Medical microscopy system for imaging a patient's anatomical target area

Abstract

The present disclosure relates to a microscopy system (10) for recording an anatomical target area (11, 62) of a patient (12), wherein a cylindrical sleeve (13, 20, 30, 50, 61) is arranged above the anatomical target area (11, 62), with a recording unit (14, 63, 64), an articulated robot arm unit (15), and an evaluation unit (16) which is configured to determine in the recorded image a deviation of the contour (21, 31, 40, 51) of the end face from a target contour of an end face of the cylindrical sleeve (13, 20, 30, 50, 61); wherein the evaluation unit (16) is configured to determine a movement command to correct a pose of the articulated robot unit (15) on the basis of the specified deviation, and wherein the articulated robot unit (15) is configured to move at least one axis (41, 42) of the articulated robot unit (15) on the basis of the specified movement command.Furthermore, the disclosure relates to the use of an articulated arm unit and / or a recording unit (14, 63, 64) in such a microscopy system (10).

Description

Technical field

[0001] The present disclosure relates to a medical microscopy system for recording an anatomical target area of ​​a patient in a medical operating area, as well as the use of an articulated robot arm unit and / or a recording unit in such a medical microscopy system. Technical background

[0002] Microscopy systems are generally known from the state of the art and are used in medical operating areas, among other things, to image an anatomical target area or to image a patient or part of the patient, for example exposed organs.

[0003] An access port can be used for surgery. This access port is typically placed on the patient over an open area of ​​the body or on a body surface. It is usually implemented as a cylindrical sleeve. A surgeon then operates through this access port, for example, on an exposed organ. The surgeon looks through the access port and may be assisted by a microscope. This microscope, viewed through the access port, captures the area to be operated on (e.g., the organ) and its surroundings (e.g., tissue or arteries) and simultaneously displays the image on a monitor.

[0004] In DE 10 2015 103 426 A1 a microscope system and a method for the automated alignment of a microscope are described.

[0005] In this context, it has now become apparent that there is a further need to provide a medical microscopy system for recording an anatomical target area of ​​a patient in a medical operating area. Summary of the present disclosure

[0006] It is therefore the purpose of the present disclosure to provide a medical microscopy system for recording an anatomical target area of ​​a patient in a medical operating area; in particular, it is the purpose of the present disclosure to provide an efficient medical microscopy system for recording an anatomical target area in a medical operating area that enables accurate alignment of the medical microscopy system with respect to the object.

[0007] The object of the present disclosure is solved by a medical microscopy system according to claim 1. Advantageous embodiments are the subject of the dependent claims.

[0008] A first aspect of the present disclosure relates to a medical microscopy system for recording an anatomical target area of ​​a patient in a medical operating area, wherein above the anatomical target area orA cylindrical sleeve is arranged on a surface of the anatomical target area, comprising a recording unit configured to capture an image of the anatomical target area through the cylindrical sleeve, the image comprising at least a partial section of a contour of an end face of the cylindrical sleeve, an articulated robot arm unit, the recording unit being arranged on the articulated robot arm unit, and an evaluation unit configured to determine in the captured image a deviation of at least a partial section of the contour of the end face from a target contour of an end face of the cylindrical sleeve, the evaluation unit being configured to issue a movement command to correct a pose orto determine the position and / or orientation of the articulated robot arm unit so that the deviation is reduced, and wherein the articulated robot arm unit is configured to move at least one axis of the articulated robot arm unit based on the specified movement command in order to enable alignment of the receiving unit so that the deviation is reduced.

[0009] The term "anatomical target area" is to be understood broadly here and refers to any part of a patient. The anatomical target area can, for example, be an organ, a bone, or a tissue of the patient. The object is preferably located beneath the skin surface of a patient, the skin surface of which has already been opened.

[0010] In this context, the term "patient" preferably refers to a human being or an animal.

[0011] The term "acquisition unit" in this context refers to an imaging device capable of capturing a two-dimensional or three-dimensional image and making it available for further processing, such as display on a screen. The acquisition unit may, for example, include a stereomicroscope. Preferably, the acquisition unit is configured to capture the image in real time. The image can, for example, be displayed on the screen in real time. "Real time" here refers to a delay in the millisecond range.

[0012] In this context, the term "medical operating area" refers specifically to an operating room.

