Automatic configuration of a surgical microscope system based on an overview image

Abstract

In various examples of the disclosure, an object, e.g. a surgical instrument, is searched in an overview image, wherein the overview image is searched using an environmental camera of a surgical microscope system. A robotic stage of the surgical microscope system is then controlled in such a way that the object is arranged in the field of view of a microscope camera of the surgical microscope system. Then, an assistance function, e.g. a self-centering, is performed based on the microscope image.

Description

Technical Field

[0001] Various examples of this disclosure relate to techniques for automatically configuring surgical microscopy systems for imaging objects. Background Technology

[0002] Medical surgical microscopy systems (also known as robotic visualization systems or surgical visualization systems) with robotic supports for positioning microscopes are known from the prior art, see, for example, DE 10 2022 100 626 A1.

[0003] The robotic support can be manually controlled. However, techniques are also known to enable automatic control of the robotic support, for example, to allow for automatic centering and / or automatic focusing on a specific object, such as a surgical instrument (also known as a surgical device or tool). User commands trigger the positioning process, during which the robotic support and / or the objective optics unit of the microscope are controlled. Such techniques for automatic centering are known, for example, from US 10,456,035 B2.

[0004] The following scenario has been observed: a user commands a request to configure the microscope camera to image a predefined object, but the object cannot be found, and therefore the configuration cannot be executed. Thus, the user's expectations do not match the actual system behavior. Summary of the Invention

[0005] Therefore, there is a need for improved techniques for the automated control of surgical microscopy systems. In particular, there is a need for improved techniques related to the automated configuration of surgical microscopy systems for imaging objects.

[0006] This problem is addressed by the features of the independent claims. The features of the dependent claims define the embodiments.

[0007] The following describes aspects related to the automated configuration of a surgical microscopy system having a robotic support and a microscope supported by the robotic support. This automated configuration can be provided in conjunction with assistive functions for assisting the surgeon. This configuration is performed such that the microscope's camera is positioned to image the object. This ensures that the object is within the microscope camera's field of view. Thus, the assistive functions can be performed based on an evaluation of the microscope image captured by the microscope camera, since the object is imaged in the microscope image.

[0008] A computer-implemented method for controlling a surgical microscopy system is disclosed. The surgical microscopy system includes a robotic support. The surgical microscopy system also includes a microscope. The microscope is supported by the robotic support. The surgical microscopy system also includes an environmental camera. The environmental camera is supported by the robotic support. The environmental camera has a first field of view. The first field of view is larger than the second field of view of the microscope camera.

[0009] The first field of view typically includes the second field of view, that is, the second field of view images the region that is also imaged by the first field of view.

[0010] The method includes receiving a user command. The user command requests that the microscope camera be configured to image an object.

[0011] This configuration can be requested explicitly or implicitly. For example, a user command can request automatic centering relative to an object. However, a user command can also request measurement of the object based on its image representation in a microscope image captured by a microscope camera.

[0012] In response to a received user command, the microscope camera can optionally be controlled to capture an initial microscope image. An object can then be searched for within this initial image. If an object is found in the initial microscope image, auxiliary functions can be performed based on it. Thus, additional steps can be omitted.

[0013] However, it is also possible that no object is found in the initial microscope image, or that the method fails to capture the initial microscope image. In such cases, the method may also include controlling an environmental camera to capture an overview image.

[0014] The magnification of overview images is significantly lower than that of microscope images. Therefore, the first field of view of an overview camera is also larger than the second field of view of a microscope camera.

[0015] The method then includes searching for an object in the overview image. If an object is found in the overview image, the method includes providing a control command to the robotic support. This control command moves the microscope in such a way that the object is subsequently positioned in the second field of view of the microscope camera.

[0016] The microscope camera can then be controlled to capture a microscope image, and auxiliary functions can then be performed based on this image. Due to the prior control of the robotic support and the associated movement of the microscope, it can be assumed that this captured microscope image represents an object.

