Medical operating device and method for controlling an operating device

Abstract

The present invention relates to a medical operating device, comprising: an instrument holder for accommodating an instrument; a robot operating unit, the robot operating unit carrying the instrument holder; a control device, the control device having an operation control unit for controlling the robot operating unit and an instrument control unit for controlling the instrument, wherein the control device has an interface for at least one input device; an input device, the input device being connected to the interface, wherein the input device can be used to control the instrument in a first operating mode and can be used to control the robot operating unit in a second operating mode; and a release switch for activating the second operating mode, in which the robot operating unit can travel in response to an input instruction on the input device. The present invention also relates to a method for controlling an operating device.

Description

Technical Field

[0001] The present invention relates to a medical operating device and a method for controlling an operating device, wherein the operating device has a robot operating unit, which carries an instrument holder for accommodating an instrument, such as an observation instrument, and an operating control device is configured to control the robot operating unit, which can be controlled by an input device. Background Art

[0002] US 2015 / 0085084 A1 discloses a medical device designed as an observation device, which is designed to take images of an object field on a human or animal body from outside the body, wherein the device has a rod and an observation optical device arranged at the distal end of the rod for taking images of the object field, wherein the observation optical device is designed as a stereo optical device having at least one electronic image sensor for taking stereo images of the object field, and the device has an optical unit, which includes the observation optical device and is rotatable about a first rotation axis that is approximately parallel to the viewing direction of the observation optical device.

[0003] Such observation instruments for observing an object field from outside the body are called exoscopes. Furthermore, there are known instruments, in particular observation instruments, which are designed as endoscopes for recording images inside the human or animal body.

[0004] From US 2017 / 0163972 A1, an observation device is known, which has an observation instrument and an input device designed as a multi-axis input module for controlling the observation instrument. The input device is designed similarly to a so-called space mouse. US 2017 / 0163972 A1 teaches the use of the input device to control image acquisition parameters and image reproduction parameters. Image acquisition parameters, for example, relate to focus adjustment. Image reproduction parameters, for example, relate to digital zoom.

[0005] According to this document, the distal end of an element is the end facing the object of observation (e.g., a patient). Conversely, the proximal end of an element is the element facing away from the distal end and therefore also from the object of observation. In handheld instruments, the proximal end usually faces the operator of the instrument. In the case of instruments guided by means of an operating unit, the instrument is sometimes, but not necessarily, accommodated in the proximal region of the operating unit, for example on a housing.

[0006] Furthermore, a so-called teleoperation system or telemanipulation system is known, for example from US Pat. No. 5,696,837 A, in which an instrument in the form of an observation instrument or the like is held by a manipulator and is remotely controlled.

[0007] Medical instruments, such as viewing instruments in the form of endoscopes or exoscopes, can in principle be handheld or manually guided. This has the advantage that the user can intuitively and directly adapt the viewing direction, the object field or the image cross section and other parameters of the image acquisition by positioning the instrument accordingly in space.

[0008] However, systems are also known in which the instrument is not handheld or hand-held, but is accommodated on a tripod or a cantilever. This has the advantage that an operator does not have to manually hold the instrument in the desired position and orientation. It is conceivable that the instrument is arranged in a fixed position so that, for example, one and the same image segment can be continuously observed in a preselected object field during an operation.

[0009] Furthermore, it is also conceivable to arrange the instrument on an operating unit or manipulator (also called a motor-driven holding system or robot) in order to utilize the freedom of movement of the operating unit to move and orient the instrument.

[0010] In this way, even when the instrument is not directly hand-held or manually guided, the position, orientation and / or image segment can be changed. However, for this purpose, actuation is still required to cause the instrument to perform the desired movement.

[0011] However, operating elements are usually already provided for such instruments, for example for controlling image acquisition parameters and / or image reconstruction parameters of an image acquisition system having an observation instrument with an image sensor and a corresponding display for image reconstruction. This means that even without additional movement of the instrument, various operating modes for which various operating elements are provided are already conceivable.

[0012] However, when automating or mechanically supporting medical work, it is important to ensure that the systems themselves can be operated intuitively, simply and safely. In particular, in the case of telemedicine systems or robotic systems, it must be taken into account that direct feedback to the operator is often not possible. In contrast to purely manual operation, this can lead to incorrect operation if the operator is not immediately aware of what activity is being triggered by the currently executed operation command. Summary of the invention

[0013] Against this background, the object of the present invention is to provide a medical operating device which allows intuitive and error-free control of a plurality of functions and a method for controlling the operating device. Preferably, a plurality of different functions can be controlled using a number of input devices or input possibilities which can be summarized. Preferably, this can be done without adverse interactions / crossovers. Preferably, the manipulation is sufficiently unambiguous or one-to-one in order to reduce the risk of incorrect manipulation.

[0014] The operating device is preferably designed in such a way that during the actuation / controlling, there is no excessive deviation from the actual or intended activity.

[0015] Furthermore, within the scope of the invention an operating device should be specified which optimizes the working conditions for the user / surgeon and helps the user to maintain an overview.

[0016] According to a first aspect of the present invention, the object is achieved by a medical operating device having the following characteristics:

[0017] an instrument holder for accommodating an instrument,

[0018] A robotic handling unit carrying the instrument holder,

[0019] a control device having an operating control unit for controlling a robot operating unit and an instrument control unit for controlling an instrument, wherein the control device has an interface for at least one input device,

[0020] an input device which is coupled to the interface, wherein the input device can be used in a first operating mode to control the apparatus and in a second operating mode to control the robotic operating unit, and

[0021] The switch is released to activate a second operating mode in which the robot operating unit can move in response to input commands on the input device.

[0022] In this way, the object underlying the invention is fully achieved.

[0023] According to the invention, it is ensured by means of the design of the control device and the release switch that the operator can only operate the operating device in the second operating mode intentionally and not accidentally. This increases safety when operating the operating device. In the first operating mode, the operator can basically control the functions of the instrument held on the instrument holder. For example, in the case of an observation instrument, this can involve image recording parameters and / or image reproduction parameters that can be controlled independently of the robot operating unit.

[0024] In contrast, in the second operating mode, the robot operating unit is used, for example, to change the position and / or orientation of the instrument in space. In the case of an exemplary use for medical diagnosis and / or treatment in the vicinity of a patient, this can also include a relative movement of the instrument relative to the patient. In contrast, the first operating mode does not include or substantially does not include a relative movement between the instrument and the patient. Therefore, in the second operating mode, there are certain potential risks, which are mainly caused by the movement of the instrument. The second operating mode is used, for example, to change the displayed image segment by moving the instrument relative to the observed object when using an observation instrument.

[0025] Therefore, in this context, it is provided that the operator can only intentionally activate the second operating mode by operating the release switch. In this way, it is prevented that the operator accidentally activates the robot operating unit to control (move) the device in the first operating mode. The safety level when operating the operating device is increased.

[0026] Nevertheless, the operator can use one and the same input device to control various functions of the robot operating device. This applies to functions of the robot operating unit that are controlled by the operating control unit. However, this also applies to functions of the instrument that are controlled by the instrument control unit.

[0027] In this way, a separation can be made between functions that move the operating unit if possible or in any case and functions that do not move the operating unit. This increases safety. This applies in particular to operators who indirectly control the operating unit (e.g. without having to directly see the instrument) and are oriented here according to the displayed image and not necessarily according to the specific movement of the elements of the operating unit and the instrument.

[0028] The robotic operating unit may also be referred to as a telemedicine operating unit. Even though it is in principle conceivable to operate the operating unit completely or partially automatically, at least in the exemplary embodiment, the control is performed by a manipulator.

[0029] Typically, when using a viewing device, an input device can be used to manipulate the displayed image segment by means of operator input. This can include movements (translation or rotational movements). However, rotations (rotations) and zooming in / out (zooming or changing the image scale) are also conceivable. Furthermore, it is conceivable that a focus drive for adjusting the focal plane (focus plane) is actuated via the input device.

[0030] The input device can be used not only to control the instrument but also to control the robot operating unit. This greatly simplifies operation for the operator. It is not necessary to use two separate input devices.

[0031] The instrument control unit can be referred to as a CCU / controller / console. In an exemplary embodiment, an input device for manipulating (moving) image segments is connected to the instrument control unit via an interface. In other words, this means that control instructions for operating the control unit are transmitted (according to signal technology) from the input device via the instrument control unit to the operating unit. In addition, the status of the image setting scheme (zoom, focus, ROI position and image orientation) of the unit to be moved (e.g., an exoscope) can be forwarded to the operating unit via the CCU. The operating unit can then react accordingly, for example by changing the direction of movement when the orientation setting scheme changes, or by changing the pivot radius when the focus setting scheme changes.

[0032] The control device can be decentralized and accordingly include an instrument control unit for controlling the instrument and a separate operating control unit for controlling the robot operating unit, the instrument control unit and the operating control unit communicating with each other. It goes without saying that the decentralized design can also be implemented virtually (in software). However, at least in an exemplary embodiment, a hardware separation of the instrument control unit and the operating control unit can be envisioned. In this way, the instrument control unit (CCU / console) can still be universal, that is, it is also suitable for handheld / manually guided instruments.

[0033] According to an exemplary embodiment of the operating device, the instrument is designed as an observation instrument. For example, an observation instrument is an instrument for observing the body from outside the body. This should not be understood as restrictive. In an alternative configuration, the observation instrument is an instrument for observing the inside of the body, such as an endoscope or a laparoscope. However, it is also conceivable that other instruments that are not observation instruments are held on the instrument holder of the robot operating unit.

[0034] According to an exemplary embodiment of the operating device, the input device can be connected to a control device, wherein the control device can be connected to the instrument and the robot operating unit, and the control device is connected between the input device and the instrument accommodated on the instrument holder. In other words, in the exemplary embodiment, the control device is connected between the input device and the instrument in terms of signal technology. In this embodiment, when using the control device, signals are exchanged between the input device and the instrument.

[0035] At least in an exemplary design, both the first operating mode and the second operating mode use the same lines and signal paths.

[0036] According to another exemplary embodiment of the operating device, the control device is arranged intermediately with respect to the input device and the robot operating unit in terms of signal technology, that is, between the input device and the robot operating unit. In this configuration, the instrument control unit is also arranged between the observation device and the input device in terms of signal technology. The signals are transmitted or forwarded via the instrument control unit, or even looped if necessary.

[0037] In an exemplary embodiment, it is further provided that the input device (in the case of image acquisition parameters being controlled directly on the viewing device) can be connected to the viewing device in terms of signaling via the robot operating unit.

[0038] One aspect of the invention is based on the fact that the operating control unit controls the robot operating unit as a function of the parameters of the viewing device. This can relate in particular to the parameters of the viewing head / camera head of the viewing device. For example, the operating control unit can determine the movement speed of components of the robot operating unit as a function of a given magnification (zoom factor, focal length or object distance). For example, the travel speed of the robot operating unit can be reduced with a large zoom factor or a small object distance (corresponding to a detailed representation). Thus, the travel speed of the robot operating unit can be increased, for example, with a small zoom factor or a large object distance (corresponding to an overview representation).

[0039] One aspect of the invention relates to the use of parameters or characteristic values ​​that characterize the observation apparatus and its operation to control the robotic operating unit via the operating control unit. Therefore, the signals and information used are cross-linked and may have mutual influences.

[0040] Nevertheless, at least in the exemplary embodiment, it is provided that the observation instrument and the instrument control unit can be used separately from the operating device. This is particularly suitable for so-called handheld / manually guided applications. Thus, on the one hand, the synergy between the operating unit and the observation instrument or between the operating control unit and the instrument control unit can be utilized. On the other hand, the observation instrument can continue to be used independently without necessarily having to provide an operating unit.

[0041] According to another exemplary design of the operating device, the release switch has two states 0 and I, the first state 0 is the original state, and the second state I is the activation state corresponding to the second operating mode. Therefore, the release switch has at least one input element with two (or more) switch levels. The first state 0 corresponds to a state in which the operator has no effect / operation on the release switch, for example.

[0042] By acting on the input element of the release switch, the release switch can be switched from a first state 0 to a second state I. In the second state, the second operating mode is activated, so that the operator can control the operating unit via the input device.