[0013] The term "cylindrical sleeve for an access port" refers in this context specifically to a hollow cylinder that is positioned over an open area on the body during surgery, through which a surgeon can insert instruments (e.g., a scalpel) during the procedure. Such operations are also referred to as minimally invasive surgery. Such a sleeve can also be called a trocar sleeve. Preferably, the medical microscopy system can include a cylindrical sleeve for an access port. Preferably, the cylindrical sleeve can be configured to be positioned over an anatomical target area.

[0014] The term "articulated robot unit" refers in this context to, in particular, an articulated robot with multiple movable axes, a controller, and rotary encoders for detecting the position and / or orientation of the end effector. The end effector, in this case, is the receiving unit. This means that the receiving unit is arranged on an end flange of the articulated robot unit. The articulated robot can be operated automatically, semi-automatically, or manually. The articulated robot unit preferably has an interface for attaching the receiving unit as the end effector.

[0015] In this context, the term evaluation unit refers in particular to a computing unit or processor that is set up to determine a deviation between a contour in the recorded image and a target contour and, based on the deviation, to determine a movement command for the articulated robot unit in order to reduce the deviation, in particular to minimize it.

[0016] In this context, the term "target contour" refers specifically to a circle. When the receiving unit is aligned directly above the cylindrical sleeve, and both are concentrically aligned or coaxially arranged with a common longitudinal axis, the contour of the cylindrical sleeve appears as a perfect circle in the image. In other words, any deviation from this concentric alignment of the receiving unit and cylindrical sleeve results in a deviation of the contour from the target contour. The contour is then displayed distorted.

[0017] In this context, the term "movement command" refers in particular to one or more commands for controlling one or more axes of movement of the articulated robot arm unit.

[0018] The revelation is based on the understanding that a recording unit intended to capture an image through a cylindrical sleeve should ideally be aligned concentrically with it. This means that the axis of the cylindrical sleeve and the axis of the recording unit, in / with which the image is captured, should be in perfect alignment. Any deviation from this ideal will result in image distortion. Furthermore, only a portion of the anatomical target area may be captured, as the two axes are at too large an angle to each other, or too obliquely aligned, and the image will depict more of the inner surface of the cylindrical sleeve than the base of the sleeve and the underlying anatomical target area.

[0019] The microscopy system described above solves this problem by advantageously analyzing the captured image and determining any deviation of the captured contour of the cylindrical sleeve from a target contour. This can be done, for example, using an image analysis method (e.g., segmentation, feature recognition). Based on the determined deviation, the position of the imaging unit can be determined. From this position, it can be calculated how the imaging unit must be moved to minimize the deviation. For this purpose, movement commands are then generated for the articulated robotic arm unit, allowing the imaging unit to be moved to a better position that reduces the deviation. This results in a better, distortion-free image overall. Furthermore, this provides better support for the surgeon in their work.Furthermore, no tracking of the cylindrical sleeve is required to determine its orientation and position. This results in an efficient and simple method for precisely aligning the microscopy system.

[0020] In a preferred embodiment, the evaluation unit can determine the deviation using an image analysis method (or machine vision method or machine vision).

[0021] The term image analysis method refers specifically to automated processes suitable for capturing and interpreting visual information from images. An image analysis method can include one or more of the following: image segmentation, feature extraction, object detection and classification, and pattern recognition. This allows deviations to be determined very accurately and automatically without additional tools or human intervention. This also eliminates the need for additional tracking of the sleeve.

[0022] Preferably, the evaluation unit determines the deviation by means of image segmentation.

[0023] According to a preferred embodiment, the desired contour of the end face of the cylindrical sleeve can correspond to an ideal circle.

[0024] The ideal circle can be easily described by a constant radius around a center point. Specifying the exact radius is initially unnecessary, as the size of the circle changes with the distance to the scanning unit, even if this distance is already ideal. Thus, using this simple information—a constant radius—a target contour can be defined in the image for the cylindrical sleeve. The deviation can then be determined, for example, by identifying the center point and evaluating the radius. In this way, the smallest and largest radii can be determined. Such an evaluation can, for example, identify an axis around which the articulated robot unit and the scanning unit must be rotated to minimize the deviation. For instance, a constant increment can be applied, allowing for minimization even with this simple analysis.The minimization can be performed iteratively until the specified deviation falls below a predefined limit (e.g., 0.1% deviation from an ideal circle). This can enable the efficient determination of a process command to minimize the deviation.

