Method for controlling movement of surgical microscope and surgical microscope

Abstract

The invention relates to a method for controlling the movement of a surgical microscope and to a surgical microscope, in which, in a main operating mode (M1), the movement of a microscope lens (2) in a first predetermined movement manner is controlled by actuating an operating element (16) in a first actuation manner, in which an auxiliary operating mode (M2) can be activated, in which the microscope lens (2) is moved in a second predetermined movement manner by actuating an operating element (16) in a second actuation manner. The microscope lens (2) is controlled to move in a further predetermined movement manner by actuating the operating element (16) in a first actuation manner, the first movement manner and the further movement manner being different from each other.

Description

[0001] The present invention relates to a method for controlling the movement of an operating microscope and an operating microscope.

[0002] The prior art discloses operating microscopes for providing magnified views of an object to be examined, especially in medical applications. Operating microscopes are particularly used to provide magnified views of partial regions of the body so that a surgeon can have better visual orientation and make diagnoses during an operation. It is also known operating microscopes that enable motion control, especially the motion control of the microscope lens. Such an operating microscope includes one or more drive devices to generate a driving force for moving components of the operating microscope, wherein by appropriately controlling the drive devices, the microscope lens can be moved in a desired manner. Examples of applications include positioning the microscope lens such that the optical axis of the objective lens of the operating microscope assumes a desired orientation, and performing a movement such that a reference point (e.g., the focus) of the operating microscope is positioned at a desired position in space. The movement of the operating microscope can be controlled by a user (e.g., a surgeon). For this purpose, the operating microscope can have suitable operating elements for motion control.

[0003] DE 102019108129 A1 describes such a method for motor-operated positioning of an operating microscope. DE 102009037018 A1 is also known, which discloses a method for approaching a position in a controlled manner with an operating microscope. WO 2021 / 140513 discloses a surgical system and the control of system functions. DE 102008011638 A1 discloses a balancer device for an operating microscope mounted on a pivot. A robot and a digital operating microscope and a hand-operation-centered controller for the microscope are disclosed in WO 2021 / 252930A1. A visualization system for use during a surgical operation is disclosed in WO 2018 / 217951 A1. A control device and an ophthalmic microscope system are disclosed in DE 112020000880 T5.

[0004] The technical object is to provide a method for controlling the movement of an operating microscope and an operating microscope, which simplifies the control of the movement, especially in the case of different movement modes, thereby especially ensuring operational reliability.

[0005] This technical object is achieved by the subject matter having the features of the independent claims. Further advantageous configurations of the invention emerge from the dependent claims.

[0006] A method for controlling the movement of a surgical microscope is proposed. For the purposes of the present invention, a microscope refers to a device for providing, in particular, a magnified visual view of an examination object (i.e., for microimaging). The microscope can be an optical microscope that generates a magnified image representation by utilizing optical effects, in particular using means for beam guiding and / or beam shaping and / or beam steering, such as lenses. However, the microscope can also be a digital microscope, in which the (magnified) image representation to be visualized by the microscope can be generated by an image capture device and can be displayed on a suitable display device.

[0007] The surgical microscope includes a microscope head. The microscope head can include an objective lens of the surgical microscope, which can generate a true optical image representation of the examination object. The objective lens can include the described optical elements. The microscope head can include a housing, wherein the objective lens or at least a part thereof is arranged in the housing. For example, in the housing, a beam path for microimaging the examination object can be arranged. It is conceivable that a tracking camera is also arranged in the housing, which enables optical pose determination of a target, in particular marker-supported pose determination. The target can include at least one marker (but preferably includes a plurality of markers) and is, for example, attached to an instrument (such as a surgical instrument). In this case, the housing can also include another beam path for optical detection by means of the tracking camera, wherein the described beam paths can be formed separately from each other.

[0008] Furthermore, the surgical microscope can include a holder for holding the microscope head. The microscope head can be mechanically attached to the holder and particularly forms the end effector of the holder. In this context, the holder can be designed such that it allows the microscope head to move in space, in particular with at least one degree of freedom, preferably with six degrees of freedom, wherein the degrees of freedom can be translational degrees of freedom or rotational degrees of freedom. Translational movements and rotational movements as well as the corresponding degrees of freedom can be referred to a reference coordinate system. The vertical axis (z-axis) of this reference coordinate system can be oriented parallel to gravity, and the corresponding vertical direction (axis direction) can be oriented opposite to gravity. Alternatively, the vertical axis can be oriented parallel to the optical axis of the surgical microscope, which can particularly be the optical axis of the objective lens, and the corresponding vertical direction can be oriented from the surgical microscope towards the object space. In this context, the longitudinal axis (x-axis) and the transverse axis (y-axis) of the reference coordinate system can form a plane oriented perpendicular to the vertical axis. Furthermore, the longitudinal axis and the transverse axis can also be oriented orthogonal to each other. The longitudinal direction and the transverse direction (axis directions) can be oriented such that these axes form a Cartesian coordinate system.