[0043] According to another exemplary design of the operating device, the release switch also has a third state II, and in particular, when activated from the first state 0 by applying an operating force, the release switch can first be switched to the second state I, and then when the operating force increases, it can be switched to the third state II, and in the first state 0 and the third state II of the release switch, the control of the robot operating unit is locked. In this way, the operational safety is further improved. This function can also be called an emergency function. For example, if the operator applies an excessive operating force, the release switch is switched to the third state II, in which the second operating mode (for controlling the operating unit through the input device) is disabled.

[0044] For example, consider the case where the operator accidentally acts on the release switch. For example, in the case of a foot switch, this can occur because the operator accidentally steps on the input element of the foot switch. In other words, the operator must keep the release switch in the second state I in order to be able to control the operating unit via the input device to move the device. If a greater force is applied, the second operating mode is deactivated. This can also occur when the release switch is accidentally acted on with great force.

[0045] In other words, for example, a force range with an upper limit and a lower limit is defined, wherein the release switch is in the second state I to release the second operating mode. If the operator acts on the release switch with a small force, the release switch remains in the first state 0. The second operating mode is not released. If, on the other hand, the operator acts on the release switch with a large force, the upper limit of the force range is exceeded. The release switch switches to the third state II. The second operating mode is not released or is deactivated. In this way, the risk of incorrect operation can be further reduced.

[0046] According to a further exemplary embodiment of the operating device, the second state I of the release switch lies between the first state 0 and the third state II with respect to the switch position of the input element of the release switch.

[0047] According to another exemplary design of the operating device, the release switch is directly connected to the operating control unit of the control device corresponding to the robot operating unit. In this way, a proprietary safety device (release controller) is implemented that cannot be simply avoided / deactivated by software. This further improves safety.

[0048] For example, the release switch is permanently wired to the control device of the operating device, in particular to the safety device there. In terms of signals, the release switch is directly connected to the safety device / release controller. This reduces the risk of manipulation. In other words, the release switch and / or the safety device can be designed in a decentralized manner (with decentralized and possibly dedicated components).

[0049] According to another exemplary embodiment of the operating device, the control device is designed to provide the robot operating unit of the operating control unit with the aid of the device control unit in the second operating mode with the aid of the device control unit with the control instructions detected by the input device. This takes into account the fact that the instrument, such as an observation instrument, can in principle also be used without a robot operating unit, for example for handheld / manually guided applications. In this case, the input device is mainly used for instrument control. In this regard, a connection between the input device and the instrument control unit is provided in the exemplary embodiment. The use of the input device for controlling the operating unit (i.e., generating a manipulation signal to be processed by the operating device) is carried out in the second operating mode and is implemented by means of a release switch.

[0050] According to another exemplary embodiment of the operating device, control commands for the robot operating unit are transmitted in the second operating mode via the device control unit, which forwards the control commands. The fact that at least in the exemplary embodiment, the device can also be used independently without the robot operating unit is also taken into account. At the same time, the control device has a simple structure, in which operational safety and the avoidance of incorrect manipulation are fully taken into account.

[0051] According to another exemplary embodiment of the operating device, the input device is designed as a multi-axis input device, wherein the input device detects operating movements in the form of displacement or pivoting movements on at least two axes and converts the operating movements into control commands for the robot operating unit.

[0052] According to another exemplary embodiment of the operating device, the robot operating unit comprises a multi-component power device with a plurality of coupling components, wherein the control device is designed to convert the motion preset values ​​into control instructions for the motion axes of the coupling components by means of interpolation. In this way, the multi-axis operating unit can also be controlled in a simple manner by operating on the input device. The multi-component power device is, for example, a serial power device. It goes without saying that parallel or mixed serial-parallel power devices can also be used.

[0053] According to another exemplary embodiment of the operating device, the robot operating unit comprises a serial power device having a plurality of coupling members, which are controlled by an operating control unit of the control device. Thus, the observation instrument can be controlled to travel in a given space with a large degree of freedom of movement.

[0054] According to another exemplary embodiment of the operating device, the control device is designed to store the current position and orientation of the instrument and to call it up as required. This function can also be called a save-and-recall function. In this way, the operator can set at least one travel point, which can be approached again from the central position of the instrument if necessary. It is conceivable to provide a special function key on the input device for this purpose, so that positions can be saved and called up later.

[0055] This function can also be referred to as a recall function. In addition, it is conceivable that when an observation instrument is used simultaneously, in addition to the spatial position of the instrument, its image parameters (e.g. zoom, focus value and ROI position) are also stored and, if necessary, can be called up and set again by means of a corresponding command ("Recall"). This also applies to the parameters of such instruments that are not observation instruments.

[0056] Typically, the recall function can involve other parameters, such as those related to the focus position, zoom, image segmentation (with translation function) and other image settings such as contrast, brightness and filters. This means that other parameters of the instrument or observation device can also be saved using this function and recalled as needed.

[0057] This function can be linked to the release by the release switch. Therefore, it is conceivable that the saving and retrieving are allowed only when the release switch releases the second operating mode of the operating device.

[0058] In an exemplary embodiment, this functionality includes storing and traveling to a certain position and orientation as required, without defining a path to be traveled therefrom. In another exemplary embodiment, this functionality includes a certain degree of "reverse travel", in which the operating unit not only travels to the position / orientation, but also travels a temporary movement path in the opposite direction. Such a solution can be used, for example, in a so-called direct control mode.

[0059] According to another exemplary embodiment of the operating device, the control device is designed to store a plurality of predetermined positions and orientations of the device so that these positions and orientations can be called up as required. In this way, the save and call functions can be moved to a plurality of positions / orientations as required. The control can be carried out via an input device. In principle, it is conceivable to use a plurality of input devices, i.e., for example, a touch display and / or a keyboard. In this way, a selection decision with a plurality of selection possibilities can be made easily and directly.

[0060] According to another exemplary design of the operating device, the control device is designed to operate the robotic operating unit in a direct control mode in order to move and orient an instrument in space, wherein manipulation instructions on the robotic operating unit can be generated by acting on elements of the operating unit adjacent to the instrument, and the operating control unit is designed to control the robotic operating unit in such a way that the observation instrument follows the induced movement.

[0061] This direct control mode ("Direct Drag Mode") can be used in particular for coarse positioning of the viewing instrument relative to the object or object field. If the robot operating unit is controlled in a suitable manner, quasi-manual adjustments can be made directly on the instrument holder or at least in the vicinity of the viewing instrument.

[0062] Thus, in this mode, the instrument holder with the observation instrument accommodated thereon can be moved and oriented quasi-manually in space, the control device being designed to autonomously maintain the robotic operating unit in the current position / orientation, but in a manually operated (quasi-manual) manner by direct gripping and movement.

[0063] It is conceivable that in direct control mode the drive of the elements / components in the power chain of the robot operating unit is monitored in the manner of detecting manipulation commands. Thus, the "follow-up movement" can be generated. In other words, the robot operating unit itself is used as an input device in direct control mode.

[0064] In this mode, from the perspective of the robotic operating unit, there is no need necessarily to extensively query information about the viewing instrument, since the movements are initiated and controlled directly on the robotic operating unit.

[0065] The direct control mode may include the operator exerting a force directly on a component of the robotic operating unit, wherein the component is preferably adjacent to the instrument holder. In this way, the robotic operating unit itself serves as an input device.

[0066] According to another exemplary design of the operating device, a manipulation element for controlling the robot operating unit in the direct control mode is provided, wherein the manipulation element has a sensor for generating a release signal for the direct control mode. In other words, for the direct control mode, it is not necessary to release the second operating mode by a release switch. For example, the sensor is designed as a proximity sensor or a touch sensor.

[0067] Preferably, one and the same input element (eg a mushroom-shaped button or a joystick similar to a game stick) is used for detecting the induced movement in the direct control mode, but also (eg via an integrated sensor) for releasing the direct control mode.

[0068] It goes without saying that, according to an alternative embodiment, the release of the direct control mode can also be achieved by a separate element, namely a separate release switch, and the release switch for the direct control mode does not necessarily have to be consistent with the release switch for the second operating mode.

[0069] According to another exemplary embodiment, when switching between direct control mode and control using a separate input device, a new release is set via the release switch. This ensures a clear or one-to-one switch between direct control in direct control mode and indirect control via an input device.

[0070] In an exemplary development of this design, an input device with an input element is provided in order to control the operating unit and thus the observation instrument in direct control mode. The input device is arranged, for example, directly on an element of the operating unit and preferably adjacent to the instrument holder or the accommodated instrument. The input device or its input element itself can in principle be simply held. This can be a handle, by which the operator can move / manipulate the operating unit by pulling, pressing or the like.

[0071] According to another exemplary embodiment of the operating device, the robot operating unit is mounted on a trolley, wherein the robot operating unit can be controlled to move the instrument only when the trolley (or the movement of the trolley) is locked. This measure further improves safety. In this way, a relative movement of the trolley with respect to the patient is avoided, which would also lead to a relative movement of the instrument with respect to the patient.

[0072] The locking can be caused by a lock or a support. For example, a support can be considered, which lifts the trolley (or alternatively the frame) to such an extent that the trolley stops. The function of the lock / support can be monitored by a parking sensor. The support can also be generally referred to as a travel lock.

[0073] In another embodiment of the operating device, a sensor (lock sensor) is also provided, which monitors the travel lock of the trolley in order to determine a corresponding signal to the control device or the safety device. In an exemplary embodiment, the lock sensor is connected to the safety device of the control device via a separate circuit. For example, the lock sensor can be fixedly replaced by the safety device. A design using proprietary components is provided. In this way, the lock of the trolley can be monitored in an anti-operation manner.

[0074] It is conceivable that the release switch and the lock resistance sensor are combined in terms of the circuit to bundle the safety function. Here, at least in the exemplary design, the discrete circuit, design and connection of the element are also provided.

[0075] According to another exemplary embodiment of the operating device, the interface can be connected to a plurality of input devices, through which the robot operating unit can be controlled, and these input devices can have different priorities. In this way, the required redundancy can be achieved. For example, in an emergency, one master input device can negate another or cancel its command.

[0076] Furthermore, the operating device can be controlled by different people working together. It is conceivable that during the medical procedure, the command management for the control of the operating device is performed by different people in stages. Furthermore, it is conceivable that different input devices are arranged at different locations / positions relative to the patient or his support. This allows control from different angles.

[0077] As already mentioned above, different operating modes are conceivable. Basically, this also includes operation using various types of input devices. Thus, it is conceivable that the operating device is controlled by a one-hand input device. Furthermore, it is conceivable that the operating device is controlled by a touch display and / or a keyboard in conjunction with a display. Furthermore, it is conceivable that the operating device, in particular its robotic operating unit, is controlled at least in direct control mode by direct force intervention on the operating unit itself. It goes without saying that, depending on the type of control selected, not all functions of the operating device can necessarily be controlled.

[0078] According to another exemplary embodiment of the operating device, the control device is designed to detect a given orientation of the image sensor and to associate the input device coordinate system with the operating unit coordinate system. The operating unit coordinate system reflects the orientation of the image sensor. The orientation thus describes the horizontal or rotational position of the image sensor.

[0079] In other words, at least in some exemplary embodiments, it is conceivable that a left-right axis of the input device causes a left-right movement of the displayed image segment. Likewise, a front-to-back axis of the input device can cause a front-to-back movement or an up-and-down movement of the displayed image segment. This also applies, for example, to corresponding rotational movements. Information about the current orientation of the image sensor is transmitted, for example, from the viewing device to the control device.

[0080] The robot operating unit is now controlled while maintaining the orientation of the image sensor (artificial horizon of the displayed image segment). A corresponding interpolation of the movements performed on the different axes of the operating unit helps to maintain this correspondence.

[0081] According to another exemplary embodiment of the operating device, the viewing device has an orientation sensor for detecting the orientation of the image sensor. In this way, an artificial horizon or a coordinate system specific to the image sensor can be detected in terms of signal technology.

[0082] In another exemplary embodiment, the given orientation of the image sensor is detected indirectly via a display, wherein the desired orientation (horizontal position) is defined with the aid of the displayed image segment. In principle, it is also conceivable to detect the orientation of the image sensor indirectly by controlling a drive for rotating / twisting the image sensor. The orientation is thus not detected by the sensor, but rather is derived from a setpoint preset value of the drive.

[0083] Particularly in the case of image sensors with an observation channel (single image sensor), purely digital rotation and detection of the horizon is also conceivable.