[0017] For example, auxiliary functions can be performed based on a predefined image representation of an object in a microscope image. For example, it is conceivable that auxiliary functions can be performed based on the predefined location of an object in a microscope image. For example, the object can be measured. Accurate object positioning can also be performed, and then the second field of view can be automatically centered relative to a reference point determined based on this object positioning.

[0018] As can be clearly seen from the above, in some examples, the ambient camera is controlled only under specific conditions (i.e., when no object is found in the initial microscope image). However, in other variations, it is conceivable that the ambient camera is always controlled first in order to search for objects in the overview image. In other words, capturing the initial microscope image is optional.

[0019] A data processing device is disclosed. This data processing device is designed to control a surgical microscopy system. The data processing device includes a processor. The processor is designed to load program code from memory and execute the program code. The execution of the program code causes the processor to perform the aforementioned method for controlling the surgical microscopy system.

[0020] A surgical microscopy system that includes such data processing equipment was also disclosed.

[0021] Without departing from the scope of protection of this invention, the features set forth above and described below may be used not only in the explicitly stated corresponding combinations, but also in other combinations or individually. Attached Figure Description

[0022] Figure 1 The surgical microscopy system is illustrated schematically based on various examples.

[0023] Figure 2 Different fields of view are schematically shown in relation to the microscope and environmental camera of the exemplary surgical microscopy system.

[0024] Figure 3 This is a flowchart of an exemplary method. Detailed Implementation

[0025] The features, characteristics, and advantages of the invention described above, as well as the ways in which they are implemented, will become clearer and more apparent in conjunction with the following description of exemplary embodiments, which are explained in more detail in connection with the accompanying drawings.

[0026] The invention will now be explained in more detail with reference to the accompanying drawings, based on preferred embodiments. In the drawings, identical reference numerals denote identical or similar elements. The drawings are schematic representations of various embodiments of the invention. Elements shown in the drawings are not necessarily shown to scale. Rather, the various elements shown in the drawings are presented in a manner that makes their function and general purpose readily understandable to those skilled in the art. Connections and linkages between functional units and elements shown in the drawings may also be implemented as indirect connections or linkages. Connections or linkages may be implemented in a wired or wireless manner. Functional units may be implemented as hardware, software, or a combination of hardware and software.

[0027] The following describes techniques related to the operation of a surgical microscopy system. These techniques enable the automated configuration of one or more components of the surgical microscopy system. In this manner, the surgical microscopy system can enter a state where a specific object (e.g., a surgical instrument) is imaged by the microscope camera of the surgical microscopy system in such a way that auxiliary functions can be performed based on the corresponding microscope image. Thus, the object is arranged such that it is positioned within the field of view of the microscope camera.

[0028] As described above, objects can be, for example, surgical instruments. Generally, examples of objects include surgical instruments, fingers, examination instruments, microsurgical instruments, pointing instruments (e.g., having one or more machine-readable markings), and confocal endoscopes. Examples of surgical instruments generally include: scalpels, surgical forceps, surgical scissors, needle holders, clamps, aspirators, cannulas, coagulators, electrocautery devices, retractors, surgical drills, expanders, bone chisels, suture materials, knot pushers, periosteal elevators, hemostatic forceps, scalpels, drains, suture cutters, scrapers, and ultrasonic aspirators.

[0029] Figure 1 Various aspects of an exemplary surgical microscopy system 80 are schematically illustrated. The surgical microscopy system 80 is used for microscopic imaging of an area to be examined during surgical intervention. For this purpose, a patient 79 is placed on an operating table 70. Surgical instruments 78 are shown at position 78.

[0030] The surgical microsurgical system 80 includes a robotic scaffold 82 that supports a positionable head portion 81. Depending on the variant, the robotic scaffold 82 may have different degrees of freedom. The robotic scaffold 82 is known to have six degrees of freedom for positioning the head portion 81: translation along each of the x, y, and z axes, and rotation about each of the x, y, and z axes. Figure 1 As shown, the robot support 82 may have a handle 82a.