[0009] An operating microscope, in particular a stand, comprises at least one drive device for moving the operating microscope, in particular the microscope head. Such a drive device can be, for example, a servo motor. Of course, the stand can also comprise means for transmitting force / torque, such as a gear unit. Furthermore, the operating microscope can comprise means for controlling the movement. For example, the user can use a control device to control at least one drive device such that the operating microscope makes a desired movement in space. Thereby, the operating microscope can be positioned, for example, in a specified target pose in space, where the pose represents the position and / or orientation of the microscope head. The movement can also be controlled in a desired movement manner (for example, a desired movement direction). The control device can be designed for haptic confirmation by the user / surgeon. However, this is not mandatory. Alternatively, the device can, for example, implement voice control.

[0010] The operating microscope further comprises at least one operating element. The operating element is a means for controlling the movement. The operating element can in particular be designed for manual operation by the user, i.e., for haptic actuation. Actuation can be carried out, for example, by pressing, shifting or rotating. By way of example and without limitation, the operating element can be designed as a joystick or a switch, in particular a toggle switch or a rocker switch.

[0011] In the main operating mode, the microscope head is controlled to move in a first predetermined movement manner by actuating the operating element in a first actuation manner. For example, the main operating mode can be enabled by actuating a corresponding enabling device (also referred to hereinafter as another enabling device). This will be explained in detail hereinafter. The actuation manner refers to the manner in which the operating element is actuated. Thus, the operating element can be designed such that it can be actuated in different actuation manners. For example, when different parts of the operating element are actuated and / or the corresponding actuation forces have different directions and / or different magnitudes, actuation can be carried out in different actuation manners.

[0012] For example, the microscope head can be controlled to move in a first predetermined direction by moving the joystick in a first movement direction. By actuating the joystick in a direction opposite to the first movement direction, the microscope head can also be controlled to move in another direction, which can be, for example, opposite to the first direction. In other words, different actuation manners can differ in at least one actuation characteristic, which can be, for example, the actuation position, the actuation direction, the actuation intensity. The operating element can in particular be arranged at the microscope head, further in particular on the handle of the operating microscope. The handle can also be arranged at the microscope head or its housing. Alternatively, the operating element can of course also be arranged on the housing of the microscope head or at other positions.

[0013] The movement mode can specify at least one characteristic of the movement. For example, the movement mode can define the movement direction and the type of movement. For example, the type of movement can be translational movement, rotational movement, or a combination of both. The type and / or number of degrees of freedom of movement, in particular the degrees of freedom of movement implemented, can also be defined by the movement mode. Further, the reference point and / or reference axis of the movement can also be defined by the movement mode, where the movement in this movement mode can then be rotational movement about the reference point and / or reference axis and / or translational movement along the reference axis.

[0014] In addition, an auxiliary operation mode can be enabled, in particular by generating an enabling signal via a corresponding enabling device to enable the auxiliary operation mode. This enabling device can also be referred to as the first enabling device. This will be explained in detail below. If the auxiliary operation mode is enabled or has been enabled, then in the auxiliary operation mode, the microscope lens is controlled to move in another predetermined movement mode by actuating the operating element in a first actuation mode, where the first movement mode and the other movement mode are different from each other. In particular, the first movement mode and the other movement mode differ in at least one characteristic. By way of example only, for instance, in the main operation mode, when the operating element is actuated in the first actuation mode, translational movement can be controlled, while in the auxiliary operation mode, rotational movement is controlled by the same actuation.

[0015] In other words, the method according to the invention allows different movements to be controlled by similar actuation of the same operating element. This increases the range of (control) functions that can be controlled by the operating element. In particular, it is not necessary to provide different operating elements and / or different actuation modes of a single operating element to control different movements, with the result that the operation for motion control is simplified, especially since the user does not have to actuate different operating elements or, for example, change the hand position for this purpose. This also advantageously means that the space requirement and the manufacturing cost of the surgical microscope do not increase with the increase in the range of functions.

[0016] It is conceivable that the auxiliary operation mode is deactivated again. The deactivation can occur, for example, when the main operation mode is (re)enabled, for example when an enabling signal for the main operation mode is generated (which enabling signal can then also be a deactivation signal for the auxiliary operation mode). It is also conceivable that a corresponding deactivation signal is generated to deactivate the auxiliary operation mode. It is also possible to enable the auxiliary operation mode only from the enabled main operation mode. Alternatively, the auxiliary operation mode can also be enabled independently of the enabled state of the main operation mode.