[0084] According to another exemplary embodiment of the operating device, the control device is designed to control the robotic operating unit, taking into account a given orientation of the viewing instrument, so that the viewing instrument can be moved along the spherical shell surface or a spherical shell surface segment. The movement can be realized along the spherical shell or the spherical shell segment with an at least substantially constant radius relative to the pivot point.

[0085] According to another exemplary embodiment of the operating device, the control device is designed to adapt the orientation of the image sensor when observing the travel movement of the device, taking into account the movement path. In this way, an alignment of the optical axis with the pivot point (at least in the area near it) can be achieved. The observation device, in particular its image sensor, is oriented radially with respect to the center of the circular movement.

[0086] According to another exemplary embodiment of the operating device, the control device is designed to control the robot operating unit taking into account a given orientation of the viewing instrument so that the viewing instrument can be moved along a plane parallel to the viewing plane. Preferably, this is achieved taking into account the orientation of the viewing instrument, in particular its image sensor.

[0087] According to another exemplary embodiment of the operating device, the control device is designed to control the operating unit in such a way that the instrument can be pivoted about a virtual tilt axis arranged parallel to the image sensor by an interpolated movement of the operating unit. In this way, instruments with a variable viewing direction (observation instruments) can be "simulated". Thus, instruments without an integrated rotary drive can also provide this degree of freedom or this function. Of course, this function is conceivable in particular for instruments arranged outside the patient's body.

[0088] It is conceivable that, in an alternative embodiment, an apparatus with a variable viewing direction and a corresponding (internal) drive is provided, wherein the drive is also controlled via an input device. In this way, the rotary drive can be intuitively controlled.

[0089] According to another exemplary embodiment of the operating device, the control device is configured to detect the type of the instrument and to control the robot operating unit according to the detected type. For example, this includes: controlling the operating unit by the operating control unit and detecting / determining the instrument type by the instrument control unit.

[0090] For example, the control device is designed to identify different types of instruments, for example by means of identification information (ID), wherein the control device is used to control the operating unit and the instrument using a configuration suitable for the respective type of instrument. According to another exemplary embodiment, the instrument holder is designed to accommodate different instruments. An interface connected to the instrument in terms of signal technology is arranged on the instrument holder, for example, so that configuration information and / or identification information can be queried via the interface.

[0091] According to another exemplary embodiment of the operating device, the image sensor can be rotated in the instrument designed as an observation instrument. This particularly relates to an axis perpendicular to the image plane of the image sensor. An exemplary embodiment with a stereo image sensor uses this function. In principle, it is conceivable to manually twist the image sensor. However, it is also conceivable to provide a rotation / rotation drive for the image sensor. The rotatability of the image sensor enables the image to be erected.

[0092] According to another exemplary design of the operating device, the observation device has a stereoscopic image sensor, in particular, two image collectors. In this case, the image obtained by the rotatability of the image sensor is advantageous. In this way, the alignment of the observation channel with the human eye area can be achieved. It is also conceivable to have an embodiment with more than two image collectors, for example if the two collectors each correspond to a spectral range (visible light, infrared light, etc.).

[0093] According to another exemplary embodiment of the operating device, the control device is designed to establish a correspondence between the orientation of the image sensor and the axis of movement for inputting on the input device, so that the direction of movement of the image segment displayed by the reproduction unit corresponds to the direction preset on the input device. In this way, the operator does not need to carry out an imaginary alignment between different coordinate systems / orientations. The operator can first orient himself on the displayed image segment in order to move the image segment in the desired manner.

[0094] Accordingly, the execution of operating commands (direction commands and travel commands) by means of the control device includes a coordinate transformation which is taken into account when the operating unit is actuated. The axes of motion correspond, for example, to the respective degrees of freedom of motion (forward, backward, right, left, etc.).

[0095] According to another exemplary embodiment of the operating device, the input device is designed as a multi-axis input device, preferably as a single-hand multi-axis input device, which allows at least two axes to perform an operating movement in the form of a displacement movement or a pivoting movement to detect a motion signal for moving the image segment along a spherical surface. The input device can be designed as a so-called 3D mouse, for example. By appropriately acting on the input device, in particular on the operating element of the input device, the movement of the image segment, for example along a spherical surface or a spherical surface segment, is controlled. From the perspective of a viewer of the display device of the reproduction unit, that is, the display, the input device with the image sensor moves two-dimensionally along the development of the curved surface. It goes without saying that a real movement in three-dimensional space is achieved. In addition, it is conceivable in another mode that the movement of the image segment along a plane parallel to the object plane is controlled by the operating movement. From the perspective of the viewer of the reproduction unit, the displayed image segment moves.

[0096] Therefore, it is conceivable that an input element that can move along different axes is provided in the input device, wherein the movement (for example, translational movement along two or more axes, and rotational movement or pivoting movement along two or more axes) can be detected by suitable sensors and converted into control commands.

[0097] According to another exemplary embodiment of the operating device, the control device aligns two or more axes of movement of the input device with a given orientation of the image sensor, so that an operating movement of an input element of the input device leads to a movement of the displayed image segment in the same direction. This ensures that the operator can intuitively control the desired movement by moving to the left, right, up / forward or down / backward. The operator does not have to worry about coordinate transformations. This is done by the control device.

[0098] In other words, a pivoting movement to the right, for example, can cause the viewing device to move to the right along the curved surface while maintaining the object distance and the centering of the image sensor. Similarly, a pivoting movement to the left causes the viewing device to move to the left along the curved surface. Furthermore, a linear movement to the right, for example, can cause the viewing device to move to the right along a plane parallel to the object plane. Likewise, a linear movement to the left can cause the viewing device to move to the left along a parallel plane. However, the object distance relative to the object plane remains unchanged.

[0099] According to another exemplary embodiment of the operating device, the input device is designed as a one-hand input device, wherein the input device detects an operating movement at least in the form of a rotation about a longitudinal axis or a translation along the longitudinal axis in order to detect movement signals for controlling a zoom function and for focus setting. The input device can thus perform other functions. In only one operating mode, a plurality of functions (movement, magnification, etc.) can be controlled in a simple manner. However, it is also conceivable to provide different operating modes to allow unambiguous control.

[0100] According to another exemplary embodiment of the operating device, the control device is designed to execute an initialization program in order to detect configuration information related to the held observation instrument, wherein the initialization preferably includes a query via the instrument control unit and the configuration information is transmitted to the operating control unit and taken into account in the control of the operating unit.

[0101] In this way, the control device can determine, for example, which type of viewing device is currently attached to the robot operating unit. The type of viewing device relates, for example, to its dimensions, the parameters of its image sensor, the ability to exchange data, possible rotational positions for rotating the image sensor and possible sensors for detecting the rotational position of the image sensor, etc.

[0102] The term initialization process is not to be understood as a one-time process. The initialization process can be performed repeatedly, for example for each specific treatment or diagnostic task, for example when starting the control device, or for each refitting of the operating device. The initialization process can also be carried out automatically in a targeted manner, for example repeatedly at regular intervals. On the contrary, it is conceivable that the operator can intentionally start the initialization process.

[0103] In other words, the type of offset can be determined, for example, during an initialization process, wherein the control device for the robot operating unit (operating control unit) uses this offset when controlling the robot operating unit. The offset describes, for example, the position of the image sensor relative to an element of the operating unit. The offset can describe the geometry / extension of the viewing instrument. In this way, the image sensor of the viewing instrument can be precisely controlled in order to move the image segment as required.

[0104] For example, it is conceivable that the query inherent in the initialization process is initiated by operating the release switch to activate the second operating mode. The initialization process can also be called a setup process. It is thus conceivable to use different camera systems / viewing instruments. The data (configuration information) can be provided directly by the viewing instrument. Alternatively, the viewing instrument can be identified by its ID, based on which the data from the database are queried.

[0105] According to another exemplary embodiment of the operating device, the control device is designed to mirror the displayed image segment as required, and the implementation of the operating instructions on the input device takes this mirroring into account. In this way, a fast-flip mode can be provided.

[0106] For example, mirroring can occur about a horizontal or vertical axis. This can occur, for example, when another operator takes over control of the operating unit and, from the perspective of the previously responsible operator, is located on the opposite side of the patient.

[0107] According to another aspect, the object of the invention is achieved by a method for controlling an operating device, the operating device comprising a robotic operating unit having an instrument holder and an instrument accommodated thereon and having an image sensor for detecting image sections of an object plane, wherein the method comprises the following steps:

[0108] providing an instrument on an instrument holder,

[0109] The apparatus and the robotic operating unit are controlled by means of the control device, wherein the control is performed using an input device, wherein the input device can be used in a first operating mode to control the apparatus and in a second operating mode to control the robotic operating unit, and

[0110] A second operating mode is activated, in which the robot operating unit can be moved in response to input commands on the input device by operating the release switch.

[0111] In this way, the object of the invention is also fully achieved.

[0112] According to another exemplary design scheme of the method, the release switch can operate in a first state 0, a second state I and a third state II according to the applied operating force, wherein the second state I is an activation state corresponding to the second operating mode, wherein in the first state 0 and the third state II, the second operating mode is deactivated, and when the release switch is switched, the second state I is between the first state 0 and the third state II.

[0113] It is conceivable to use the method for controlling a medical operating device. It is conceivable to use the method for surgical and / or diagnostic procedures. However, it is also conceivable to use the method for procedures other than surgical and / or diagnostic procedures. Therefore, exemplary designs are also conceivable for performing surgical / diagnostic procedures on a human or animal body without using the method.

[0114] It goes without saying that the control method can be improved similarly to the exemplary configuration of the operating device, and vice versa. In other words, the subject matter of the exemplary embodiments and improvements related to the operating device can also become the subject matter of the corresponding embodiments of the method described here.

[0115] It goes without saying that the features of the invention mentioned above and those yet to be explained below can be used not only in the combination indicated in each case but also in other combinations or alone, without departing from the scope of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0116] Other features and advantages of the present invention are obtained through the following description of several preferred embodiments with reference to the accompanying drawings, in which:

[0117] Figure 1 A perspective view showing an embodiment of a medical operating device for observing an object field of a patient;

[0118] Figure 2 Different view orientations are shown according to Figure 1 Another perspective view of the operating device;

[0119] Figure 3 A schematically simplified partial view of an image sensor in an observation head and a reproduction unit of an observation instrument is shown to illustrate the image orientation;

[0120] Figure 4 Shows something like Figure 3 Another illustration of with the image orientation corrected by rotation of the image sensor;

[0121] Figure 5 A partial perspective view of an embodiment of an operating device with a viewing instrument is shown to illustrate an exemplary function of the operating device;

[0122] Figure 6 Another partial perspective view of an embodiment of an operating device with a viewing instrument is shown to illustrate another exemplary function;

[0123] Figure 7 Another partial perspective view of an embodiment of an operating device with a viewing instrument is shown to illustrate another exemplary function;

[0124] Figure 8 A schematic diagram showing an apparatus comprising two input devices which can be used for control purposes in an operating device;

[0125] Fig. 9 A simplified partial perspective view shows an embodiment of an operating device having an input element serving as a release switch;

[0126] Fig.10 Another partial perspective view of an embodiment of an operating device with a viewing instrument is shown to illustrate another exemplary function;

[0127] Fig.11 A side view showing an instrument holder in an unmounted state with a viewing instrument that can be accommodated thereon;

[0128] Fig.12 Shown in assembled state Fig.11 Another view of the device;

[0129] Fig.13A schematic block diagram is shown to illustrate the basic design of an embodiment of an operating device;

[0130] Fig.14 A schematic simplified block diagram is shown to illustrate an embodiment of a method for controlling an operating device of an apparatus; and

[0131] Fig.15 A further schematically simplified block diagram is shown to illustrate a further specific embodiment of a method for controlling an operating device of an apparatus. DETAILED DESCRIPTION

[0132] Figure 1 The operating device, generally indicated by 10, is outlined using a perspective view. The operating device 10 may also be referred to as a medical operating device. Figure 1 In the exemplary embodiment shown, the operating device 10 is assigned or provided to a patient 12 supported on a table 14. The operating device 10 can be used for therapeutic, surgical and / or diagnostic purposes. However, it is also conceivable to use it for non-therapeutic, non-surgical and / or non-diagnostic purposes. This can include use in exercises or simulations.