[0031] The head portion 81 includes a microscope 84 with optical components 85 (e.g., an illumination optics unit, an objective lens optics unit, a zoom optics unit, etc.). In the example shown, the microscope 84 further includes a microscope camera 86 (here a stereo camera with two channels; however, a single-channel optics unit is also conceivable), which can capture images of the examined area and display the images, for example, on screen 69. Therefore, the microscope 84 is also referred to as a digital microscope. The field of view 123 of the microscope camera 86 is also shown.

[0032] exist Figure 1In the example, microscope 84 also includes an eyepiece 87 with an associated field of view 122. For example, the detection beam path can be split by means of a beam splitter, so that an image can be captured by camera 86 and observed through eyepiece 87. Not all variations of microscope 84 must have an eyepiece. A purely digital microscope 84 without an eyepiece is also possible.

[0033] exist Figure 1 In the example, the head portion 81 of the surgical microsurgical system 80, supported by a support 82, also includes an environmental camera 83. Although Figure 1 In the example, the environmental camera 83 is shown as integrated into the microscope 84, but the environmental camera could be arranged separately from the microscope 84. The environmental camera could be, for example, a CCD camera. The environmental camera could also have depth resolution. As an alternative to or complement to the environmental camera, other auxiliary sensors, such as distance sensors (e.g., time-of-flight cameras, ultrasonic sensors, or sensors with structured illumination), are also conceivable. Figure 1 The field of view 121 of the environment camera 83 is shown in the figure.

[0034] Therefore, surgeons have several options for observing the examination area: using eyepiece 87, using a microscope image recorded by camera 86, or using an overview image recorded by environmental camera 83. Surgeons can also directly observe the examination area (without magnification).

[0035] Next, we will discuss various aspects related to fields of view 121, 122, and 123.

[0036] Figure 2 It showcases various aspects related to the different fields of view 121, 122, and 123. Figure 2 The field of view 121 of the environmental camera of the surgical microscopy system 80 is shown. Therefore, the overview image represents a relatively large area.

[0037] Also shown are the field of view 122 of the eyepiece and the field of view 123 of the camera 86 of the microscope 84. Sometimes, if a zoom function is provided ( Figure 2 (not shown in the image), then the field of view 123 of the microscope 84 can be magnified or reduced.

[0038] Figure 2 The field of view 121 of the environmental camera is shown, including the field of view 122 of the eyepiece and the field of view 123 of the camera 86 of the microscope 83.

[0039] As a general rule, the field of view 121 of the environment camera may include at least one of the field of view 122 of the eyepiece 87 or the field of view 123 of the camera 86.

[0040] As a general rule, different fields of view 121, 122, and 123 can have different arrangements relative to each other. Figure 2 This is just an example regarding layout, relative size, etc.

[0041] Figure 2 Additionally, the boundary lines 125 of the four sections of the field of view 121 of the environmental camera are shown (typically, the shape of these sections is variable, such as rectangular or radial). The number of sections can also vary.

[0042] Refer again Figure 1 Various components of the surgical microscopy system 80 (e.g., robotic support 82, microscope 84) or one or more other components (e.g., environmental camera 83) are controlled by the processor 61 of the data processing device 60.

[0043] Processor 61 can be designed as, for example, a general-purpose central processing unit (CPU) and / or a field-programmable logic module (FPGA) and / or an application-specific integrated circuit (ASIC). Processor 61 can load program code from memory 62 and execute the program code.

[0044] Processor 61 can communicate with various components of the surgical microscopy system 80 via communication interface 64. For example, processor 61 can control support 82 to move head portion 81 relative to operating table 70, for example, by translation and / or rotation. Processor 61 can, for example, control optical components 85 of microscope 84 to change zoom and / or focus (focal length). Images from an ambient camera (if present) can be read out and evaluated.