[0017] The operating microscope can include enabling means for enabling a main operating mode and an auxiliary operating mode. These enabling means can be the same, but can preferably be different from each other. As long as the corresponding mode has not been enabled, the mode can be enabled. These enabling means can be operated, for example, manually or acoustically, or include a user interface for user input. Thus, an enabling signal can be generated, for example, by actuation with the hand or foot or by a voice command. It is also conceivable to generate an enabling signal via the operation of a graphical user interface (such as a touch panel or touch screen), for example by selecting the desired movement mode there.

[0018] The first enabling means and / or another enabling means can be designed, for example, as (one or more) operating elements of a manually operated control panel or a foot-operated control panel. The manually operated control panel can be arranged, for example, on the handle of the operating microscope. Thus, such an operating element can be designed for actuation by the user's hand (in particular the fingers) or foot. The operating element can be designed, for example, as a push button or a button that generates an enabling signal when pressed. The operating element can be an operating element that is freely configurable in terms of function, where such an operating element can be assigned various functions, for example, by corresponding programming. Alternatively, the switching element can be a switch element that is permanently configured in terms of function, where the switch element is permanently and irrevocably assigned a predetermined function.

[0019] It is also conceivable that the enabling of the main operating mode is carried out by actuating the enabling means in a first actuation manner, and the enabling of the auxiliary operating mode is carried out in another actuation manner different from the previous one. Thus, the corresponding enabling means can be designed such that it can be actuated in different actuation manners. It is also conceivable that the auxiliary operating mode is enabled when the enabling means is actuated for at least a predetermined period of time, especially longer than the predetermined period of time. In this case, if the enabling means is actuated for a shorter period of time than the predetermined period, the main operating mode can be enabled.

[0020] It is also conceivable that the enabling means for enabling the main operating mode is a switching means for switching between different main operating modes. Thus, if one of the multiple main operating modes has been enabled, then when the enabling means is actuated in a first actuation manner and / or the enabling means is actuated for a shorter period of time than the predetermined period, another main operating mode different from the previous one can be enabled. This also makes it possible to enable all the main operating modes in a predetermined order, that is, to switch between these modes in sequence.

[0021] The operating microscope may also include deactivation means for deactivating the main operating mode and the auxiliary operating mode, and these deactivation means may also be the same, but may preferably be different from each other. The deactivation means may further be the same as or different from the activation means. If at least one marking element with a predetermined identification is recognized based on an image (i.e., by evaluating the image representation), an activation signal or a deactivation signal for the main operating mode or the auxiliary operating mode may also be generated. The image representation may be generated, for example, by the tracking camera previously explained, which may also be part of the operating microscope or the microsystem. However, of course, it is also conceivable that the image representation evaluated for recognition is generated by the image capture device of the operating microscope for microscopic imaging. For example, it is conceivable that the main operating mode is activated or deactivated when the first identification is recognized, and the auxiliary operating mode is activated or deactivated when a different other identification is recognized. The activation of an operating mode may also cause the deactivation of a previously activated operating mode. In this case, the activation means of one operating mode thus forms the deactivation means for deactivating another operating mode.

[0022] In a preferred embodiment, another movement mode is a translational movement along the optical axis of the microscope lens, in particular in the axial direction or in the opposite direction of the axial direction, and the axial direction may be oriented to point from the microscope lens to the object space. Thus, in the auxiliary operating mode, the first actuation mode of the operating element may control a translational movement along the optical axis in a first direction, and another actuation mode may control a translational movement in the opposite direction. It has been shown that users less frequently expect a translational movement along the optical axis compared to other movement modes. By assigning this movement mode to the auxiliary operating mode, other more frequently expected movement modes can advantageously be assigned to the main operating mode, and no additional activation is required compared to the auxiliary operating mode. This in turn advantageously simplifies the operation of the operating microscope while enabling the translational movement explained.

