis
`cussed in U.S. Pat. No. 4,884,008, BOSSLER et al.,
`column 7. The measured angle values and distance
`value to the operating field are subjected to coordinate
`transformation, so that the spatial coordinates of the
`lamp housing and the operating field can be calculated
`and stored. The deviations in the coordinate system,
`35
`measured after displacement of the lamp, serve as ad
`justment signals for the positioning motors located in
`the cardanic mounting of the lamp housing.
`An advantageous feature of the present invention is
`that the angle sensors, positioning motors, computer,
`and actuating element can be integrated or retro-fitted
`into conventional operating room light fixtures, so that
`one can dispense with construction of additional appa
`ratus or housings.
`A further feature is that the angle sensors operate
`45
`throughout a complete 360 range, so that an unambigu
`ous association with the position and alignment of the
`lamp housing is always possible. The distance measure
`ment also provides a double-check o the coordinate
`values furnished.
`
`50
`
`4.
`DETAILED DESCRIPTION
`FIG. 1 illustrates a ceiling, overhead beam, or other
`stationary support 12, to which is fastened a pivot 1
`whose lower part is rotatable 360° about a vertical axis
`Y. The lower part of pivot 1 is connected to a tilt joint
`2 which is rotatable about a horizontal axis Z through a
`range of about 180. Joint 2 is connected by a rod 5 to
`a pivot joint 3, which is rotatable through a 360 range,
`about a horizontal axis. Joint 3 is connected to a bowed
`O
`rod 6, preferably quarter-circular, having at its other
`end a further pivot joint 4 whose axis of rotation is
`perpendicular to that of pivot joint 3. Pivot joint 4 con
`nects to the actual lamp housing 9 of the operating room
`lamp.
`Pivot joints 3 and 4 form the cardanic mounting of
`the operating lamp and define the rotation axes for the
`lamp housing. These axes of rotation intersect at refer
`ence point 7 as shown, which is preferably central to the
`lamp reflector(s).
`Angle sensors in each of joints 1, 2, 3, 4 measure
`respective angles Phil, Phi, Phi3, and Phi and furnish
`those values to a computer for coordinate determina
`tion. The angle sensors in joints 1, 2, 3, and 4 are prefer
`ably optically sampled or scanned coded drums which
`generate a digital signal corresponding to the rotation
`angle of the joint. For ease of illustration, the angle
`sensors and the positioning motors in joints 3 and 4,
`needed for displacement of the lamp housing, have been
`omitted from the drawings. In the positioning motors,
`the part to be moved is connected to the motor rotor,
`that is, in joint 3 the rotor of the positioning motor is
`connected to bowed rod 6, and in joint 4 the rotor is
`connected to lamp housing 9. It is, of course, also possi
`ble to carry out the rotations using gears instead.
`FIG. 2 illustrates pivot 1 fastened to ceiling 12 using
`a pad or bracket 11. The designation of the joints corre
`sponds to that in the FIG. 1 embodiment. The sectioned
`lamp housing 9 features a single light source 13, whose
`emitted light is directed in the direction of illumination
`axis 10 with the aid of a reflector arrangement 14 (cold
`light reflector). Focussing is possible by altering the
`spacing between light source 13 and reflector 14. At or
`near reference point 7 is an ultrasound sensor 15 for
`determining the distance between illumination zone 8
`(operating plane) and reference point 7 of the lamp
`housing 9.
`FIG. 3 illustrates an operating lamp with a multi
`beam lamp housing consisting of individual emitters 16
`which are arranged in a ring configuration on a carrier.
`The light coming out of emitters 16 is beamed, with the
`aid of the ultrasound sensor, to form an intensely illumi
`nated zone in the operating plane 8. The ultrasound
`sensor generates a distance-dependent signal which is
`fed to a servo or control circuit which so aligns the light
`beams of the individual emitters, using adjusting ele
`ments, that the intensely illuminated zone is maintained
`in spite of any distance fluctuations.
`The position of the joints is determined, with refer
`ence to FIG. 3, as follows: the origin of the Cartesian
`coordinate system is located in joint 1, with the axis X
`extending horizontally and the axis Y running along the
`rotation axis of pivot joint 1. Axis Z is normal to axes X
`and Y and thus extends upward out of the plane of the
`drawing. The position of joint 3 is thus dependent upon
`the length of rods 5 and the rotations in joints 1 and 2,
`designated as angles Phil and Phi. The length of rods 5
`is defined Sept. 20, 1990 to be 1:
`
`DRAWINGS
`FIG. 1 is a perspective view of the mounting of the
`invention, together with a lamp housing, indicated sche
`matically;
`55
`FIG. 2 illustrates an embodiment of the operating
`lamp having a single light source, with the lamp housing
`in cross-section;
`-
`FIG. 3 is a side view of an alternate embodiment
`having multiple (four) light sources; and
`FIG. 4 is a schematic before-and-after view of the
`lamp of FIG. 3, showing the angular relationships in the
`X-Y-Z frame when the lamp housing is spatially dis
`placed.
`The angles labeled with the Greek letter Phi are
`defined with reference to the associated joints and the
`associated coordinate axes. For greater legibility, the
`angles are illustrated only partially.