[0133] In the embodiment shown, the operating device 10 is used to observe an object field 16. The object field 16 is, for example, a part of the patient's body 12. For the purpose of illustration, the object field 16 is denoted by the letter P in at least some of the figures shown. This should not be understood as limiting.

[0134] exist Figure 1 In the embodiment shown, the object field 16 is arranged outside the patient's body 12. In this exemplary embodiment, the operating device 10 is therefore used to observe the body from outside the body. Alternative exemplary embodiments are conceivable, in which the operating device 10 can be used to observe the interior of the body, that is, for example, for endoscopic or laparoscopic observation.

[0135] Typically, the operating device 10 is used for optical observation within the range of the visible electromagnetic spectrum or within the adjacent marginal range. Therefore, in the basic exemplary design, it is a question of using white light, infrared radiation or UV radiation for observation. Light visible to the human eye (white light) is in the spectral range of 380nm to 780nm. Radiation in the near infrared range is in the range of about 780nm to 1400nm. So-called near ultraviolet light or long-wave ultraviolet light (also called black light or UVA light) is in the range of about 315 to 380nm. So-called medium-wave UV light (also called UVB light) is in the range of about 280nm to 315nm.

[0136] The aforementioned area can be used for white light observation as well as PDD applications (photodynamic diagnosis) and PDT applications (photodynamic therapy). This can also include fluorescence observation. In this case, fluorescence observation in the near-infrared range using indocyanine green (ICG) can also be considered.

[0137] The operating device 10 comprises a platform 22, which is generally designed as a traveling trolley or cart 24. This should not be understood as restrictive. However, at least in the exemplary design, it is provided that the platform 22 can be moved. This increases flexibility and suitability for various applications. Therefore, the platform 22 is designed, for example, as a trolley 24 with a chassis 26. Figure 1 As shown, the trolley 24 comprises, in addition to the base frame 26 , a so-called support element 28 or a corresponding support unit.

[0138] The support 28 serves to protect the trolley 24 from undesired movements during operation of the operating device 10. Thus, the support 28 can be used to jack up the trolley 24. Alternatively or additionally, it is provided that the wheels of the chassis 26 are blocked, this in the manner of a parking brake. The state of the trolley 24 (moving or jacked up / fixed) can be monitored by suitable sensors, so that the operation of the operating device 10 is only released if it is ensured that the trolley 24 cannot move accidentally. It goes without saying that the trolley 24 can also be anchored / fixed in another way, so that the operating device 10 can be operated safely.

[0139] In addition, the platform 22 has a housing 30, which accommodates the elements / units of the operating device 10. This results in a compact, clear design. In addition, the cleaning of the operating device 10 is simplified. Alternatively, the design of a shelf or a shelf trolley can also be considered. In an exemplary design, the basic control unit for the operating device 10 is arranged in the housing 30 of the trolley 24. This means that the platform 22 is movable, so it can be used in different locations or in different spaces. It goes without saying that, for example, for the purpose of energy supply, signal supply and / or media supply, the platform 22 or the trolley 24 is still associated with the environment.

[0140] The platform 22 or the traveling trolley 24 forming the platform carries an operating unit 34. In the exemplary embodiment shown, the operating unit 34 is designed as a motor-driven operating unit, such as a robot operating unit. Alternatively, the operating unit 34 can be called a remote manipulator unit. Accordingly, the platform 22 forms the basis of the operating unit 34. At least in the exemplary embodiment, the control device for the operating unit 34 is arranged on the platform 22 or in its housing 30.

[0141] The operating unit 34 is designed to carry / hold an instrument 36. The instrument 36 can be moved by a motor via the operating unit 34. Therefore, the operating unit 34 can be referred to as a remote manipulator of the instrument 36. The instrument 36 is, for example, a medical instrument. At least in the exemplary configuration, the instrument 36 is designed as an observation instrument 38. The observation instrument 38 is, for example, an instrument for observing the patient 12 from outside the body, that is, at a certain distance from the body of the patient 12. Such an observation instrument 38 can be designed and designated as an exoscope. However, it is also conceivable to design the observation instrument 38 as an instrument for observing the interior of the patient's body 12, for example as a laparoscope or an endoscope.

[0142] The instrument 36 is accommodated on the instrument holder 40. The instrument 36 is preferably accommodated detachably on the instrument holder 40. In other words, the instrument 36 can in principle also be separated from the instrument holder and thus from the operating unit 34. It is thus conceivable to operate the instrument 36 in an alternative application of handheld / manual guidance. In the following, in particular for illustrative reasons, it is assumed that the instrument 36 is used as an observation instrument 38 for observing the object field 16, in particular as a medical observation instrument 38 for observing the object field 16 in the patient 12. .

[0143] exist Figure 1 4 shows a control device 44 in dashed lines, which is accommodated on the platform 22. As an example, the platform 22 has a trolley 24 with a frame including an enclosure in the form of a housing 30. Thus, the control device 44 can be received and held on the frame.

[0144] At least in the exemplary design, the control device 44 has an operation control unit 46 and an instrument control unit 48. The operation control unit 46 and the instrument control unit 48 can be decentralized, essentially independent control units / control modules. In other words, a plurality of devices can be combined with each other to form the control device 44. However, it is also conceivable to design the control device 44 in such a way that the operation control unit 46 and the instrument control unit 48 at least partially use common hardware / computing technology. In other words, it is conceivable to design the control units 46, 48 decentralized and / or integrally. Hybrid forms are conceivable.

[0145] In order to control the operating device 10 and in particular interact with the control device 44, various input devices for an operator (e.g. an operator or an assistant) are provided. For example, an input device 50 is provided, which is designed as a one-handed input device. For example, the input device 50 is designed as a so-called 3D mouse, at least similar to a 3D mouse. In other words, the input device 50 can be designed to detect the input of the operator along multiple spatial axes and thus detect control instructions, wherein the input is performed only by one hand acting on a single input element. The input device 50 is preferably used both to control the robot operating unit 34 and to control the observation device 38, or to control the reproduction of images taken by the observation device 38. In this case, reference is made again to US 2017 / 0163972 A1, which shows the use of a one-handed input device to control image capture parameters and for controlling image reproduction parameters.

[0146] Another input device 52 is designed as a so-called touch display, i.e. a touch screen. The input device 52 can thus be used for selecting decisions, general settings and similar functions. In principle, the robot operating unit 34 can also be controlled via the input device 52. For example, the input device 52 designed as a touch display can be used to make general settings related to the instrument 36 (observation instrument 38). This also includes, for example, selecting the current type of observation instrument 38. In addition, operating parameters for operating the observation instrument 38 can be selected and / or entered via the input device 52.

[0147] Another input device 54 is designed as a foot switch, for example. The foot switch can be operated by the operator without using hands. The input device 54 designed as a foot switch can be used as a release switch in particular. The design of the foot switch should not be understood as restrictive.

[0148] Basically, the input device 54 is designed to release a certain function / operation only at the explicit command of the operator when necessary. In other words, the input device can prevent the certain function from being triggered unintentionally. In this way, in particular the robot operating unit 34 can be operated safely. This particularly concerns the movement of the instrument holder 40 (on which the instrument 36 is accommodated) relative to the patient 12 or the table 14. Such a movement is only possible when there is a further release signal via the input device 54. In addition, the input device 54 used as a release switch can be connected to a safety controller (release controller).

[0149] In addition, the operation device 10 Figure 1The design shown in also includes another input device 56, which is designed as a button or key. The input device 56 can be designed as an emergency stop button in principle. Accordingly, the input device 56 can interrupt the current action of the operating device 10, in particular the robot operating unit 34. However, it is also conceivable that the input device 56 similar to the previously described input device 54 is designed as a release switch for activating (realizing) a certain function. Both embodiments increase the safety when operating the operating device 10.

[0150] exist Figure 1 In the exemplary embodiment of the operating device 10 shown, a further input device 58 is provided directly in the robot operating unit 34. The input device 58 is arranged on or near the instrument holder 40. In the so-called direct control mode, the input device 58 is used to quasi-directly control / displace the unit 34 and thus also the viewing instrument 38. In other words, the operator can control the viewing instrument 38 quasi-manually in a simple manner in the direct control mode (also called direct drag mode) by pulling or pivoting / rotating the input device 58, which is designed, for example, in the form of a handle, mushroom, or button.

[0151] In direct control mode, the operating unit 34 is operated by the control device 44 or its operating control unit 46 in such a way that the robot operating unit 34 directly follows the operating instructions. In this way, the operator has the impression or feeling of directly or almost directly operating the observation device 38 in space. The operating unit 34 follows the movements of the operator, that is, the control instructions. As long as the operator ends the control movement, the operating unit 34 remains in the currently selected position and thus remains in space, and thus also the observation device 38 is correspondingly held in space. In direct control mode, the operating unit 34 can be controlled in such a way that a limited force must be overcome for the operator when acting directly on the input device 58.

[0152] In the exemplary embodiment, the input device 50 is connected to the platform 22 via a cantilever 62. The cantilever 62 can have various adjustable components. Thus, an ergonomically favorable position of the input device 50 can be set according to the situation. Preferably, the input devices 50, 52, 54, 56, 58 are indirectly or directly connected to the control device 44 in terms of signal technology (that is, via a data line or possibly by radio). This can include a connection with the operating control unit 46 and / or the device control unit 48.

[0153] Figure 1 and Figure 2 FIG. 2 shows an exemplary design of a robot operating unit 34. The operating unit 34 has a base frame 68, which is arranged on a platform 22 designed as a trolley 34. In other words, the operating unit 34 is at least Figure 1and Figure 2 The embodiment shown in FIG. 1 can be moved.

[0154] The operating unit 34 has a kinematic chain 70, the base of which is formed by a base frame 68 on the platform 22. The operating unit 34 is designed as an open kinematic chain. In other words, the kinematic chain 70 has a plurality of components which are arranged in series and are coupled to one another.

[0155] The operating unit 34 has a circular conveyor disk 72, which is accommodated / stored on the base frame 68. The circular conveyor disk 72 can be twisted (about a vertical axis) relative to the base frame 68, for example. Therefore, a hinge 74 is provided between the circular conveyor disk 72 and the base frame 68. The hinge 74 defines a rotation axis (vertical in the exemplary embodiment). The base frame 68 forms the proximal end of the kinematic chain 70 of the operating device 34. The instrument holder 40 forms the distal end of the kinematic chain of the operating device 34.

[0156] The swing arm 76 is connected to the circular conveyor plate 72 and is connected to the circular conveyor plate 72 via a hinge 78. Figure 2 The hinge 78 defines a (horizontal in the exemplary embodiment) axis of rotation. An arm 80 is also provided, which is connected to the rocker arm 76 via a hinge 82. The hinge 82 defines an axis of rotation. Next in the kinematic chain 70 is an element called a hand 84, which is connected to the arm 80 via a hinge 86 (see Figure 2 ). The hinge 86 defines an axis of rotation.

[0157] In the instrument holder 40 according to Figure 1 and Figure 2 In the embodiment of the present invention, an instrument holder 40 for accommodating a viewing instrument 38 is connected to the element designated as hand 84. The instrument holder 40 is connected to the element designated as hand 84 by a hinge 88. The hinge 88 defines a vertical axis. The instrument holder 40 can rotate relative to the hand 84 or arm 80 about the axis defined by the hinge 88. In addition, it is contemplated that the instrument holder 40 can rotate about its longitudinal axis compared to the hinge 90 defining the axis of rotation. Figure 2 The illustrations should not be construed as limiting.

[0158] In the exemplary embodiment, a drive device is provided for each of the hinges 74, 78, 82, 86, 88, 90. The drive device is, for example, a direct drive device or a servo drive device. Figure 2 Detailed display in.

[0159] It goes without saying that the operating unit 34 can also be used with Figure 1 and Figure 2The embodiments shown in the drawings may be designed differently. This applies, for example, to the number of components in the kinematic chain 70 and / or to the actual degrees of freedom or axes of movement between adjacent components. It is essential that the viewing instrument 38 can be moved in at least two degrees of freedom relative to the patient 12 or the table 14 using the robotic operating unit 34. Preferably, the operating unit 34 enables the viewing instrument 38 to be moved with four, five, six or even seven degrees of freedom. It goes without saying that robotic operating units with more or fewer components and with different degrees of freedom of movement can be used. The number of movable (usually pivotable) axes is generally selected as follows, so that the required degrees of freedom can be provided for the instrument 36.