[0025] According to a preferred embodiment, the evaluation unit can define a first axis and a second axis perpendicular to the first axis in at least a partial section of the contour of the front face recorded, wherein the first axis and the second axis pass through a center point of the contour of the front face, the first axis being selected such that it has a maximum length within the contour of the front face, and the movement command comprising a rotation about the first axis. That is to say, a rotation axis is formed by the first axis.

[0026] The center point, the first axis, and the second axis can each be determined using an image analysis or machine vision method. The first axis determined in this way provides information about a virtual axis around which the articulated robot must rotate the recording unit to minimize deviation. Based on this virtual axis, movement commands can be derived for the articulated robot to rotate the recording unit around this virtual axis. In other words, the first and second axes correspond to the two principal axes of the ellipse.

[0027] For this purpose, a distance between the acquisition unit and the center of the anatomical target area can be determined via the acquisition unit. The acquisition unit can be a stereomicroscope that provides this information (i.e., depth information). Furthermore, the fact that a virtual line between the center of the acquisition unit (i.e., the end effector) and the center of the contour coincides with the second axis of the contour can be used. Then, for example, the first axis can be used to rotate the end effector in a circular path around the center point in the direction of the second axis by a predetermined angular increment at a constant distance. Using the two positions (center of the contour, position of the end effector), the axis of rotation (i.e., the first axis), the direction of rotation (i.e., the second axis), and the predetermined angular increment, the position of the end effector in space can be determined. This position is then translated into movement commands (i.e.,The rotational movements of the individual articulated arms are translated and made available to the traversing axes. The angle increment can be fixed, for example, 0.1°, 1°, 2°, etc. Alternatively, an angle can be determined from the ratio of the lengths of the first and second axes of the contour, as well as the positions of the contour's center point and the end effector, by which the rotation must occur so that the receiving unit and the cylindrical sleeve are aligned with each other.

[0028] According to a preferred embodiment, the evaluation unit can be configured to determine an inner surface of the access port's contour in the image and, based on this determined inner surface, to define a direction for rotation about the first axis for the traversal command. That is, a direction of rotation is defined by the first axis.

[0029] For example, the evaluation unit can identify an inner surface of a cylindrical sleeve using an image analysis or machine vision method, such as segmentation. This information can then be used to determine the direction of rotation for the recording unit around its first axis. For instance, the direction of rotation can be derived from the inner surface, specifically from the size information of the inner surface distributed around the circumference of the contour, in order to reduce or minimize deviations. For example, the direction of rotation corresponds to the direction in which a larger inner surface can be identified.

[0030] According to a preferred embodiment, the evaluation unit can be configured to determine a deviation of the center point of the captured at least a partial section of the end face contour from a center point of the image; wherein the movement command includes a movement such that the center point of the captured at least a partial section of the end face contour and the center point of the image coincide. In other words, the evaluation unit can be configured to determine / calculate a translational deviation of the end face contour or the sleeve in the image, wherein the movement command includes a translational movement towards an image center or such that the image in the sleeve is at the image center.

[0031] According to a preferred embodiment, the microscopy system can include a navigation unit (or a navigation system or a positioning unit) for detecting the position of the recording unit and / or the position of a patient.

[0032] The navigation unit can, for example, use a camera unit to determine the pose, position, and / or orientation of the imaging unit and / or the patient. Advantageously, the position can be determined without markers on the imaging unit and / or the patient using an image analysis or machine vision method. Alternatively, the navigation unit can track a marker placed on the patient for position determination. Using the position of the imaging unit and / or the patient, a model of the anatomical target area (e.g., CT image, MRI image), displayed alongside the live image, can be aligned accordingly.This can have a positive effect on a surgical procedure if both the current image of the anatomical target area and a corresponding model of the anatomical target area are displayed side by side and preferably aligned with each other.

[0033] According to a preferred embodiment, the microscopy system may include a display unit configured to display the image.

[0034] The display unit can, for example, advantageously show the image. This can advantageously increase the efficiency of the surgical procedure. The display unit can include a screen.

[0035] According to a preferred embodiment, the display unit can be configured to display a model of the anatomical target area and the cylindrical sleeve, in particular wherein the image and the model are aligned with each other.