[0045] The data processing device 60 also includes a user interface 63. Commands from a surgeon or, typically, a user from the surgical microsurgical system 80 can be received via the user interface 63. The user interface 63 can have various configurations. For example, the user interface 63 may include one or more of the following components: a handle on the head section 81; a foot switch; voice input; input via a graphical user interface; and so on. The user interface 63 can provide graphical interaction via menus and buttons on the monitor 69.

[0046] The following describes techniques for automatically configuring a predefined object (e.g., a surgical instrument) for imaging using a surgical microscopy system 80. This configuration may include, for example, alignment with the surgical instrument. This alignment is necessary to provide auxiliary functions. These auxiliary functions require one or more microscopic images representing the object. Therefore, for this purpose, the object must be positioned within the field of view 123 of the microscope camera 86.

[0047] Various examples are based on the insight that sometimes a user command requesting an assistive function is received when the corresponding object is not visible at all in the microscope image (e.g., because the user is not observing the microscope image but viewing it through the eyepiece). Therefore, the user command is triggered when the scene observed by the surgical microscopy system does not match the user's perception. In the reference embodiment, assistive functions (e.g., automatic positioning, autofocusing, alignment, or measurement of instruments in the microscope image) cannot be performed.

[0048] The techniques used to avoid this problem are described below.

[0049] Figure 3 This is a flowchart of an exemplary method. Figure 3 The method involves techniques related to configuring a surgical microscopy system for imaging predefined objects in response to user commands.

[0050] From Figure 3 The method can be executed by the processor of the data processing device, for example by a processor from... Figure 1 The processor 61 of the data processing device 60 of the example surgical microscopy system 80 executes the data processing. For this purpose, the processor can load program code from memory and then execute that program code.

[0051] Figure 3 The scenario described is based on the insight that in some surgical microscopy systems, multiple different fields of view are available, such as those associated with the microscope's camera and eyepiece. This has been combined with... Figure 2 This situation is described. It can lead to a situation where surgical instruments are within the surgeon's optical field of view but not within the camera's capture range. That is, even if the surgeon is looking at the surgical instruments (e.g., through an eyepiece or directly without the aid of a surgical microscopy system) and wants to activate auxiliary functions that require imaging of the instruments in the microscope image (e.g., centering relative to the instrument tip or measuring pin spacing), the instruments may not be found in the image captured by the camera. In the reference embodiment, this results in an error; therefore, there is a discrepancy between the surgeon's expectation ("the auxiliary function should work") and the actual action ("nothing happens").

[0052] To avoid these problems, Figure 3 The example in the text utilizes an overview image captured by an environmental camera. Compared to a microscope camera, an environmental camera has a larger field of view but typically lower spatial resolution. However, the initial positioning of the instrument within the microscope's camera field of view can be performed using an overview image captured by the environmental camera. This initial positioning typically does not need to be particularly precise; it is sufficient that the surgical instrument is imaged in the microscope image.

[0053] In box 3005, a user command is received. The user command may request accessibility functions. Therefore, the user command implicitly or explicitly requests that the microscope camera be configured to image a predefined object (e.g., an instrument). The user command is received through the user interface. For example, the user command may request automatic alignment or automatic focusing on the object.

[0054] It is also conceivable that user commands implicitly, rather than explicitly, request the configuration of a microscope camera for imaging predefined objects. For example, a user command might request the measurement of the orifice of a specific surgical instrument. For this, it is necessary to position the corresponding surgical instrument within the microscope camera's field of view so that a microscope image representing the surgical instrument to be measured can be captured. The user command might also request auxiliary functions that depend on the imaging of the object in the microscope image.