[0023] In another embodiment, after the expiration of a predetermined inactive period, the auxiliary operation mode is deactivated. The inactive period is a period during which the operating element is not actuated. For example, this period can be 5 seconds. Thus, if the auxiliary operation mode has been enabled and the operating element is not actuated or is not actuated according to the selected actuation manner or according to a plurality of selected actuation manners, the auxiliary operation mode is deactivated. It is conceivable that after the auxiliary operation mode is deactivated, the surgical microscope will be set to a state in which both the main operation mode and the auxiliary operation mode are deactivated. In this case, the main operation mode must be enabled again first for motion control. However, preferably, after or at the same time as the auxiliary operation mode is deactivated, the main operation mode is enabled. Alternatively, the inactive period can be a period during which no movement occurs regardless of whether the operating element is actuated, that is, in particular, no movement command is generated. Thus, it is conceivable that even if the operating element is actuated in the auxiliary operation mode, for example, due to a fault or a collision, no movement will occur. Then, it can also be automatically switched to the main operation mode. This advantageously improves the operation reliability of the surgical microscope, especially in the case where another movement mode is a translational movement along the optical axis, because this reduces the risk of collision with the patient or another surgical instrument.

[0024] Alternatively, when the movement trajectory limit is reached in the auxiliary operation mode, the auxiliary operation mode is deactivated. For example, if the movement along the optical axis is controlled in the auxiliary operation mode, when the focusing limit is reached, the auxiliary operation mode can be deactivated. For example, this limit can be the limit of the range of allowable focusing positions, where the allowable focusing positions can be predetermined. This also advantageously improves the operation reliability of the surgical microscope.

[0025] In another embodiment, after the expiration of a predetermined inactive period, the main operation mode is enabled. This has been explained above. According to the previous explanation, this advantageously improves the operation reliability and also improves the user-friendliness, because after the auxiliary operation mode is deactivated, the movement can still be controlled without re-enabling the main operation mode.

[0026] In another embodiment, the first movement mode defines a translational movement in a plane oriented perpendicular to the optical axis. Alternatively, the first movement mode defines a rotational movement. The defined rotational movement can be, for example, about a point on the optical axis, in particular about the focal point. Alternatively, the rotational movement can be about a reference point of the microscope lens. The reference point can be arranged, for example, on one or more axes about which the microscope lens mounted on the support can rotate, in particular at the intersection of these multiple rotational axes. In particular, the direction of movement of the translational movement or the rotational movement can also be defined by the first movement mode. Observation shows that compared with a translational movement, especially along the optical axis, the user more often expects the above-mentioned movement modes. By assigning such a movement mode to the main operation mode, other less frequently expected movement modes can be advantageously assigned to the auxiliary operation mode. This in turn advantageously simplifies the operation of the surgical microscope while allowing a translational movement along the optical axis.

[0027] In another embodiment, an enabling signal for enabling the auxiliary operation mode is generated in a tactile manner. For this purpose, the surgical microscope can include a suitable enabling device (first enabling device), such as a manually actuable enabling device, such as a button, a switch or different enabling devices for manual actuation. This has been explained above. Such an enabling device can be arranged in particular at the microscope lens, especially on its housing, or on the handle. This advantageously enables the simple and reliable enabling of the auxiliary operation mode. Alternatively, the enabling signal is generated acoustically, for example via a voice signal. In this case, the surgical microscope or the microscope system including the surgical microscope can include a device for voice-enabled operation, in particular at least one microphone and an evaluation device for evaluating the acoustic signal. Then, depending on the evaluation of the acoustic signal, an enabling signal for enabling the auxiliary operation mode can be generated.

[0028] This advantageously simplifies the operation of the surgical microscope, especially the enabling of the auxiliary operation mode.

[0029] In another embodiment, the operating element is designed to be actuated in a plurality of actuation manners, wherein the auxiliary operation mode is enabled only for one or more, but not all, of the selected actuation manners. In other words, it is conceivable that, in the enabled main operation mode, the microscope lens is controlled to move in a first predetermined movement manner by actuating the operating element in a first actuation manner, wherein the microscope lens is controlled to move in a second predetermined movement manner different from the first movement manner by actuating the operating element in another actuation manner. Then, if the auxiliary operation mode is enabled, the microscope lens can be controlled to move in another predetermined movement manner that is at least different from the first movement manner, but preferably also different from the second movement manner, by actuating the operating element in the first actuation manner. However, by actuating the operating element in another actuation manner, the microscope lens is controlled to move in the second predetermined movement manner in the enabled auxiliary operation mode. This advantageously further improves the functionality of the surgical microscope because different movement manners of the main operation mode and the auxiliary operation mode can be combined by different actuation manners.

[0030] In another embodiment, the operating element is designed as a joystick or a rocker switch. This makes the production of the surgical microscope simple and cost-effective.

[0031] In another embodiment, an enabling signal for enabling the main operation mode is generated by another enabling device, which is different from the first enabling device for enabling the auxiliary operation mode. There can be a plurality of (for example, three) main operation modes that are different from each other, and each of these modes can be enabled or a switch between these modes can be achieved by the another enabling device. For example, different main operation modes can be enabled by a graphical user interface. This advantageously enables reliable operation of the surgical microscope, especially the enabling of the operation modes. Different main operation modes can particularly define different movement manners, and when the operating element is actuated in the first actuation manner, the surgical microscope is controlled to move through these movement manners.