[0160] Figure 3 and Figure 4 An exemplary embodiment of an observation head, designated 100, of the observation device 38 is shown in a simplified schematic diagram. Figure 2 The viewing instrument 38 has a housing 96. A rod 98 extends from the housing 96 in the direction of the distal end of the viewing instrument 38. A viewing head 100 is arranged at the distal end. Figure 3 and Figure 4 Only the distal end of the viewing instrument 38 with the operating head 100 is shown.

[0161] from Figure 3 and Figure 4 It can also be seen that, at least in the exemplary embodiment, a rotational degree of freedom is provided for the viewing head 100 or the image sensor installed therein (see double arrow 102). Thus, an erect image (image rotation) relative to the optical axis 104 is possible, see Figure 2 To this end, the observation device 38 having the observation head 100 is designed to observe the field of view 112 (see Figure 2 and Figure 5 ) and in the field of view 112, an image segment 116 is detected in the acquisition region 114. This is in the object plane or object field 16 (see Figure 1 The field of view 112 is defined by the optical imaging system of the viewing head 100 .

[0162] The field of view 112 and the image sensor (or sensors) installed in the viewing head 100 define a (feasible) recording area 114. The recording area 114 cannot be larger than the field of view 112. The recording area 114 is defined, for example, by the size of the image sensor or sensors and the imaging optics. The image segment 116 can essentially correspond to the recording area 114. However, at least in the exemplary operating mode, it is also conceivable that the image segment 116 is intentionally selected to be smaller than the recording area 114. This is conceivable in the digital zoom. In addition, the image segment 116 can be selected to be smaller than the recording area 114, so that possible imaging errors / display errors in the edge area of ​​the recording area 114 (that is, at the edge of the built-in image sensor) are avoided or at least minimized.

[0163] In order to detect the image segment 116 or the recording region 114, the viewing device 38 has an image sensor 118. Figure 3 and Figure 4 In the embodiment shown in , a stereo image sensor 118 is installed. Therefore, the image sensor 118 has a first sensor 120 and a second sensor 122. The sensors 120, 122 are designed as CCD image sensors, CMOS image sensors, etc., for example. The sensors 120, 122 each have a plurality of detection pixels. It goes without saying that the image sensor 118 can also be designed as a (single) image sensor with only one observation channel in principle. Each reference numeral 124 indicates the center of the sensors 120, 122.

[0164] In order to reproduce the captured image, a reproduction unit 128 is provided. The reproduction unit 128 includes, for example, a display or a similar display device. In the exemplary design, the reproduction unit 128 is designed to be used for image reproduction of stereoscopic images. Therefore, the reproduction unit 128 can be designed as a 3D display. It is conceivable to use an auxiliary tool (3D glasses) to watch the display to achieve a stereoscopic effect. However, it is also conceivable that such a design is designed, in which the reproduction unit 128 is designed as a head-mounted display (HMD), for example, as video glasses.

[0165] The stereo image sensor 118 enables stereoscopic viewing, possibly even 3D viewing. This is achieved by an offset between the two sensors 120, 122, which is adapted to the offset between the right and left eye of the observer. In this way, a spatial impression is created when viewing. However, stereoscopic viewing requires that the two sensors 120, 122 are aligned in a certain manner, namely along an (artificial) horizontal line 140, which is adapted to the position of the reproduction unit 128 and indirectly to the position of the observer's eyes or eye regions.

[0166] exist Figure 3In the state shown in , the reconstruction unit 128 displays the image segment 130 in a first orientation. This is achieved by the orientation of the image sensor 118 relative to the viewing head 100 and overall by the orientation of the viewing instrument 38 relative to the object field 16 in the patient 12 . Figure 3 The illustration of the image segment 130 in FIG. 1 uses an example (letter P) to show a suitable orientation, wherein it is difficult for the observer to directly understand and in particular assign a direction. The observer wishes to use the image segment 132 Figure 4 Orientation shown in . Figure 3 The orientation of image segment 130 in φ results from a given direction of image sensor 118 , see horizontal line 140 .

[0167] In order to align displayed image segment 132 in a desired manner, it is necessary to rotate image sensor 118 with sensor elements 120 , 122 , see Figure 4 The horizontal line 140 of the image sensor 118 in the image sensor 118 is oriented. For this purpose, a rotational degree of freedom 102 is provided, which allows an erect image. It is particularly advantageous for stereo image sensors to use the rotatability of the image sensor 118 relative to the viewing head 100 about the optical axis 104 to achieve an erect image. However, for a monochrome image sensor 118 with only one viewing channel, advantages can also arise, for example with regard to a given size (e.g. aspect ratio) of the image sensor used.

[0168] In the exemplary embodiment, the viewing head 100 has a position sensor / orientation sensor 142 for detecting the rotational position of the image sensor 118 relative to the viewing head 100 or the rod 98 of the viewing instrument 38. On this basis, the desired orientation of the image segments 130, 132 can be set depending on the actual orientation of the image sensor 118.

[0169] Basically, it is conceivable to manually rotate image sensor 118 about its optical axis 104. In an alternative configuration, it is also conceivable to use a drive 144 in order to rotate image sensor 118 about optical axis 104. If drive 144 is used, direction sensor 142 can be integrated into drive 144. However, it is also conceivable to derive the rotational position / orientation of image sensor 118 from control data for controlling drive 144. Thus, if drive 144 is assigned a certain rotational increment for the rotational movement, at least the target orientation of image sensor 118 is known in reverse.

[0170] It goes without saying that an electronic / digital erection is also conceivable, with the detected and displayed image segments being digitally rotated. However, this is hardly feasible in stereoscopic viewing while maintaining the stereo functionality. However, in exemplary embodiments, digital fine-tuning or fine alignment is conceivable.

[0171] It goes without saying that the viewing instrument 38 can also be aligned in principle by the robot operating unit 34 in order to align the displayed image segments 130, 132. However, this usually results in the viewing instrument 38 or the operating unit 34 being in the way and the surgeon and / or third parties being hampered from having a direct view of the operating area / object field. In addition, in many cases, other instruments must be able to enter the operating area. Therefore, the robot operating unit 34 is regularly aligned in a manner that interferes with the workflow as little as possible, so that the image sensor 118 may have to be rotated using the degree of freedom 102 in order to set up the image in the desired manner.

[0172] However, such an alignment / orientation by rotation of the image sensor 118 may result in a non-intuitive control of the robot operating unit 34. For example, if the observer / operator specifies control commands in the form of direction commands and travel commands via the input device 50 in order to move the viewing device 38 via the operating unit 34, the observer / operator regularly faces the displayed image segment 116 (see also FIG. Figure 3 and 4 130, 132 in the figure). However, the orientation of the pattern in the image segment 116 is generally not related to the operating axis (e.g., right-left-front-back) of the input device 50. In this case, a rightward movement on the input device 50 does not necessarily cause the displayed image segment 116 to move to the right.

[0173] Figure 3 and Figure 4 An exemplary embodiment is further shown in which the displayed image or displayed image segment 116, 132 is smaller than the theoretically available recording region 114 of the sensor 120, 122. If only a portion of the respective recording region 114 is displayed, the displayed image segment 116 can theoretically be moved within the recording region 114. This Figure 4 134 and the coordinate system denoted by 136. Furthermore, as already mentioned, this enables a so-called digital zoom, at least within limits.

[0174] Figure 3 The orientation of the recording region 114 in FIG. 1 (with respect to the image detail 116 , 130 displayed by the reproduction unit 128 ) shows that a larger recording region 114 is also advantageous in the case of a rotation of the digital image. Thus, the displayed image detail 116 , 130 can be rotated with a given aspect ratio or, in general, with a given configuration of the reproduction unit 128 , without, for example, missing out in the corners of the reproduction unit 128 .

[0175] The possibility of selecting an image detail 116 , 132 that is smaller than recording region 114 leads to a situation in which the current center or current center point of displayed image detail 116 , 132 does not correspond to center point 124 of sensor 120 , 122 , which must be taken into account when operating operating device 10 .

[0176] According to one aspect of the invention, it is proposed to insert a coordinate transformation in order to be able to intuitively control the operating unit 34 for the displacement device 36 or the observation device 38. This approach enables, for example, orientation in the control on the displayed image section 116, in particular with regard to its orientation.

[0177] Additional References Figure 5 This is explained. Figure 5 The state is shown in which the image sensor (not explicitly shown) in the viewing head 100 of the viewing device 38 is aligned about the optical axis 104 in such a way that the displayed image segment 116 is displayed in the desired orientation in the reproduction unit 128. This orientation is now the basis for controlling the robot operating unit 34.

[0178] The control of the operating unit 34 is carried out, for example, by the operating element 154 of the input device 50. For example, the operating element 154 is button-shaped, plate-shaped or disc-shaped. However, the operating element 154 can also be designed similar to a joystick. Alternatively, the operating element 154 can be designed similar to a so-called rotary button. The operating element 154 has different axes of motion or input axes. By the operator acting on the operating element 154 in a desired manner, control instructions can be generated via these input axes. The operating element 154 is preferably configured as a multi-axis operating element. Accordingly, the operating element 154 is configured, for example, to detect motion along multiple linear axes 156, 158, 160. A total of six degrees of freedom can be conceived, for example three translational degrees of freedom and three rotational degrees of freedom.

[0179] As an example, the axis 156 can be referred to as the translation axis. As an example, the axis 156 corresponds to the X direction. A displacement / linear motion can be caused along the axis 156. It goes without saying that the operating element 154 can only be deflected to a small extent along the axis 156. For example, the axis 158 can be referred to as the translation axis. As an example, the axis 158 corresponds to the Y direction. A displacement / linear motion can be caused along the axis 158. It goes without saying that the operating element 154 can only be deflected to a small extent along the axis 158. For example, the axis 160 can be referred to as the lifting axis. The axis 160 corresponds to the Z direction, for example. A displacement / linear motion can be caused along the axis 160. Of course, the operating element 154 can only be deflected to a small extent along the axis 160.

[0180] In other words, a translational movement of the viewing head 100 of the viewing device 38 in one plane (approximately the XY plane) can be brought about by a slight movement of the operating element 154 along the axes 156 , 158 .

[0181] The lifting axis 160 can be used, for example, to change the object distance ( Figure 6 and 7 In principle, it is also conceivable to control the focus drive along the lifting axis 160 (Z direction).

[0182] In addition, according to Figure 5 The operating element 154 of the embodiment shown in the figure also has pivot axes or rotation axes 162, 164, 166. The pivot axis 162 describes the pivoting movement about the axis 156, that is to say about the X axis. The pivot axis 164 describes the pivoting movement about the axis 158, that is to say about the Y axis, for example. The pivot axis or rotation axis 166 describes the pivoting movement / rotational movement about the axis 160, that is to say about the Z axis.

[0183] The pivot axes 162, 164 can be used, for example, to tilt an observation device 38 accommodated on the robot operating unit 34 relative to the object field 16. This is done by correspondingly controlling the operating unit 34 in response to a pivoting transport about the pivots 162, 164, wherein the operator performs a pivoting movement on the operating element 154. In an exemplary embodiment, the observation device 38 is pivoted about the focal point, i.e., the set working distance (pivoting movement).

[0184] The rotation axis 166 can be used, for example, to control a focus drive of the viewing device 38. In principle, it is also conceivable to change the working distance / object distance (φ) between the viewing device 38 and the object field 16 in response to an operator input (rotational movement). Figure 6 and 7 196 in the figure). A release switch can be used to switch between these operating modes. For example, axis 160 is used to change the working distance, while axis 166 is used to control the focus drive. Conversely, it is conceivable to use axis 160 to control the focus drive and axis 166 to change the working distance.

[0185] In principle, it is conceivable to design the operating element 154 so that it can be deflected in multiple spatial directions. This provides the operator with a single-word or one-to-one operation. However, it is also conceivable to detect the force acting on the operating element 154, for example, by means of a suitable force sensor. In this case, the operating element 154 does not necessarily have to be deflected macroscopically. On the contrary, it is deflectable microscopically. In this way, the movement can also be detected and assigned to the axes 156, 158, 160, 162, 164, 166 and converted into control commands on this basis.