[0055] The above has already combined Figure 1 The surgical microscopy system 80 discussed in the example has an exemplary user interface 63. For example, the user command can be a voice command. For instance, the user command could be: “Auto-center.” The user command could also be: “Auto-focus” or “Auto-orientation,” to name just a few examples. There are various possible options for receiving user commands. For example, user commands can be received not only as spoken words but also as button presses, such as on a control panel operated by a foot. User commands can also be obtained through input on a computer's graphical user interface.

[0056] Especially when user commands are received via a user interface not supported by a stand (i.e., via a foot pedal or buttons on a monitor's graphical user interface located next to the stand), or when user commands are received via a voice recognition interface, it is possible for the user to issue a command when they are not observing a microscope image. For example, the user may be directly observing the area to be examined. This means that when issuing a user command, the user may not be aware that the microscope camera's field of view or the eyepiece's field of view does not present the corresponding surgical instrument.

[0057] In box 3010, a microscope image is captured. For this purpose, the microscope camera is controlled; see [link to documentation]. Figure 1 The microscope camera 87 of microscope 84 in the example. As mentioned above. Figure 2 The microscope cameras discussed typically have a relatively small field of view, that is, particularly smaller than the field of view of an eyepiece or environmental camera (if any).

[0058] In box 3015, the system then searches the microscope image from box 3010 for an object (e.g., a surgical instrument) identified by the user command. If the object is already within the field of view of the microscope camera, then the object is found in box 3015, meaning it is visible in the microscope image: then box 3020 is executed. This involves performing auxiliary functions (e.g., automatic centering or autofocusing or measurement of the object) based on the microscope image.

[0059] In box 3015, there may be a situation where the object cannot be found in the microscope image. This means that the object is not located in the (typically, central) area of ​​the scene imaged by the microscope camera. Therefore, the object is not visible in the initially captured microscope image (first iteration 3041 of box 3010).

[0060] In this scenario, within box 3025, the ambient camera is controlled to capture an overview image. The ambient camera is controlled to check whether an object is located in the outer region of the scene, which is imaged by the ambient camera but not by the microscope camera.

[0061] Within box 3030, it can then be determined whether the object is visible in the overview image. For example, it can be determined whether the object is located in the peripheral area, that is, whether it is located in a scene area covered by the field of view of the environmental camera but not by the field of view of the microscope (in... Figure 2 In this context, the area located outside field of view 123 but within field of view 121 is generally considered to be the region where objects are searched for in the overview image.

[0062] In some examples, the search area for an object in the overview image can be limited. This means that the entire field of view of the environmental camera is not evaluated. This allows, for example, surgical instruments resting on a sterile tray to be excluded from the consideration of the bounding box 3030.

[0063] Box 3030 may include object recognition (i.e., whether an object can be seen "yes / no" without determining where the object is exactly placed; sometimes also referred to as object detection) and (if appropriate) object localization (i.e., determining where the object is exactly placed).

[0064] Various techniques exist for object recognition. For example, machine learning algorithms can be used to output recognition labels (i.e., "object detected" vs. "object not detected").

[0065] Various techniques are available for locating objects in overview images. For example, motion information can be used. Motion information can be determined, for example, based on a sequence of overview images. For instance, optical flow between successive overview images in the sequence can be determined, and regions with high optical flow can then be taken into account. Alternatively or additionally, pre-trained machine learning models can also be used. For example, a machine learning model that takes both the overview image and the optical flow image as input can be used. Based on these techniques, particularly reliable and robust determinations can be made about whether a predefined object is within the field of view of an environmental camera. The object can also be localized.

[0066] If the object is not found, an error is output in box 3035. Otherwise, box 3040 is executed.

[0067] In box 3040, control commands are provided to the robotic support to move the microscope so that the object is positioned within the field of view of the microscope camera. This means that in box 3040, a coarse alignment is performed so that the surgical instruments can also be seen in the microscope image captured in a subsequent iteration 3041 of box 3010.

[0068] To determine the corresponding control commands for the robotic scaffold, a predefined object can be located in the overview image (e.g., if it has not yet been executed in box 3030). Based on the location, the trajectory of movement for, for example, the robotic scaffold can be determined such that the object is subsequently within the field of view of the microscope camera.