[0032] Furthermore, a surgical microscope is proposed, which includes at least one microscope lens, at least one operating element for controlling the movement of the microscope lens, and at least one control device. Therefore, the surgical microscope is configured such that the method according to any one of the embodiments disclosed in this disclosure can be performed using the surgical microscope.

[0033] A microscopic system including a surgical microscope is also described. The microscopic system can include another enabling device for enabling the main operation mode and a first enabling device for enabling the auxiliary operation mode.

[0034] The present invention will be explained in detail based on exemplary embodiments. In the drawings:

[0035] Figure 1Shows a schematic diagram of an operating microscope according to an embodiment of the present invention,

[0036] Figure 2 Shows a schematic diagram of the movement mode of the main operation mode of the operating microscope,

[0037] Figure 3 Shows a schematic illustration of an additional movement mode of the main operation mode of the operating microscope,

[0038] Figure 4 Shows a schematic illustration of an additional movement mode of the main operation mode of the operating microscope,

[0039] Figure 5 Shows a schematic illustration of the movement mode of the auxiliary operation mode of the operating microscope,

[0040] Figure 6 Shows a schematic flowchart of a method according to a first embodiment of the present invention,

[0041] Figure 7 Shows a schematic flowchart of a method according to another embodiment of the present invention,

[0042] Figure 8 Shows a schematic flowchart of a method according to another embodiment of the present invention,

[0043] Figure 9 Shows a schematic flowchart of a method according to another embodiment of the present invention, and

[0044] Figure 10 Shows a schematic illustration of an operating element.

[0045] The same reference numerals in the following indicate elements having the same or similar technical features. Figure 1 Illustrates the operating microscope 1 during use in a surgical environment. The operating microscope 1 includes a microscope lens 2, which is arranged at the free end of a bracket 3 for holding the microscope lens 2. The bracket 3 allows the microscope lens 2 to be moved controllably to change the attitude of the microscope lens 2 (i.e., position and / or orientation), and thus also changes the attitude of the optical axis 17 of the objective lens (not shown) of the operating microscope 1, and the objective lens may be arranged in the housing 25 of the microscope lens 2 (see, for example Figure 2) Among them. The shown bracket 3 is an exemplary kinematic structure for holding and moving the microscope lens 2. Those skilled in the art of course know that other kinematic structures can also be used. The driving device (not depicted) of the bracket 3 can enable the movable part of the bracket 3 to perform rotational movement around the rotation axes 4, 5, and 6. This figure also illustrates a control device 7, which is used to control the driving device and thus control the movement. For this purpose, the control device 7 can be connected to the driving device for signal and / or data exchange. A patient 13 lying on the operating table 14 is also illustrated. This figure further illustrates that the surgical microscope 1 (more precisely, the microscope lens 2) includes at least one eyepiece 15 or optical viewer, and a user 8 (such as a surgeon) looks at the at least one eyepiece or optical viewer so as to observe a partial area of the patient 13, especially in a magnified manner. Figure 1 The handle 12 of the microscope lens 2 is not shown (see Figure 2 ).

[0046] The surgical microscope 1 further includes a tracking camera 10 for detecting the posture of the instrument 19 that can be held and moved by the user 8. In this case, a target 9 with at least one marker 11 can be attached to the instrument 19, wherein the posture of the target 9 can be determined based on the image representation of the target 9 captured by the tracking camera 10, and the posture of the instrument 19 can also be determined based on the fixed arrangement of the target 9 on the instrument 19. The marker 11 or the target 9 can have a particularly unique identifier, and this identifier can also be determined based on the image in particular. If the identifier is detected based on the image, the operation mode assigned to this identifier can thus be enabled or disabled.