[0186] The input device 50 has other operating elements 170, for example in the form of buttons or buttons. In this way, other functions can be controlled. In particular, a certain instruction can be confirmed. In addition, it is conceivable to select the current operating mode of the input device 50 by one of the operating elements 170. Another possible use of the operating element is to store the current position of the operating unit 34 or the observation device 38 and, if necessary, approach this stored position from the position assumed at this time. Both the storage of the position and the approach to the previously stored position can be achieved by the operating element 170. Approaching the previously saved position can be limited to the target position. Alternatively, it is possible to approach the previously stored position in such a way that the previously used movement path is driven "backwards".

[0187] according to Figure 5 The example configuration shown in , performs coordinate transformation or orientation / coordinate system comparison to simplify control.

[0188] exist Figure 5 In FIG. 1 , the double arrows 176, 178 projected into the object field 16 show a coordinate system reflecting the orientation of the image sensor. Figure 5 In the operating mode shown, it is intended to move the viewing device 38 and thus the object field 16 in the plane 180 in response to an operating command on the input device 50. This movement in the plane 180 occurs by interpolation and corresponding control of the components of the kinematic chain 70 of the robot operating unit 34.

[0189] The generated movement axes 186, 188 are displayed in the image segment 116 displayed on the reproduction unit 128. In the exemplary operating mode shown, the axis 156 on the input device 50 is assigned to the generated axis 186. The input device 50 is assigned to the generated axis 188 in the image segment 116. Therefore, the robot operating unit 34 is controlled in such a way that during the left-right movement of the input element 154, the displayed image segment 116 is also moved to the right or left. In addition, the robot operating unit 34 is operated in such a way that when moving forward and backward on the input element 154, the displayed image segment 116 moves up and down along the indicated axis 188. This operation is intuitive and can be carried out while observing the displayed image segment 116 on the reproduction unit 128.

[0190] However, this operating mode requires that the current orientation of the image sensor in the viewing head 100 (curved double arrow 102) is detected and taken into account when controlling the robot operating unit 34 (see double arrows 176, 178). This applies in particular to the use of a stereo image sensor 118 (see Figure 2 and 3 ) Figure 5 For example, horizontal line 140 of image sensor 118 (see again Figure 2 and 3 , see also Figure 5 176) is aligned parallel to the interpolation axis 176. This alignment is taken into account when interpolating the trajectory of the desired XY movement in the plane 180. In other words, when executing an operating command on the input device 50, a coordinate transformation is preferably performed so that the axes 156, 176, 186 are aligned parallel to each other with respect to the control command for the operating unit 34, and the axes 158, 178, 188 are aligned parallel to each other with respect to the control command for the operating unit 34. The displayed image segment 116 can then be moved in a simple manner on the plane 180.

[0191] Thus, the operator can orient the image segment 116 on the display of the reproduction unit 128 independently of the external orientation / position of the operating unit 34 or the viewing device 38 in order to intuitively control the image segment 116 on at least two axes by operator inputs on corresponding input axes 156 , 158 of the input device 50 .

[0192] At least in the exemplary embodiment, other degrees of freedom of operating element 154 of input device 50 are not taken into account during this special driving mode, so that an ideal or almost ideal movement in plane 180 is achieved.

[0193] It goes without saying that other operating modes are also conceivable, for example a spatial mode or a 3D mode, in which the viewing instrument 38 is spatially controlled / moved in three or more spatial axes (translation / linear axis and pivot / rotation axis) by means of the input device 50 .

[0194] Figure 5 The following mode is shown, in which the viewing device 38 is moved as parallel as possible to the viewed object field 16 at a certain distance. Figure 6 and Figure 7 The reference numeral 196) in the figure remains essentially the same.

[0195] besides, Figure 6 Another mode is also shown, in which the viewing device 38 is moved along a curved path or a curved surface / shell relative to a pivot point 194 in the object field 16. For example, the pivot point 194 is the center of an image segment 116 reflecting a portion of the object field 16. At least in the exemplary embodiment, the movement takes place along a curved shell (for example a spherical shell or a hemispherical shell) while taking into account a constant object distance 196.

[0196] In other words, the movement of the viewing device 38 can be performed along interpolated curved axes 198, 200, which are assigned to a spherical surface 202 (a sphere or a sphere segment). For example, without being understood as limiting, the axis 198 is assigned to 0 degrees of longitude, while the axis 200 is assigned to 90 degrees of longitude. The movement along / on the spherical surface 202 is performed while maintaining alignment with the optical axis 104 on the selected pivot point 194. The pivot point 194 can be generated by the current center of the image segment 116 being viewed. However, the pivot point 194 can also be arranged and selected eccentrically in the image segment 116. In principle, the pivot point 194 can also be referred to as a focus.

[0197] In an exemplary embodiment, the viewing device 38 has an viewing optical device 204 in the viewing head 100. As an example, a focus drive 206 for focus adjustment is provided for the viewing optical device 204. The focus drive 206 is used to adapt the focal length of the viewing optical device 204 to the selected working distance / object distance 196 so as to image the currently viewed object field 16 with sufficient clarity. The control of the focus drive 206 can be realized manually and / or automatically.

[0198] At least in the exemplary embodiment, the viewing device 38 also has a measuring device 208 for determining the object distance 196. In this way, the current object distance 196 can be determined. Figure 6During the movement of the curved trajectory or surface 202 shown, the object distance 196 should remain constant. However, to do this, at least in some embodiments, the object distance 196 must first be determined. This is done by a measuring device 208.

[0199] In an alternative embodiment, the control device 44 may determine the object distance 196 indirectly via current operating parameters of the viewing optics 204 or the focus drive 206. In other words, a specific state of the viewing optics 204 enables the specific object distance 196 to be inferred.

[0200] For example, the pivot axes 162, 164 of the input device 50 are used to control travel motion along the curved axes 198, 200. In other words, pivoting the operating element 154 about the X-axis 156 (pivot axis 162) can control motion along the curved axis 198. Correspondingly, pivoting the operating element 154 about the Y-axis 158 (pivot axis 164) can control motion along the curved axis 200. Figure 6 The resulting movement of the image segment 116 displayed on the reproduction unit 128 is indicated by curved double arrows 210, 212. Of course, the reproduction unit 128 usually has a flat screen. In this respect, the arrows 210, 212 are curved only for illustration reasons.

[0201] In other words, the operation of the device 10 Figure 6 The mode shown in FIG. 1 allows the center of the image segment 116 to rotate together with the viewing device 38, which remains centered with its optical axis 104. Similar to a planetary method, the viewing device 38 can be rotated about the center, wherein the optical axis 104 remains centered, for example, radially.

[0202] This is again the case, particularly with the stereo image sensor 118 ( Figure 3 and Figure 4 ), the current orientation of image sensor 118 (horizontal line 140) is determined and taken into account in the control, for example by means of a coordinate transformation, so that the operator can intuitively orient himself on displayed image segment 116. When using pivot axes 162, 164, the detected control pulses lead to a movement of displayed image segment 116 in the same direction along generated axes / paths 210, 212. The operation is significantly simplified.

[0203] In principle, it is conceivable to position pivot point 194 also in the center of displayed image segment 116. This can be accompanied by the fact that pivot point 194 ultimately also coincides with center 124 of sensors 120, 122 of image sensor 118 (cf. Figure 3 ). In this way, double centering can be achieved.

[0204] As above combined Figure 4 As explained above, the center of the displayed image segment 116 coincides with the center 124 of the sensors 120, 122. In this case, however, it is conceivable to select the pivot point 194 in the center of the sensors 120, 122. Therefore, there is an offset between the pivot point 194 and the actual center 124 of the sensors 120, 122. The control device 44, in particular the operating control device 46, takes this offset into account when controlling the movement of the viewing device 38 along the curved path 198, 200. However, the purpose of the control is to keep the selected pivot point 194 in the center of the displayed image segment 116.

[0205] However, it is also conceivable to intentionally select a pivot point 214 that is not in the center of the displayed image segment 116. As a result, there is an offset between the center of the displayed image segment 116 and the selected eccentric pivot point 214. In theory, the eccentric anchor point is selected as the center of the movement of the viewing device on the curved surface 202. The control device 44, in particular the operating control device 46, can be designed to maintain this offset visible on the display of the reproduction unit 128 during the movement. In other words, in this mode, the optical axis 104 of the viewing device 38 is intentionally not aligned with the center of rotation, i.e., the pivot point 214 is offset from the center.

[0206] It goes without saying that when the operator moves the operating element 154 both translationally (axes 156, 158) and rotationally (axes 162, 164), Figure 5 and Figure 6 The operating modes shown in can be combined. However, it is also conceivable to separate the two operating modes from each other. Therefore, there are parallel shift modes, pivot modes and combined modes. For example, the corresponding mode can be selected using the operating element 170 on the input device 50 or in other ways.

[0207] Figure 7 The use of the input device 50 to control other functions of the optical viewing apparatus 38 is shown. For example, the lift axis 160 of the input device 50 can be used to cause a change in the object distance 196, see the interpolated axis 222. When the viewing head 100 moves closer to the object plane / object field 16 with the camera 118, this function can be used to zoom in (increase detail) or increase the image scale.

[0208] The result of the change in the working distance / object distance 196 is indicated by the double arrows 226, 228, 230 in the image segment 116 shown. When the working distance decreases, the displayed image appears larger. When the working distance increases, the displayed image appears smaller. In this way, a zoom function can be achieved accordingly from the result. This can be done by operating the operating element 154. On the one hand, this can include pressing or pulling along the lifting axis 160 (Z axis). However, it is also conceivable to achieve this function by rotating the operating element 154 around the Z axis 160 (rotation axis 166).

[0209] At least in the exemplary embodiment, it is necessary to adapt the object width to the optical unit of the viewing head 100 so that the image also appears sharp at the selected object distance. For this purpose, one of the degrees of freedom of movement of the operating element 154 of the input device 50 (see axes 160, 166) can also be used to control the focus drive.

[0210] In an alternative embodiment, an optical unit with a variable focal length is installed in the viewing head 100, so that an optical zoom can be realized. In an alternative embodiment, a so-called digital zoom is possible at least within boundaries. This is particularly the case when the reconstructed image segment 116 is smaller than the theoretically possible recording area 114 of the image sensor or smaller than the field of view of the optical component. The recorded and / or reconstructed image segment 116 can then be varied at least to a certain extent within the boundaries specified by the recording area 114 in order to realize an enlarged detailed display or a reduced overview representation.

[0211] Furthermore, it is conceivable to associate the digital zoom with alternative means for providing an enlarged / reduced image segment, so that this enlargement function can be intuitively controlled via one and the same input device 50. The mode of using the input device 50 to change the object distance 196 by moving the viewing instrument 38 along the interpolation axis 222 can be basically the same as Figure 5 and Figure 6 The modes described in the example can be used simultaneously. However, it is also conceivable to separate the individual modes from one another in order to achieve unambiguous control.

[0212] Furthermore, in an exemplary embodiment, it is conceivable that the movement speed of the robot operating unit and therefore the movement speed of the viewing device 38 accommodated thereon is selected as a function of the selected zoom level or the selected working distance / object distance 196. Thus, if an enlarged display is selected (high zoom factor, small object distance or large image scale), the viewing device 38 can be moved more slowly. In this way, the observer can still detect the changing image segment 116 well. Conversely, if a reduced display is selected (small zoom factor, large object distance or small image scale), the viewing device 38 can be moved faster. This is possible because the displayed image segment 116 covers a larger area of ​​the object field 16.

[0213] Figure 8 It is shown that a plurality of input devices 244, 252 can be connected to the control device 44, ie the operating control unit 46 or the instrument control unit 48 via the interface 238. Figure 8 In the embodiment, the input devices 244, 252 are each a single-hand input device with an input element 246, 254, which can be operated in various spatial axes to generate control commands, see for this the coordinate systems 248, 256 assigned to the input elements 246, 254. A plurality of input devices 244, 252 may be required to enable manipulation for different operators in the operating environment. On the one hand, this may involve the control of the robot operating unit 34. In addition, this may involve the control of the observation device 38, for example for the control of image acquisition parameters and / or image reconstruction parameters.

[0214] It goes without saying that the control device 44 with the interface 238 uses appropriate activation / priority / levels in order to clearly define which of the input devices 244, 252 is currently being used. In this way, for example, a primary input device 244 and a secondary input device 252 can be defined, the primary input device 244 having a higher priority. Thus, when the primary input device 244 is used, the secondary input device 252 is deactivated or its instructions are ignored. Other measures for defining the input device currently in use can be considered.