[0069] The corresponding localization does not need to be performed with particularly high accuracy. For example, localization can be performed with a spatial resolution that roughly corresponds to the area captured by the field of view of the microscope camera. Figure 2 We will discuss four zones. For example, coarse positioning can be performed relative to these zones, which is sufficient to subsequently achieve approximate placement within the field of view of the microscope camera. Therefore, zone positioning can be performed.

[0070] In short, therefore, it is possible to rely on Figure 3 The method first uses an environmental camera to capture an overview image, which is used to locate one or more surgical instruments for assistive functions. Then, this overview image from the environmental camera is evaluated to determine whether the image contains one or more surgical instruments. A robotic support is then controlled to move the identified one or more surgical instruments into the field of view of a microscope camera. The actual assistive function can then be performed, for example, based on the particularly accurate positioning of the one or more surgical instruments, which can be achieved using the microscope image.

[0071] With the help of Figure 3 This method allows for the implementation of different workflows. Two exemplary workflows will be described below for illustrative purposes.

[0072] (i) In a first exemplary workflow, the surgeon works outside the field of view of the microscope camera and enables automatic centering of the microscope camera's field of view relative to the tip of the surgical instrument being used via a foot-operated control panel or voice control, see box 3005. Then, in box 3010, it is determined that the microscope camera using the microscope has not detected the tip of the surgical instrument, that is, the tip of the surgical instrument must be outside the field of view of the microscope camera, see box 3015. An overview image captured by an environmental camera is then evaluated. For example, it can be evaluated for different zones (e.g., such as combined...). Figure 2 (The four zones discussed) determine movement information. Coarse positioning of the surgical instruments is performed in the overview image, and the movement of the instruments within the zones is determined. Then (see box 3040), the robotic support is controlled to move the microscope so that the identified surgical instruments are positioned within the microscope camera's field of view. The ends of the surgical instruments can then be positioned using the microscope camera, see box 3010. This positioning can still be performed during the movement used for coarse positioning, or during a movement interruption. Once the ends of the surgical instruments are accurately positioned, automatic centering can then be performed, see box 3020.

[0073] (ii) In a second exemplary workflow, the surgeon works outside the capture range of the microscope camera and subsequently enables distance measurements via the tip of the surgical instrument using a foot-operated control panel or voice control, see box 3005. Since the tip cannot be captured using the microscope camera (see box 3015), one or more overview images from an environmental camera are evaluated (see boxes 3025, 3030). Coarse positioning of the surgical microscope is then performed by controlling a robotic support until the tip of the surgical instrument is positioned within the field of view of the microscope camera. Movement stops, and the microscope camera subsequently captures an updated microscope image in which the microscope tip is visible, box 3015. Actual assistive functions can then proceed, see box 3020. This includes, for example, outputting acoustic and / or visual signals to the surgeon for setting a second measurement point for the other tip. A second position of the tip is then determined, and the distance between the two tips is output based on the determined position.

[0074] Figure 3Various modifications are conceivable. For example, the following scenario has been described above: first, a microscope image is captured (see box 3010), and then checked to determine if the surgical instruments are visible in the field of view of the microscope image (see box 3015). In various examples, it is conceivable to capture an overview image directly in box 3025, and only capture a microscope image to perform precise positioning if it is subsequently determined that the surgical instruments have been approximately centered. Therefore, this means that in any case, the first iteration 3041 of boxes 3010 and 3015 is optional.

[0075] Without departing from the scope of protection of this invention, the features set forth above and described below may be used not only in the explicitly stated corresponding combinations, but also in other combinations or individually.

[0076] For example, various aspects of imaging surgical instruments have already been described above. However, as a general rule, it is also conceivable to consider other objects, such as the characteristic anatomical features of the patient.