[0047] Figure 2 A schematic illustration of the movement mode of the main operation mode M1 of the surgical microscope 1 is shown (see Figure 6 ). The surgical microscope has a microscope lens 2 attached to the bracket 3. Two handles 12 are attached to the microscope lens 2, and these two handles extend from the housing 25 of the microscope lens 2. The surgeon can hold these handles 12 by hand and move or position the microscope lens 2 in the space in a desired manner through hand movement. In each case, the handle 12 can be provided with an operating element 16 for actuation by the user, especially with the thumb or another finger. By actuating the operating element 16, the microscope lens 2 can be controlled to move in a first predetermined movement mode in the main operation mode M1. Figure 2Shows a longitudinal translation axis x and a transverse translation axis y and also an optical axis 17, which corresponds to the vertical axis z. The axis directions of these axes x, y, z are indicated by arrows. The longitudinal translation axis x and the transverse translation axis y are perpendicular to each other and are oriented perpendicular to the optical axis 17. The axes x, y, 17 intersect at a reference point of the microscope lens 2. This reference point can in particular be located on at least one rotation axis of the rotary joint, via which the microscope lens 2 is attached to the movable element of the support 3. By actuating one of the illustrated operating elements 16 in different actuation manners, the microscope lens 2 can be controlled to move in the longitudinal translation direction and in the reverse longitudinal translation direction and in the transverse translation direction and in the reverse transverse translation direction in the main operating mode M1. If the auxiliary operating mode M2 is enabled, the microscope lens 2 can be moved in the direction of the optical axis 17 and in the reverse direction of the optical axis by actuating the operating element 16 in one or more actuation modes. The handle 12 can in each case also be provided with a first enabling device 26 designed as a button for actuation by the user, in particular with the thumb or another finger. By actuating the first enabling device 26, an enabling signal ASM2 for enabling the auxiliary operating mode M2 can be generated.

[0048] Figure 3 Shows a schematic illustration of the movement manner of the main operating mode M1 of the operating microscope 1 (see Figure 6 ). Compared with the Figure 2 illustrated embodiment, a longitudinal axis x, a transverse axis y and a vertical axis z intersecting at the focal point FP are shown. The vertical axis z is the optical axis 17 of the operating microscope 1 and is oriented from the microscope lens 2 towards the patient 13. The reference point that can be located on the rotation axis of the microscope lens 2 is not shown, where the microscope lens 2 attached to the support 3 can rotate about this rotation axis. In particular, the reference point can be located at the intersection of more than two such rotation axes. In the main operating mode M1 (see Figure 6 ), by actuating one of the operating elements 16 in a first actuation manner, the microscope lens 2 can be controlled to perform rotational movement about the reference point and about an axis parallel to the transverse axis y and passing through the reference point. By actuating in another actuation manner, the microscope lens 2 can be controlled to perform rotational movement about the reference point and about an axis parallel to the longitudinal axis x and passing through the reference point. If the auxiliary operating mode M2 is enabled, the microscope lens 2 can be controlled to move along the vertical axis z or in the reverse direction of the vertical axis by actuating the operating element 16 in the first actuation manner.

[0049] Figure 4 Shows a schematic illustration of the movement manner of the main operating mode M1 of the operating microscope 1 (see Figure 6 ). Compared with the Figure 2 illustrated embodiment, a longitudinal axis (not shown), a transverse axis (not shown) and a vertical axis z intersect at the focal point FP. The vertical axis z is the optical axis 17 of the operating microscope 1 and is oriented from the microscope lens 2 towards the patient 13. In the main operating mode M1 (seeFigure 6 )In the following, by actuating one of the operating elements 16 in a first actuation manner, the microscope lens 2 can be controlled to perform a rotational movement R1 about the focal point FP and about the longitudinal axis. By actuating in another actuation manner, the microscope lens 2 can be controlled to perform a rotational movement R2 about the focal point and the transverse axis y. If the auxiliary operation mode M2 is enabled, then by actuating the operating element 16 in the first actuation manner, the microscope lens 2 can be controlled to move along the vertical axis z and in the reverse direction of the vertical axis.

[0050] Figure 5 A schematic illustration of the movement mode of the auxiliary operation mode M2 of the operating microscope 1 is shown (see Figure 6 ) If the auxiliary operation mode M2 is enabled, then by actuating the operating element 16 in the first actuation manner, the microscope lens 2 can be controlled to move along the vertical axis z or in the reverse direction of the vertical axis, and this vertical axis corresponds to the optical axis 17 of the microscope lens 2.

[0051] Figure 6 A schematic flow chart of the method according to the present invention is shown. The main operation mode M1 is shown as enabled. In this main operation mode M1, the microscope lens 2 is controlled to move in a first predetermined movement manner by actuating the operating element 16 in a first actuation manner (see for example Figure 2 ) The auxiliary operation mode M2 is enabled by generating an enable signal ASM2. In the auxiliary operation mode M2 (i.e., in the enabled state), the microscope lens 2 is controlled to move in another predetermined movement manner different from the first movement manner by actuating the operating element 16 in the first actuation manner. The enable signal ASM2 can be generated by a first enabling device 26. Exemplary enabling devices and enabling methods have been previously described.