`
`65
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`

`

`x3 = 1 . cosd2. cosdb
`
`y3 = 1 . Sindb2
`
`23 = 1 . cosd2. sindb
`For the coordinates of point 7, the following relations
`apply, the distance of the rotation axis of joint 2 at the
`zero point being defined as y2, and the distance between
`joint 3 and point 7 being defined as m:
`
`10
`
`x7= o+ 1 . cosd2. cosd1+o
`
`J7 = y2 + 1 . sindb2
`
`27 = o--1 ... cosgb2 sinds --
`According to FIG. 4, the following relationships apply
`for the angle setting of the axes normal to the lamp
`bodies with reference to the coordinate system:
`20
`
`15
`
`Point 8, symbolizing the operating plane, is determined
`by distance measurement. In the simplest case, the lamp,
`as shown in FIG. 4. rests with its central point 7 over
`operating point 8.
`The spacing between central point 7 and operating
`plane 8 is designated as Q. So, for displacement of lamp
`30
`housing 9 by a distance N from position 7 to position 7",
`the following relations apply:
`
`25
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`5,038,261
`6
`further joint (1) Sept. 20, 1990 rotatable about a
`vertical axis;
`at least one means for positioning an axis of said light
`beam onto an operating field to produce an illumi
`nated zone, said means including a respective posi
`tioning motor at each of said joints (3,4);
`a distance sensor mounted on said housing (9) for
`sensing distance between said housing and said
`operating field, and connected to said positioning
`means for automatic feedback control,
`an angle sensor at each joint (1,2,3,4) of said cardanic
`mounting; and
`a computer, connected to outputs of said sensors and
`to control inputs of said motors;
`comprising the steps of
`reading distance and angle data from said sensor into
`said computer;
`calculating, based on said data, coordinates of said
`lamp housing and of said operating field;
`storing said coordinates in said computer;
`monitoring said distance and angle sensors and
`thereby detecting relative displacement between
`said lamp housing and said operating field;
`testing any detected displacement to determine
`whether such displacement exceeds predetermined
`limits; and, if so,
`applying control signals to at least one of said motors
`until a predetermined relationship between said
`lamp housing and said operating field is restored.
`2. A method according to claim 1, further comprising
`adjusting alignment of a light beam axis (10) as a
`function of distance between said lamp housing (9)
`and said operating field (8).
`3. A method according to claim 1, further comprising
`aligning axes of a plurality of light beams so that said
`light beams overlap to form an intensely illumi
`nated Zone.
`4. A method according to claim 1, wherein said cal
`40 culating step comprises
`translating said distance and angle data into Cartesian
`coordinates and, in the event of undesired devia
`tion from previous coordinates, applying control
`signals to said positioning motors as a function of
`differences between previous coordinates and cur
`rent coordinates of said lamp housing (9).
`5. Operating room lamp having
`a lamp housing (9) emitting at least one light beam
`Sept. 20, 1990;
`a cardanic mounting (1,2,3,4,5,6) supporting said
`housing and including a joint (2) Sept. 20, 1990
`rotatable about a horizontal axis and at least one
`further joint (1) Sept. 20, 1990 rotatable about a
`vertical axis;
`at least one means for positioning an axis of said light
`beam onto an operating field to produce an illumi
`nated Zone; and
`a distance sensor connected to said positioning means
`for automatic feedback control,
`wherein, in accordance with the invention,
`said positioning means includes a respective position
`ing motor at each of said joints (3,4);
`each joint (1,2,3,4) of said cardanic mounting is
`equipped with an angle sensor;
`said distance sensor (15) is mounted on said housing
`(9) for sensing distance between said housing and
`said operating field;
`
`According to FIG. 4, the following relations are true
`for the new angular setting:
`
`d z' = arc tan 2 y -
`
`d x7' = arc tan dry
`
`35
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`45
`
`The thus-derived angles are then adjusted by the posi
`tioning motors by rotations at joints 3 and 4. The reset
`ting of the intensely illuminated zone by overlapping of
`50
`the light beams is accomplished, as previously ex
`plained, by automatic feedback control using the dis
`tance meter.
`Various changes and modifications are possible
`within the scope of the inventive concept. In particular,
`one could enhance the adjustability of the operating
`lamp of the present invention by installing further
`joints, also equipped with respective angle sensors. The
`angle sensors could be Hall generators instead of optical
`SenSOS.
`I claim:
`1. A method of automatically aligning an operating
`room lamp, said lamp having
`a lamp housing (9) emitting at least one light beam
`Sept. 20, 1990
`65
`a cardanic mounting (1,2,3,4,5,6) supporting said
`housing and including a joint (2) Sept. 20, 1990
`rotatable about a horizontal axis and at least one
`
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`5,038,261
`8
`7
`at least two light beams are emitted by respective
`a computer is provided, connected to outputs of said
`light sources (16) in the lamp housing (9), and
`sensors and to control inputs of said motors, said
`means are provided for aligning optical axes of said
`computer processing output signals from said sen
`beams with an operating field (8) so that said beams
`sors to determine coordinates of said lamp housing
`overlap to form a intensely illuminated zone in said
`operating field.
`and of said operating field, and generating control
`7. Operating room lamp according to claim 5,
`signals to said motors to automatically adjust lamp
`wherein each angle sensor optically scans a coded sur
`housing position and alignment with respect to said
`face.
`operating field.
`8. Operating room lamp according to claim 5,
`6. Operating room lamp according to claim 5,
`wherein each angle sensor comprises a Hall generator.
`wherein
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