[0077] Furthermore, the aspects of the environmental camera being attached to the stent head and thus positioned by means of the robotic stent have already been described above. However, it is also conceivable that the environmental camera is not attached to the stent head but is positioned statically relative to the patient. The environmental camera can also be positioned movably and separately from the robotic stent, for example, on a separate rotating arm or on the rotating arm of the surgical lamp. In this case, the relative positioning of the microscope camera's field of view relative to the patient can still be determined based on the overview image captured by the environmental camera while simultaneously performing positioning of the robotic stent head. Corresponding techniques are already existing in the prior art and need not be explained here.

[0078] Furthermore, the various aspects related to robotic scaffolds have already been described above. A robotic scaffold is not absolutely necessary for a surgical microsurgical system. Surgical microsurgical systems can also have partially robotic or manually operated scaffolds.

Claims

1. A computer-implemented method (3000) for controlling a surgical microscopy system (80), the surgical microscopy system having a robotic support (82), a microscope (84) supported by the robotic support (82), and an environmental camera (83) supported by the robotic support (82), wherein, The environmental camera (83) has a first field of view (121) which is larger than the second field of view (123) of the microscope camera (86) of the microscope (84). The method includes: - Receive (3005) user command requesting that the microscope camera (86) be configured to image the object (78). - Upon receiving the user command: control (3025) the environment camera (83) to capture an overview image, - Search for the object (78) in the overview image (3030). - If the object (78) is located in the overview image, a control command (3040) is provided to the robot support (82) to move the microscope (84) so ​​that the object (78) is located in the second field of view (123), and then the microscope camera (86) is controlled (3010) to capture a microscope image, and - Based on the microscope image: Perform (3020) auxiliary function.

2. The computer-implemented method as described in claim 1, wherein, The method includes: - In response to receiving the user command: control (3010) the microscope camera (86) to capture an initial microscope image, and - Search for the object (3015) in the initial microscope image. If the object (78) is not found in the microscope image, the environmental camera (83) is selectively controlled to capture the overview image.

3. The computer-implemented method as described in claim 1 or 2, in, The object (78) is selected from the group consisting of: microsurgical instruments; confocal endoscopes; surgical instruments; or fingers.

4. The computer-implemented method as described in any of the preceding claims, in, The user command requests that the second field of view (123) be automatically aligned relative to the object (78).

5. The computer-implemented method as described in any of the preceding claims, in, The user command requests that the microscope camera (86) be automatically focused on the object (78).

6. The computer-implemented method as described in any of the preceding claims, in, The user command is received via a voice recognition interface or via a physical user interface not supported by the robot's support frame.

7. The computer-implemented method as described in any of the preceding claims, wherein, The method also includes: - Based on the overview image: Locate the object in the overview image, and determine the movement trajectory of the robot support based on the location, so that the object is located in the central area.

8. A data processing device (60) for controlling a surgical microsurgical system (80), wherein, The data processing device (60) includes a processor (61) designed to load program code from memory (62) and execute the program code, wherein the execution of the program code causes the processor (61) to perform the following steps: - Receive (3005) a user command requesting that the microscope camera (86) of the surgical microscopy system (80) be configured to image an object (78). - Upon receiving the user command: control (3025) the environmental camera (83) of the surgical microscopy system (80) to capture an overview image, - Search for the object (78) in the overview image (3030). - If the object (78) is located in the overview image, a control command (3040) is provided to the robotic support (82) of the surgical microscopy system (80) to move the microscope (84) so ​​that the object (78) is located in the field of view (123) of the microscope camera (86), and then the microscope camera (86) is controlled (3010) to capture a microscope image, and - Based on the microscope image: Perform (3020) auxiliary function.

9. The data processing device (60) as described in claim 8. in, The execution of the program code causes the processor (61) to perform the method as described in any one of claims 1 to 7.

10. A surgical microscopy system (80) comprising the data processing device (60) as described in claim 8 or 9.

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