# US 11,908,125 B2 · Surgical kit inspection systems and methods for inspecting surgical kits having parts of different types > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,908,125 B2 - Document ID: US11908125B2 - Status: Granted - Kind: B2 - Application number: 18/084,692 - Filed: 2022-12-20 - Published: 2023-04-20 - Granted: 2024-02-20 - Earliest claimed: 2020-06-09 - Assignees: Howmedica Osteonics Corp. - Applicants: Howmedica Osteonics Corp. - Inventors: Perry J. Simson; Graeme A. Field; Patrick M. Caldwell - Web page: https://patentgrep.com/patent/US11908125B2 ## CPC - G06T 7/0008: {checking presence/absence} - A61B 34/70: {Manipulators specially adapted for use in surgery} - A61B 90/90: Identification means for patients or instruments, e.g. tags - A61B 90/96: using barcodes - A61B 90/98: using electromagnetic means, e.g. transponders - B25J 19/0066: {Means or methods for maintaining or repairing manipulators} - G06F 18/214: Generating training patterns; Bootstrap methods, e.g. bagging or boosting - G06T 7/001: {using an image reference approach} - G06T 7/60: Analysis of geometric attributes - G06T 7/73: using feature-based methods - G06V 10/141: Control of illumination - G06V 10/82: using neural networks - G06V 20/10: Terrestrial scenes (scenes under surveillance with static cameras G06V20/52; scenes perceived from the exterior of a vehicle G06V20/56; scenes perceived from the interior of a vehicle G06V20/59) - G06V 30/1437: {Sensor details, e.g. position, configuration or special lenses (G06V30/1429 takes precedence)} - G06V 30/153: {using recognition of characters or words} - A61B 2090/0808: {for indicating correct assembly of components, e.g. of the surgical apparatus} - G06T 2207/20081: Training; Learning - G06T 2207/20084: Artificial neural networks [ANN] - G06T 2207/30164: Workpiece; Machine component - G06V 2201/034: of medical instruments - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING ## Abstract Surgical kit inspection systems and methods are provided for inspecting surgical kits having parts of different types. The surgical kit inspection system comprises a vision unit including a first camera unit and a second camera unit to capture images of parts of a first type and a second type in each kit and to capture images of loose parts from each kit that are placed on a light surface. A robot supports the vision unit to move the first and second camera units relative to the parts in each surgical kit. One or more controllers obtain unique inspection instructions for each of the surgical kits to control inspection of each of the surgical kits and control movement of the robot and the vision unit accordingly to provide output indicating inspection results for each of the surgical kits. ## Claims ### Claim 1 A surgical kit inspection system for inspecting a surgical kit of parts, the surgical kit inspection system comprising: a first camera having a first lens to obtain images of unique geometric features of parts; a second camera having a second lens, different than the first lens, to obtain images of characters on parts; a robotic manipulator supporting the first and second cameras such that the first and second cameras are capable of being moved by the robotic manipulator relative to the surgical kit; and one or more controllers being configured to: obtain unique inspection instructions for the surgical kit to control inspection of the surgical kit; position the robotic manipulator at a plurality of poses relative to the surgical kit in accordance with the unique inspection instructions; operate one or both of the first camera and the second camera at each of the plurality of poses to capture images at each of the plurality of poses; detect parts in the images captured at each of the plurality of poses using a first identification method when utilizing the first camera and using a second identification method when utilizing the second camera; compare the detected parts of the surgical kit to a predefined list of parts for the surgical kit; and generate output indicating inspection results for the surgical kit. ### Claim 2 (depends on 1) The surgical kit inspection system of claim 1, wherein the robotic manipulator supports the first and second cameras such that the first and second cameras are capable of being moved by the robotic manipulator. ### Claim 3 (depends on 1) The surgical kit inspection system of claim 1, comprising a light surface to receive loose parts from the surgical kit, the first camera being configured to capture one or more images of the loose parts. ### Claim 4 (depends on 3) The surgical kit inspection system of claim 3, comprising a light source to illuminate the loose parts and the light surface. ### Claim 5 (depends on 4) The surgical kit inspection system of claim 4, wherein the light source is arranged beneath the light surface to back-illuminate the loose parts. ### Claim 6 (depends on 4) The surgical kit inspection system of claim 4, wherein the one or more controllers are configured to operate the light source in accordance with the unique inspection instructions. ### Claim 7 (depends on 1) The surgical kit inspection system of claim 1, wherein the robotic manipulator includes a collaborative robotic arm having one or more sensors to detect forces or torques applied to at least one of the first camera, the second camera, and the robotic manipulator by the operator to control movement of the collaborative robotic arm. ### Claim 8 (depends on 1) The surgical kit inspection system of claim 1, wherein the one or more controllers are configured to employ a deep learning algorithm to detect the parts in the surgical kit. ### Claim 9 An inspection system for inspecting a kit of parts, the inspection system comprising: one or more cameras configured to obtain images of at least one of: unique geometric features of parts, and characters on parts; a robotic manipulator supporting the one or more cameras such that the one or more cameras are capable of being moved by the robotic manipulator relative to the kit; and one or more controllers being configured to: obtain unique inspection instructions for the kit to control inspection of the kit; position the robotic manipulator at a plurality of poses relative to the kit in accordance with the unique inspection instructions; operate the one or more cameras at each of the plurality of poses to capture images at each of the plurality of poses; detect parts in the images captured at each of the plurality of poses; compare the detected parts in the kit to a predefined list of parts for the kit; and generate output indicating inspection result for the kit. ### Claim 10 (depends on 9) The inspection system of claim 9, wherein the one or more cameras includes a first camera having a first imaging lens and a first liquid lens to obtain images of unique geometric features of the parts. ### Claim 11 (depends on 10) The inspection system of claim 10, wherein the one or more controllers are further configured to use a first identification method to detect unique geometric features of parts in the images. ### Claim 12 (depends on 10) The inspection system of claim 10, wherein the one or more cameras includes a second camera having a second imaging lens, different than the first imaging lens, and a second liquid lens to obtain images of characters on the parts. ### Claim 13 (depends on 12) The inspection system of claim 12, wherein the robotic manipulator supports the first and second cameras such that the first and second cameras are capable of being moved by the robotic manipulator. ### Claim 14 (depends on 12) The inspection system of claim 12, wherein the one or more controllers are further configured to use a second identification method to detect characters on parts in the images. ### Claim 15 (depends on 9) The inspection system of claim 9, comprising a light surface to receive loose parts from the kit, the one or more cameras configured to capture one or more images of the loose parts. ### Claim 16 (depends on 15) The inspection system of claim 15, comprising a light source to illuminate the loose parts and the light surface. ### Claim 17 (depends on 16) The inspection system of claim 16, wherein the light source is arranged beneath the light surface to back-illuminate the loose parts. ### Claim 18 (depends on 16) The inspection system of claim 16, wherein the one or more controllers are configured to operate the light source in accordance with the unique inspection instructions. ### Claim 19 (depends on 9) The inspection system of claim 9, wherein the robotic manipulator includes a collaborative robotic arm having one or more sensors to detect forces or torques applied to the one or more cameras by the operator to control movement of the collaborative robotic arm. ### Claim 20 (depends on 9) The inspection system of claim 9, wherein the output generated by the one or more controllers indicates one or more of the following: if any parts are missing; if any parts are in a wrong location; or if any parts have a defect.