[0052] Figure 7 A schematic flow chart of the method according to another embodiment of the present invention is shown. Compared with the Figure 6 shown embodiment, after the expiration of a predetermined inactive time period, the main operation mode M1 is enabled starting from the enabled auxiliary operation mode M2. When the main operation mode M1 is enabled starting from the enabled auxiliary operation mode M2, the auxiliary operation mode M2 is simultaneously deactivated. As an alternative to the expiration of a predetermined active time period, a deactivation signal DASM2 can also be generated, and this deactivation signal causes the enabling of the main operation mode M1 and the deactivation of the auxiliary operation mode M2. Exemplary deactivation devices and deactivation methods have also been previously described.

[0053] Figure 8 A schematic flow chart of the method according to another embodiment of the present invention is shown. Compared with the Figure 7 shown embodiment, when an enable signal ASM1 for the main operation mode M1 is generated (for example, by actuating a suitable another enabling device 18 (see Figure 9)) Starting from the enabled auxiliary operation mode M2, the main operation mode M1 is enabled. The auxiliary operation mode M2 is also deactivated after the expiration of a predetermined inactive time period, whereupon, upon such deactivation, the surgical microscope is set to state M3, in which neither the main operation mode M1 nor the auxiliary operation mode M2 is enabled. Of course, it is conceivable that, in the enabled main operation mode M1 or auxiliary operation mode M2, a deactivation signal (not shown) is generated, by means of which the surgical microscope 1 is also set to this state M3.

[0054] Figure 9 A schematic flow chart of a method according to a further embodiment of the invention is shown. A further enabling device 18 for enabling the main operation modes M11, M12, M13 is shown. This further enabling device 18 can, for example, be configured as a graphical user interface or can include a graphical user interface. Of course, the further enabling device 18 can also take another form, for example as an operating element of a manually or foot-operated control panel or as a voice-controlled enabling device. As explained above, the further enabling device 18 can also be formed by the first enabling device 26 (see, for example Figure 2 ). By corresponding actuation / control of the further enabling device 18, different enabling signals ASM11, ASM12, ASM13 can be generated, which cause the enabling of the first main operation mode M11, the second main operation mode M12 or the third main operation mode M13. These main operation modes can in particular be distinguished by the way in which the movement of the microscope lens 2 is controlled when actuating the operating element 16 (see Figure 2 ). Starting from each of the main operation modes M11, M12, M12 enabled in this way, the auxiliary operation mode M2 can then be enabled by generating an enabling signal ASM2. Starting from this enabled auxiliary operation mode M2, the previously enabled main operation modes M11, M12, M13 can be enabled again by generating a corresponding enabling signal or after the expiration of a predetermined inactive time period.

[0055] Figure 10 A schematic top view of the operating element 16 designed as a cross rocker switch 20 is shown. The longitudinal axis xs and the transverse axis ys of the switch are shown, which form a coordinate system specific to the switch, where the origin of the coordinate system is arranged at the geometric center of gravity of the cross rocker switch 20. Actuating the cross rocker switch 20 in a first actuation manner can be carried out by pressing the first leg 21 of the cross rocker switch 20, which then tilts about the longitudinal axis xs of the switch in the mathematically positive direction relative to the indicated axis direction. Actuating the cross rocker switch 20 in a second actuation manner can be carried out by pressing the second leg 22 of the cross rocker switch 20, which then tilts about the longitudinal axis xs of the switch in the mathematically negative direction relative to the indicated axis direction.

[0056] Actuating the cross rocker switch 20 in a third actuation manner can be performed by pressing the third leg 23 of the cross rocker switch 20, which then tilts about the horizontal axis ys of the switch in the positive mathematical direction with respect to the shown axis direction. Actuating the cross rocker switch 20 in a fourth actuation manner can be performed by pressing the fourth leg 24 of the cross rocker switch 20, which then tilts about the horizontal axis ys of the switch in the negative mathematical direction with respect to the shown axis direction.

[0057] If the main operation mode M1 (see for example Figure 6 ) is enabled, actuating the cross rocker switch 20 in a first actuation manner can control the movement of the microscope lens 2 in the opposite direction along the longitudinal axis x, where the longitudinal axis (as shown for example Figure 3 ) extends through the focal point FP and is oriented perpendicular to the vertical axis z, where the vertical axis z is in turn parallel to the optical axis 17. Further, actuating the cross rocker switch 20 in a second actuation manner can control the movement along the direction of the longitudinal axis x. Actuating the cross rocker switch 20 in a third actuation manner can control the movement in the opposite direction along the horizontal axis y, which also extends through the focal point FP and forms a Cartesian coordinate system with the longitudinal axis x and the vertical axis z. Actuating the cross rocker switch 20 in a fourth actuation manner can control the movement along the direction of the horizontal axis y.