[0036] The model can include a preoperative image, such as an MRI or CT scan.

[0037] In this way, the surgeon can be efficiently supported in his work, as both a high-quality, up-to-date image and a corresponding model in an aligned position can be displayed.

[0038] According to a preferred embodiment, the medical microscopy system can include an input unit via which the alignment of the recording unit can be started and / or is carried out continuously.

[0039] The input unit can be a switch, an HMI (Human-Machine Interface), or a touchscreen. The input unit can advantageously trigger the alignment process, ensuring it is only performed when truly necessary. This can be a resource-saving approach.

[0040] According to a preferred embodiment, the evaluation unit can determine the deviation based on geometric data of the cylindrical sleeve.

[0041] The geometry data can include a radius, height, and wall thickness of the cylindrical sleeve. Preferably, the geometry data includes a radius. The geometry data can be stored, for example, in internal memory of the microscopy system or in external memory accessed by the microscopy system. The geometry data can further improve the accuracy of the alignment.

[0042] According to a preferred embodiment, the recording unit can be configured to automatically perform a zoom operation during alignment, so that the deviation can be determined more accurately.

[0043] The zoom function allows the contour in the image to be enlarged or reduced, making it fully visible and / or analyzable. The zoom process can be further optimized using geometric data from the cylindrical sleeve. Furthermore, a predefined rule can be used to automate the zoom process. For example, it can be specified that a contour identified in the image should comprise a certain percentage, such as 95%, of the image. This reduces the manual adjustment effort for the user while simultaneously improving the quality of the alignment and the corresponding image.

[0044] According to a preferred embodiment, the recording unit can be configured to automatically perform a zoom operation after alignment, so that the anatomical target area is recorded in an enlarged view.

[0045] By enlarging the anatomical target area while simultaneously aligning the image, the surgeon can advantageously be shown a high-quality image of the anatomical target area in real time.

[0046] According to a preferred embodiment, the cylindrical sleeve can have an (optical) pattern. The pattern serves, in particular, to track the sleeve using an (optical) camera via machine vision.

[0047] The pattern can be applied, for example, to the end face of the cylindrical sleeve, to an outer surface of the cylindrical sleeve, and / or to an inner surface of the cylindrical sleeve. In this context, the pattern refers to a pattern known to the image analysis method. This allows for an increase in the efficiency and accuracy of determining the deviation of at least one section of the end face contour from the target contour of the cylindrical sleeve's end face.

[0048] According to a preferred embodiment, the evaluation unit can be configured to receive geometric data of the cylindrical sleeve and, based on the geometric data of the cylindrical sleeve in the recorded image, to determine a deviation of at least one section of the contour of the end face from a target contour of an end face of the cylindrical sleeve.

[0049] The geometric data refers, for example, to the outer radius, the inner radius, and / or the length of the cylindrical sleeve. This allows for an increase in the efficiency and accuracy of determining the deviation of at least one section of the end face contour from the target contour of the cylindrical sleeve's end face.

[0050] Another aspect of the present disclosure relates to the use of an articulated robot arm unit and / or a recording unit in a medical microscopy system described above.

[0051] The units according to one or more embodiments can be implemented using hardware, software, and / or a combination thereof. The units can be single-part or multi-part. Hardware units can be implemented, for example, by processing circuits such as a processor, central processing unit (CPU), controller, arithmetic logic unit (ALU), digital signal processor, microcomputer, field-programmable gate array (FPGA), system-on-chip (SoC), programmable logic unit, microprocessor, or any other device capable of responding to instructions and executing them in a defined manner.

[0052] The units may comprise one or more interface circuits. In some examples, the interface circuits may include wired or wireless interfaces connected to a local area network (LAN), the internet, a wide area network (WAN), or combinations thereof. The functionality of a particular unit of this disclosure may be distributed among multiple units connected via interface circuits.

[0053] The units according to one or more embodiments may also include one or more storage devices. The one or more storage devices may be physical or non-transient computer-readable storage media, such as random-access memory (RAM), read-only memory (ROM), a permanent mass storage device (e.g., a hard disk drive), a solid-state device (e.g., NAND flash), and / or any other data storage mechanism capable of storing and recording data. The one or more storage devices may be used to store computer programs, program code, instructions, or a combination thereof.

