IP Library › Granted Patent US 12,613,134
Granted Patent B2
US 12,613,134 · App. 18/124,361 · Granted Apr 28, 2026

System and method for color sensor characterization, calibration and threshold-setting

Inventors: Jiqi Cheng (North Haven, CT); Nathaniel A. Breiter (North Haven, CT)
Assignee: Covidien LP
G01J3/0297G01J3/505
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Quick Facts
Patent No.
US 12,613,134
App. No.
18/124,361
Filed
Mar 21, 2023
Granted
Apr 28, 2026
Kind
B2
Art Unit
2681
USPC
382/167
Abstract

A method for generating a calibration parameter for light sources includes activating at least one LED of a plurality of multicolor LEDs of a light source and measuring a color of the at least one LED in a first color space. The method also includes scaling the color of the at least one LED relative to the plurality of multicolor LEDs, obtaining a plurality of scaled color measurements, and calculating a calibration matrix based on the plurality of scaled color measurements.

Claims (44)

1 . A method for generating a calibration parameter for light sources, the method comprising:

activating at least one LED of a plurality of multicolor LEDs of a light source;

measuring a color of the at least one LED in a first color space;

normalizing the measured color of the at least one LED by dividing each channel component by a dominant channel component of the at least one LED, the dominant channel component corresponding to the activated LED, to obtain a normalized reading;

obtaining a plurality of normalized readings; and

calculating a calibration matrix based on the plurality of normalized readings, the calibration matrix configured to map each normalized reading of the plurality of normalized readings to a desired reading that includes only the dominant channel component.

2 . The method according to claim 1 , wherein the first color space is a red, green, blue (RGB) color space and the calibration matrix is a 3×3 matrix of adjustment values.

3 . The method according to claim 1 , further comprising:

calculating a mean of the plurality of normalized readings.

4 . The method according to claim 3 , further comprising:

calculating a standard deviation of the plurality of normalized readings.

5 . The method according to claim 4 , wherein calculating the calibration matrix is based on the mean and standard deviation of the plurality of normalized readings.

6 . The method according to claim 1 , further comprising simulating a plurality of simulated color measurements using a Monte Carlo simulation.

7 . The method according to claim 1 , further comprising:

generating a plurality of calibration thresholds in a second color space.

8 . The method according to claim 7 , wherein the second color space is a hue, saturation, value (HSV) color space.

9 . A method for calibrating a light source, the method comprising:

activating at least one LED of a plurality of multicolor LEDs of a light source;

measuring a color of the at least one LED in a first color space;

normalizing the measured color of the at least one LED by dividing each channel component by a dominant channel component of the at least one LED to obtain a normalized reading, the dominant channel component corresponding to the activated LED;

obtaining a plurality of normalized readings;

converting the normalized reading using a calibration matrix to a calibrated first color space measurement, wherein the calibration matrix is based on the plurality of normalized readings and is configured to map each normalized reading of the plurality of normalized readings to a desired reading that includes only the dominant channel component;

converting the calibrated first color space measurement to a value of a second color space;

comparing the value of the second color space to a threshold derived from the calibration matrix; and

outputting a calibration failure message in response to the value of the second color space exceeding the threshold.

10 . The method according to claim 9 , wherein the first color space is a red, green, blue (RGB) color space.

11 . The method according to claim 9 , wherein the second color space is a hue, saturation, value (HSV) color space.

12 . The method according to claim 9 , wherein the calibration matrix is a 3×3 matrix of adjustment values.

13 . The method according to claim 9 , wherein the plurality of multicolor LEDs are disposed in a foot pedal of a surgeon console for a surgical robotic system.

14 . A non-transitory computer-readable storage medium including instructions executable by a processor that are configured to cause a computing system to perform a method comprising:

activating at least one LED of a plurality of multicolor LEDs of a light source;

measuring a color of the at least one LED in a first color space;

normalizing the measured color of the at least one LED by dividing each channel component by a dominant channel component of the at least one LED, the dominant channel component corresponding to the activated LED, to obtain a normalized reading;

obtaining a plurality of normalized readings; and

calculating a calibration matrix based on the plurality of normalized readings, the calibration matrix configured to map each normalized reading of the plurality of normalized readings to a desired reading that includes only the dominant channel component.

15 . The non-transitory computer-readable storage medium according to claim 14 , wherein the first color space is a red, green, blue (RGB) color space and the calibration matrix is a 3×3 matrix of adjustment values.

16 . The non-transitory computer-readable storage medium according to claim 14 , wherein the method further comprises:

calculating a mean of the plurality of normalized readings.

17 . The non-transitory computer-readable storage medium according to claim 16 , wherein the method further comprises:

calculating a standard deviation of the plurality of normalized readings.

18 . The non-transitory computer-readable storage medium according to claim 17 , wherein calculating the calibration matrix is based on the mean and standard deviation of the plurality of normalized readings.

19 . The non-transitory computer-readable storage medium according to claim 14 , wherein the method further comprises simulating a plurality of simulated color measurements using a Monte Carlo simulation.

20 . The non-transitory computer-readable storage medium according to claim 14 , wherein the method further comprises:

generating a plurality of calibration thresholds in a second color space.

Assignments (1)
ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded Nov 16, 2023
From: CHENG, JIQI; BREITER, NATHANIEL A.
To: COVIDIEN LP
Reel/Frame 065581/0445 →
Continuity (2)
Provisional Application 63325781 · Mar 31, 2022
Related Publication 20230314215A1 · Oct 5, 2023
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