[0058] On the other hand, if the auxiliary operation mode M2 is enabled, actuating the cross rocker switch 20 in a first actuation manner can control the movement of the microscope lens 2 along the vertical axis z. Further, actuating the cross rocker switch 20 in a second actuation manner can control the reverse movement along the vertical axis z.

[0059] When actuating the cross rocker switch 20 in a third actuation manner and a fourth actuation manner, the movement of the microscope lens 2 cannot be controlled in the enabled auxiliary operation mode M2, so the actuation does not cause motion control. Alternatively, the function of the actuation can be maintained in the enabled main operation mode M1. Thus, actuating the cross rocker switch 20 in a third actuation manner can therefore control the reverse movement along the direction of the horizontal axis y, and actuating the cross rocker switch 20 in a fourth actuation manner can control the movement along the direction of the horizontal axis y.

[0060] List of reference numerals

[0061] 1 Surgical microscope

[0062] 2 Microscope lens

[0063] 3 Bracket

[0064] 4, 5, 6 Rotation axes

[0065] 7 Control device

[0066] 8 User

[0067] 9 Target

[0068] 10 Tracking Camera

[0069] 11 Marker

[0070] 12 Handle

[0071] 13 Patient

[0072] 14 Operating Table

[0073] 15 Eyepiece

[0074] 16 Operating Element

[0075] 17 Optical Axis

[0076] 18 Another Enabling Device

[0077] 19 Instrument

[0078] 20 Cross-Rocker Switch

[0079] 21, 22, 23, 24 Legs of the Cross-Rocker Switch

[0080] 25 Housing

[0081] 26 First Enabling Device

[0082] M1, M11, M12, M13 Main Operation Modes, Multiple Main Operation Modes

[0083] M2 Auxiliary Operation Mode

[0084] M3 Status

[0085] ASM1, ASM2

[0086] ASM11, ASM12, ASM13 Enabling Signals

[0087] x, xs Longitudinal Axis

[0088] y, ys Transverse Axis

[0089] z Vertical Axis

[0090] FP Focus

[0091] R1, R2 Rotary Movement

Claims

1. A method for controlling the movement of an operating microscope (1), wherein, In the main operating mode (M1), the microscope lens (2) is controlled to move in a first predetermined movement manner by actuating the operating element (16) in a first actuation manner, wherein an auxiliary operating mode (M2) can be enabled, and wherein, in this auxiliary operating mode (M2), the microscope lens (2) is controlled to move in another predetermined movement manner by actuating the operating element (16) in the first actuation manner, and wherein the first movement manner and the other movement manner are different from each other.

2. The method according to claim 1, characterized in that, The other movement manner is a translational movement along the optical axis (17) of the microscope lens (2).

3. The method according to any one of the preceding claims, characterized in that, The auxiliary operating mode (M2) is deactivated after the end of a predetermined inactive time period, or when the movement trajectory limit in the auxiliary operating mode (M2) is reached.

4. The method according to claim 3, characterized in that, The main operating mode (M1) is enabled after the end of the predetermined inactive time period.

5. The method according to any one of the preceding claims, characterized in that, The first movement manner defines a translational movement in a plane oriented perpendicular to the optical axis (17), or a rotational movement (R1, R2).

6. The method according to any one of the preceding claims, characterized in that, An enabling signal (ASM2) for enabling the auxiliary operating mode (M2) is generated in a tactile or acoustic manner.

7. The method according to any one of the preceding claims, characterized in that, The operating element (16) is designed to be actuated in a plurality of actuation manners, and wherein the auxiliary operating mode (M2) is enabled only for one or more, but not all, of the selected actuation manners.

8. The method according to any one of the preceding claims, characterized in that, The operating element (16) is designed as a joystick or rocker switch (20).

9. The method according to any one of the preceding claims, characterized in that, An enabling signal (ASM1) for enabling the main operating mode (M1) is generated by another enabling device (18), which is different from the first enabling device (26) for enabling the auxiliary operating mode (M2).

10. An operating microscope, the operating microscope comprising at least one microscope lens (2), at least one operating element (16) for controlling the movement of the microscope lens (2), and at least one control device (7), wherein, The operating microscope (1) is configured such that – in the main operating mode (M1), the microscope lens (2) is controlled to move in a first predetermined movement manner by actuating the operating element (16) in a first actuation manner, – the auxiliary operating mode (M2) can be enabled, – in the auxiliary operating mode (M2), the microscope lens (2) is controlled to move in another predetermined movement manner by actuating the operating element (16) in the first actuation manner, and wherein the first movement manner and the other movement manner are different from each other.

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