[0215] In principle, the medical operating device 10 can be controlled by various types of input devices, see Figure 1 Input devices 50, 52, 54, 56 and 58 in. Figure 8 Two input devices 244, 252 of the same type are shown. However, this should not be construed as limiting.

[0216] Regardless of the current position and orientation of the input devices 244, 252, when controlling the robot operating unit 34, its user can orient himself on the current image segment 116 of the reproduction unit 128. In other words, the coordinate systems 248, 256 of the input devices 244, 252 are aligned with the generated movement axes 186, 188 of the displayed image segment 116.

[0217] It is also conceivable that different reproduction units 128 are provided for different users, for example different displays or HMDs (headband devices). This can include the case where the users use different orientations (rotational orientations) of the respectively displayed image segments 116 on the reproduction units assigned to them. The corresponding input devices 244, 252 or their coordinate systems 248, 256 can then be aligned with the corresponding orientation of the image segments so that the image segments can be moved intuitively. This can greatly simplify the operation of different operators. In particular in a medical environment, it is conceivable that different people are involved in a medical procedure. It is therefore conceivable that the responsibility for the operation of the operating device 10 or the robotic operating unit 34 is changed during a medical procedure between the parties involved.

[0218] Fig. 9 Combination Figure 1 1 shows a release process, which is used to increase safety when operating the operating device 10, in particular the robot operating unit 34. For this purpose, a safety device 262 is provided, which can also be called a release controller. The safety device 262 can be designed as a component of the control device 44, see Fig. 9 Schematic diagram of a control device 44 having an operating control unit 46 and an instrument control unit 48.

[0219] The robot operating unit 34 can be controlled via the input device 50 so that the components of the kinematic chain 70 are moved in order to move the viewing device 38. This has quite significant effects in the event of erroneous or incorrect operation. Therefore, in an exemplary embodiment, a release switch is used to provide an additional release process. The release switch is, for example, the input device 54 or its input element 264. The input element 264 is designed, for example, as a foot switch. The release switch has a dual function, because on the one hand the release switch can release the movement of the robot operating unit 34, and on the other hand it can be used to switch back and forth between the control of the viewing unit 38 and the robot operating unit 34.

[0220] It goes without saying that the input device 56 (see Figure 1 ) can also be used as a release switch in principle. Therefore, the safety device 262 can be designed so that the operating unit 34 can only be controlled when the corresponding mode is activated by the input device 54.

[0221] The safety device 262 ensures that only intentional manipulation of the current position of the viewing device 38 is possible. Incorrect manipulation / unintentional control can be avoided.

[0222] In an exemplary embodiment, the input device 54 is fixedly wired to the safety device 262. In other words, the safety device 262 can be a separate safety device that is not only implemented in the control device 44 by software. In this way, the safety device 262 is designed independently. Operation becomes more difficult. The fixed connection (hard wiring) of the input device 54 makes it difficult to operate the input device.

[0223] The input device 54 or its input element 264 has at least two switch positions. The first switch position (phase 0) corresponds, for example, to an unoperated state. In this state, the input device 50 cannot be used to control and move the operating unit 34. The input device 50 is at least ineffective in terms of controlling the operating unit 34. The second switch position (phase I) can achieve a state in which the input device 50 is activated, so that the control device 44 processes the instructions on the input device 50 to control and move the operating unit 34.

[0224] In order to further improve safety, at least in the exemplary embodiment, a third stage (stage II) is provided, which can also be referred to as an emergency mode / emergency stage. In this embodiment, the second stage (stage I) is arranged between the first stage (stage 0) and the third stage (stage II). In other words, the operator must apply a certain minimum force to allow the input element 264 of the release switch to enter the second stage (activated state) from the first stage (deactivated state). However, the operating force must not exceed the specified maximum force. When the maximum force is exceeded, the input element 264 of the release switch enters the third stage (deactivated state or emergency state) from the second stage (activated state). Therefore, a limited operating force must be applied, which is within the range between the minimum force and the maximum force, so that the robot operating unit 34 can be controlled via the input device 50.

[0225] This design further improves safety. That is, if a release switch in the form of input device 54 is accidentally operated with a high force, the input device 50 does not have to be released for the operation command. Instead, the activation state / release state (second stage or stage I) is passed or skipped, and the input device 54 moves to the third stage (stage II).

[0226] Of course, the release switch can also be designed in another way. Thus, it is conceivable that the release switch is intentionally operated only in the first level (level 0) and the second level (level I). Additional operating elements can be provided, for example, additional operating elements that must be operated together with the release switch. Fig. 9In the embodiment shown in , the release switch is designed as an input device 54 in the form of a foot switch. It goes without saying that a manual switch can also be used as a release switch.

[0227] Fig.10 A further exemplary operating mode of the operating device 10 , in particular of the operating unit 34 , is shown. Fig.10 It can also be called direct control mode. In direct control mode, the robot operating unit 34 is not controlled by the input device 50, see Fig.10 The solid line box marked as 286 in the figure.

[0228] Instead, in direct control mode, the operating unit 34 is controlled directly by actuating or intervening on an element of the kinematic chain 70 of the operating unit 34. To this end, Fig.10 In the embodiment shown in , an input device 58 is provided, which has an input element 270 in the form of a handle or a button. The operator can grasp the input element 270 and move it in space. The input device 58 with the input element 270 is arranged, for example, on the instrument holder 40 of the robot operating unit 34, that is, in the vicinity of the accommodated observation instrument 38. The input device 58 can also be referred to as a direct control input device.

[0229] At least in the exemplary embodiment, the input device 58 has a sensor 272 in the input element 270 which detects, for example, the approach or presence of a hand of the operator. In this way, control of the operating unit 34 can be released via the input device 58 in direct control mode.

[0230] It is contemplated that when the direct control mode is released using the sensor 272 in the input element 270 of the input device 58, the additional release (see Figure 1 and 9 This is conceivable because the operator can directly or almost directly influence the position and orientation of the observation instrument 38 accommodated on the instrument holder 40 via the input device 58. In this case, the operation is clear and direct.

[0231] In the direct control mode, the force pulses and travel pulses applied by the operator to the input element 270 of the input device 58 are controlled by the operator control unit 46 (see Figure 1) are detected and evaluated, wherein the drives of the elements of the robot operating unit are thereby controlled in such a way that the robot operating unit 34 together with the instrument holder 40 and the viewing instrument 38 accommodated thereon follows the movement generated on the input device 58. It goes without saying that in direct control mode, both translational and rotational / pivoting movements of the viewing instrument 38 accommodated on the operating unit 34 can be realized.

[0232] The detection of the actuation pulses can be realized, for example, by monitoring the individual axis drives of the kinematic chain 70 of the operating unit 34. The actuation pulses can be sensed in the axis drives and thus detected. Alternatively, corresponding sensors can be assigned to the axis drives.

[0233] Alternatively or additionally, it is conceivable that the input device 58 is provided with its own degrees of freedom of movement and corresponding sensors in order to detect deflections, similar to the input device 50. It is also conceivable to provide force sensors / deformation sensors in the input device 58 or in its input element 270 in order to detect how the operator wants to move the operating unit 34 using the viewing device 38.

[0234] The control device 44, in particular the operating control unit 46, controls the operating unit 34 in direct control mode, so that the operating unit follows the movement pulses of the operator on the direct control input device 58 and the current position and / or orientation is maintained when the operator no longer acts on the input device 58. In this way, the operator can move the viewing device 38 quasi-manually, wherein an unmediated and direct feedback is achieved.

[0235] exist Fig.10 , an input coordinate system 278 is assigned to the input element 270 of the input device 58. A coordinate system 280 aligned for this purpose shows the resulting, interpolated movement for moving the viewing instrument 38 by an operating pulse on the input device 58. Due to the proximity between the input device and the viewing instrument 38, the viewing instrument 38 follows the operating pulse on the input device 58 directly.

[0236] The operating control unit 46 can be operated in such a way that the operator feels a certain but not too great resistance (braking torque) when operating the input device 58 in the direct control mode. This allows for sensitive movement and position specification in the direct control mode.

[0237] It is also conceivable that in the direct control mode, the movement path of the operating device 34 manually controlled by the operator via the input device 58 is recorded by the control device 44, in particular by its operating control unit 46, and started "backwards" if necessary. In this way, the control device 44, in particular its operating control unit 46, can provide a return function. Thus, the device can be moved from the current position to the starting position or another saved position. Basically, this is also conceivable in other control modes, not just the direct control mode. The storage and call-up of the selected function can be controlled, for example, via the operating element 170 on the input device 50 or via other operating elements.

[0238] Fig.11 and Fig.12 The fastening scheme of the observation instrument 38 on the instrument holder 40 of the operating unit 34 is shown. Fig.11 In the embodiment, the observation instrument 38 is removed from the instrument holder 40. Fig.12 In the embodiment of the present invention, the observation instrument 38 is fixed to the instrument holder 40. In addition to the mechanical connection between the observation instrument 38 and the instrument holder 40, a signal connection is also provided via interfaces 292, 294. The interface of the observation instrument is designated as 292. The interface on the operating unit 34 is designated as 294. Thus, a signal connection can also take place together with the mechanical connection.

[0239] In connection with the attachment of the viewing instrument 38, the control device 44 of the operating device 10 can therefore determine via the interfaces 292, 294 what type of viewing instrument 38 is. This identification can be used for instrument-specific basic settings (parameter sets) of the operating unit 34. For example, when controlling the robotic operating unit 34, a given size of the viewing instrument can be taken into account. It is conceivable to use the interfaces 292, 294 to exchange the image sensor (in the viewing head 100) with the viewing head 100. Fig.11 and Fig.12 It is also conceivable to obtain information about the current orientation / rotational position of the image sensor.

[0240] Image information can also be information transmitted via interfaces 292 , 294 , ie image signals of monitored image segments or recording regions. In addition, information that can be used for the operation of robot operating unit 34 is transmitted.

[0241] It is conceivable that the viewing device 38 contains identification information (ID) that can be queried via the interfaces 292, 294. Therefore, the control device 44 can then query the parameter set related to the viewing device 38 based on this information, for example, in a database. In addition, it is conceivable that the viewing device 38 itself provides this information via the interfaces 292, 294.

[0242] Fig.11 and Fig.12 The design shown in FIG. 3 relates to the exchange of information between the observation instrument 38 and the operating control unit 46 on the one hand and the instrument control unit 48 on the other hand. With the intervention of the operating unit 34, corresponding signals / information are transmitted.

[0243] Fig.13 A block diagram of an exemplary functional configuration / system architecture of the operating device 10 is shown with the aid of a schematic diagram. From a structural point of view, Fig.10 The operating device 10 shown in FIG. 1 may substantially correspond to the operating device 10 of reference Figures 1 to 12 Design shown.

[0244] The operating device 10 has an observation segment 306, an instrument control segment 308, and an operation segment 310. These segments 306, 308, 310 are functionally divided segments. These segments are not necessarily structurally divided segments. The observation segment 306 includes an observation instrument 38 accommodated on a holder 40. The input segment 58 for the direct control mode also corresponds to the observation segment 306. The input device 58 has, for example, a sensor for activating the direct control mode.

[0245] The mechanical connection between the observation segment 306 and the operating segment 310 is achieved by the robot operating unit 34. For example, a hand 84 is provided, which carries the instrument holder 40, see Figure 2 The operating unit 34 further comprises a base or pedestal 68 which is assigned to the operating section 310. The operating section 310 further comprises an operating control unit 46 for controlling the operating unit 34. The sixth operating unit 40 is provided with an interface 318 for energy supply. The interface 318 can also be used for information exchange and / or medium supply.

[0246] In addition, the operating segment 310 is also provided with an input device 52, which is designed as a touch display, for example. The input device 52 is connected to the operating control unit 46 and thus also the (global) control device 44. The operating segment 310 also includes a safety device 262, which can also be called a release controller. The safety device 262 is connected to the input device 54 designed as a release switch, for example. In terms of signals, the safety device 262 is connected to the operating control unit 46, for example, in order to activate or block the operating mode of the operating control unit 46 and thus also the operating unit 34.

[0247] In accordance with Fig.13 In the embodiment of the present invention, the safety device 262 is further connected to a locking sensor 328, which monitors whether the platform 22 carrying the operating unit 34 or the trolley 24 is braked and secured. At least in the exemplary embodiment, this is also a condition for releasing the operating unit 34 to move.

[0248] The instrument control section 308 mainly includes an instrument control unit 48, i.e., a CCU / console for monitoring and controlling the observation instrument 38. Therefore, the instrument control unit 48 is connected to the observation instrument 38 via at least one signal line. Fig.13 In the exemplary embodiment of FIG. 3 , a light source 320 is provided that is coupled to the viewing instrument 38 for illumination purposes.

[0249] Fig.13 Also shown are lines for signal exchange or information exchange between the observation segment 306 , the instrument control segment 308 , and the operating segment 310 .

[0250] Furthermore, at least one input device 50, 244, 252 is connected to the instrument control unit 48 via a suitable interface. A plurality of input devices 50, 244, 252 can be provided so that different operators can control the operating device 10. The instrument control unit 48 and the at least one input device 50, 244, 252 are designed so that they can also be used for control purposes in a manually guided mode of the observation instrument 38. In other words, the instrument control unit 48 coordinates the image acquisition and, if necessary, the image reproduction. Likewise, the at least one input device 50, 244, 252 can be used to control image acquisition parameters and image reproduction parameters.

[0251] However, according to Fig.13 The illustrated embodiment provides that at least one input device 50, 244, 252 connected to the instrument control unit 48 is additionally used to control the robot operating unit 34. For this purpose, the instrument control unit 48 is connected to the operating control unit 46, for example via an interface 322 for exchanging information. The interface 322 can also be referred to as a network interface or data bus interface.

[0252] This configuration is such that, in a mode in which the input device 50, 244, 252 can be used to control the robot operating unit 34 to move the observation device 38 accommodated thereon, the corresponding control signals are not processed extensively by the device control unit 48 itself, but are transmitted to the operating control unit 46 via the interface 322. This mode is released, for example, by an input device designed as a release switch 54 when a safety device 262 is used.

[0253] The advantage of this design is that the instrument control unit 48 can further be used independently and autonomously, for example in a handheld / manually guided mode, to control the viewing instrument 38. This also applies to possible input devices 50 that are directly connected to the instrument control unit 48. This is also possible without the operating unit 34 and its operating control unit 46.

[0254] However, an extended range of use can be controlled by providing the robot operating unit 34 using one and the same input device 50. Therefore, it is not absolutely necessary to provide an additional input device 50 for controlling the operating unit 34. The input device 50 can be used for machine control and operation control in various modes.

[0255] It is particularly conceivable that the input device 50 is a multi-axis input device. Such an input device (see, for example, a so-called 3D mouse) is very suitable for both control modes. This has the advantage that the same arrangement can be used for hand-held operation of the viewing device 38 and for operation supported by the robot operating unit 34. It is not necessary to invest twice in the viewing device 38 and the corresponding device control unit 48. A simple and safe handling of the extended arrangement of the operating device 10 with the robot operating unit 34 is still ensured.

[0256] Another aspect of the invention relates to the use of current operating parameters or conventional parameters of the viewing device 38 by the control device 44, in particular by its operating control unit 46, to control the robot operating unit 34. An exemplary embodiment is conceivable in which the travel speed of the robot operating unit 34 depends on the operating parameters of the viewing device 38. This can, for example, affect the current object distance. In the case of a large object distance, a high travel speed can be selected to move the viewing device 38, and in the case of a small object distance, a low travel speed can be selected to move the viewing device 38.

[0257] Reference Fig.14 , an exemplary embodiment of a method for controlling an operating device is shown using a schematic block diagram. The operating device may be a medical operating device. However, it may also be a non-medical operating device.

[0258] The method comprises a step S10, which comprises providing an instrument and arranging it on an instrument holder on a robot operating unit. The instrument is, for example, an observation instrument. This is followed by a step S12, which comprises controlling the operating device using an input device, wherein the control is related to the control of the robot operating unit and / or the instrument. In other words, there are different operating modes for the control device or the input device. For example, the control device comprises an instrument control unit for controlling the instrument and an operating control unit for controlling the robot operating unit. The input device can be used to control both the robot operating unit and the instrument.

[0259] In a further step S14, a release switch is monitored. The release switch is, for example, a foot switch. Other designs are possible. The release switch can have different positions / states.

[0260] In step S16, it is confirmed whether the release switch is in the first state 0 or the second state I. The first state 0 corresponds to the inactive state. The second state I corresponds to the activated state. For example, the operator can apply a certain operating force to change the release switch from the first state 0 to the second state I.

[0261] If the release switch is in the first state 0, step S18 is entered. Therefore, the input device is in the first operating mode. The instrument can be controlled in the first operating mode. However, in the first operating mode, a control scheme for the robotic operating unit for moving the instrument is not provided. This makes it possible to reduce or avoid relative movement between the instrument and the target object (e.g., the observation object) in the first operating mode.

[0262] However, if it is confirmed in step S16 that the release switch is in the second state I, then step S20 is performed. In step S20, the input device can be operated in the second operating mode. Thus, in the second operating mode, the input device can be used to control the robot operating unit to move the device. However, this is only possible after a clear release by operating the release switch. In this way, the second operating mode can only be activated by additional release of the release switch. This reduces the possibility of unintentional activation of the second operating mode.

[0263] Fig.15 A further exemplary embodiment of a method for controlling an operating device is shown using a schematic block diagram. Fig.15 The method shown in Fig.14 As for steps S10 to S14, reference is therefore made to Fig.14 The above description.

[0264] Fig.15 The design shown in uses a release switch having three states / positions 0, I and II. Therefore, in step S16, it is determined whether the release switch is in the first state 0, in the second state I or in the third state II. The first state 0 corresponds to the inactive state. The second state I corresponds to the activated state. When the operating force of the operator on the release switch exceeds the defined limit, the third state II is reached. In this way, the risk of erroneous operation can be further reduced. That is, if the release switch is accidentally operated with a large force, the release switch is released from the first state 0 via the second state I to the third state II. In other words, the operator must keep the operating force within a certain range to generate and maintain the second state I of the release switch. In other words, the release switch is designed into three stages, and the second stage (activating the second operating mode) is between the first stage and the third stage.

[0265] As long as it is found in step S16 that the release switch is in the first state 0, the process proceeds to step S18. In step S18, the input device is in the first operating mode. As long as it is found in step S16 that the release switch is in the second state I, the process proceeds to step S20. In step S20, the input device is in the second operating mode.

[0266] As long as it is found in step S16 that the release switch is in the third state II, step S22 is entered. Step S22 can be designed essentially as an emergency stop function. Thus, when the release switch is in the third state, at least some functions of the operating device are deactivated. Alternatively, it is conceivable that the third state II of the release switch remains similar to the first state 0. Thus, the input device is in the first operating mode (see optional dashed line between steps S22 and S18).

[0267] The use of a release switch increases operational safety. The risk of incorrect manipulation can be reduced. After the device is released, the relative movement of the device to the target object / patient can be controlled using an input device that is used to control the functions of the device itself.

Claims

1. A medical operation device having: an instrument holder (40) for accommodating an instrument (36); a robotic operating unit (34) carrying an instrument holder (40); A control device (44) having an operating control unit (46) for controlling a robot operating unit (34) and an instrument control unit (48) for controlling an instrument (36), wherein: The control device (44) has an interface (238) for at least one input device (50); an input device (50) coupled to the interface (238), wherein the input device (50) can be used to control the apparatus (36) in a first operating mode and can be used to control the robot operating unit (34) in a second operating mode; and a release switch (54) for activating a second operating mode in which the robot operating unit (34) can move in response to input commands on the input device (50), The release switch (54) has two states (0, I), wherein the first state (0) is an initial state and the second state (I) is an activation state corresponding to a second operating mode, The release switch (54) further has a third state (II), The release switch (54) when activated can be switched from a first state (0) to a second state (I) by applying an operating force, and then switched to a third state (II) when the operating force is increased, and in the first state (0) and the third state (II) of the release switch (54), the control of the robot operating unit (34) is locked, The release switch (54) is directly connected to an operation control unit (46) assigned to the robot operation unit (34). wherein the input device (50) is directly connected to the device control unit (48), The control device (44) is configured to provide control instructions for a robot operating unit (34) detected by an input device (50) to an operating control unit (46) via an instrument control unit (48) in a second operating mode, and the control instructions for the robot operating unit (34) are transmitted in the second operating mode by means of the instrument control unit (48) that transmits the control instructions.

2. The operating device according to claim 1, wherein: The input device (50) can be connected to the control device (44), the control device (44) can be connected to the instrument (36) and to the robot operating unit (34), and the control device (44) is centrally connected to the input device (50) and to the instrument (36) accommodated on the instrument holder (40).

3. The operating device according to claim 1, wherein: The control device (44) is connected intermediately to the input device (50) and the robot operating unit (34) in terms of signal technology.

4. The operating device according to claim 1, wherein: The input device (50) is designed as a multi-axis input device (50) and detects operating movements in the form of displacement or pivoting movements along at least two axes (156, 158, 160, 162, 164, 166) and converts the operating movements into control commands for the robot operating unit (34).

5. The operating device according to claim 4, wherein: The robot operating unit (34) includes a multi-component power device (70) having a plurality of connecting components (72, 76, 80, 84), and the control device (44) is configured to convert a motion preset value into a control command for the motion axis of the connecting components (72, 76, 80, 84) by means of interpolation.

6. The operating device according to claim 1, wherein: The control device (44) is designed to store and, if necessary, retrieve the current position and orientation of the instrument (36).

7. The operating device according to claim 6, wherein: The control device (44) is designed to store a plurality of predetermined positions and orientations of the instrument (36) in order to retrieve them when required.

8. The operating device according to claim 1, wherein: The control device (44) is designed to control the operating unit (34) in such a way that the instrument (36) can be pivoted about a virtual tilting axis, which is arranged parallel to the image sensor (118), by means of an interpolated movement of the operating unit (34).

9. The operating device according to claim 1, wherein: The control device (44) is designed to operate the robot operating unit (34) in a direct control mode in order to move an instrument (36) in space and adjust its orientation, wherein operating instructions on the robot operating unit (34) can be generated by acting on an element (40) of the operating unit (34) adjacent to the instrument, and the operating control unit (46) is designed to control the robot operating unit (34) in such a way that the instrument (36) follows the induced movement.

10. The operating device according to claim 9, wherein: The operating element (270) is provided for controlling the robot operating unit (34) in a direct control mode, and the operating element (270) has a sensor (272) for generating a release signal corresponding to the direct control mode.

11. The operating device according to claim 1, wherein: The robot operating unit (34) is mounted on the trolley (24), and the robot operating unit (34) can be controlled to drive the instrument (36) only when the trolley (24) is locked.

12. The operating device according to claim 1, wherein: The interface (238) can be connected to a plurality of input devices (244, 252), via which the robot operating unit (34) can be controlled, and the input devices (244, 252) can have different priorities.

13. The operating device according to claim 1, wherein: The instrument (36) is designed as a viewing instrument (38) and is arranged on an instrument holder (40).

14. A method for controlling an operating device, the operating device comprising: A robot operating unit (34) having an instrument holder (40) and an instrument (36) accommodated on the instrument holder, the method comprising the following steps: providing an instrument (36) on an instrument holder, An apparatus (36) and a robotic operating unit (34) are controlled by means of a control device (44), wherein the control is performed using an input device (50), wherein the input device (50) can be used to control the apparatus (36) in a first operating mode and can be used to control the robotic operating unit (34) in a second operating mode, A second operating mode is activated by operating a release switch (54), in which the robot operating unit (34) can move in response to input commands on the input device (50), and The release switch (54) can be operated in a first state (0), a second state (I) and a third state (II) according to an applied operating force, wherein the second state (I) is an activated state corresponding to a second operating mode, wherein in the first state (0) and in the third state (II), the second operating mode is deactivated, and when the release switch (54) is switched, the second state (I) is arranged in the middle relative to the first state (0) and the third state (II), The release switch (54) is directly connected to the operating control unit (46) assigned to the robot operating unit (34), directly connecting the input device (50) to the instrument control unit (48), The control device (44) is configured to provide control instructions for the robot operating unit (34) detected by the input device (50) to the operating control unit (46) via the instrument control unit (48) in a second operating mode, and to transmit the control instructions for the robot operating unit (34) in the second operating mode by means of the instrument control unit (48) that transmits the control instructions.

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