[0054] The explanations and advantages of individual embodiments described here also apply analogously to the other embodiments. Various exemplary features of the embodiments can be combined according to the invention wherever this is technically sensible and feasible.

[0055] In this context, it has now become apparent that there is a further need to provide a medical microscopy system for recording an anatomical target area of ​​a patient in a medical operating area. Brief description of the characters Fig. 1 is a representation of a microscopy system for recording an anatomical target area of ​​a patient in a medical operating area of ​​the present disclosure; Fig. Figure 2 shows an image with a drawn outline of a cylindrical sleeve; Fig. Figure 3 shows another image of a drawn contour of a cylindrical sleeve; Fig. Figure 4 shows a schematic analysis of the contour of a cylindrical sleeve; Fig. Figure 5 shows another image with an inner surface of the contour of a cylindrical sleeve; Fig. Figure 6 shows an aligned recording unit compared to a non-aligned recording unit. Description of the exemplary implementations

[0056] The following are examples of embodiments of the present disclosure based on the accompanying figures.

[0057] Fig. Figure 1 shows a microscopy system 10 for recording an anatomical target area 11 of a patient 12 in a medical operating area.

[0058] The microscopy system 10 has a cylindrical sleeve 13 for an access port. The cylindrical sleeve 13 is positioned above the anatomical target area 11. In particular, the cylindrical sleeve 13 can be configured to be positioned on or outside / above an object surface. Through the cylindrical sleeve 13, a surgeon can, for example, use a medical instrument such as a scalpel to access the anatomical target area, e.g., a tumor.

[0059] The medical microscopy system 10 comprises a recording unit 14. The recording unit 14 is configured to capture an image of the anatomical target area 11 through the cylindrical sleeve 13. The recording unit 14 is, in this case, a stereomicroscope. The image includes at least a portion of the contour of an end face of the cylindrical sleeve 13.

[0060] The medical microscopy system 10 includes an articulated robot arm unit 15. The acquisition unit 14 is arranged on the articulated robot arm unit 15. The articulated robot arm unit 15 is arranged on a carrier cart 16a.

[0061] The medical microscopy system 10 further comprises an evaluation unit 16. In this case, the evaluation unit 16 is a controller located in the carrier carriage 16a. The evaluation unit 16 is configured to determine, in the recorded image, any deviation of at least a portion of the contour of the end face from a target contour of an end face of the cylindrical sleeve 13. The target contour preferably corresponds to an (ideal) circle when the recording unit 14 is ideally aligned above the cylindrical sleeve 13.

[0062] The evaluation unit 16 determines the deviation preferably using an image analysis or machine vision method. For this purpose, it defines a first axis through a center point of the contour and a second axis perpendicular to the first axis. The first axis is determined such that it has a maximum length. In an ideal circle, both axes would be of equal length. However, if the recording unit 14 is not arranged concentrically to a longitudinal axis of the cylindrical sleeve 13, the two axes are not of equal length. This results in distortion. This distortion means that the lower region of the cylindrical sleeve 13, and thus the anatomical target area 11, is not captured optimally in the image.

[0063] Evaluation unit 16 is configured to determine a movement command for correcting the position of the articulated robot unit based on the specified deviation, thereby reducing the deviation. Evaluation unit 16 determines the position of the end effector in space using the positions (center of contour, end effector position), axis of rotation (the first axis), direction of rotation (the second axis), and a predetermined angle increment. Evaluation unit 16 then derives movement commands (rotational movements of the individual articulated arms) for the articulated robot unit 15 from this position and makes these commands available to the articulated robot unit 15.

[0064] The articulated robot arm unit 15 then moves one or more axes of motion according to the movement command in order to align the receiving unit 14 accordingly, so that the deviation is minimized. This process can be repeated iteratively until there is no longer any deviation or the deviation is less than a limit value.

[0065] Alternatively, the evaluation unit 16 can be configured to determine an angle from the ratio of the lengths of the first axis and the second axis of the contour as well as the positions of the center of the contour and the end effector, by which the recording unit must be rotated so that the recording unit and the cylindrical sleeve 13 are aligned with each other.

[0066] The microscopy system 10 further comprises a navigation unit 17 for recording the position of the acquisition unit 14 and / or the position of a patient 12. For this purpose, markers 17a and 17b are attached to the acquisition unit 14 and the patient 12. Using these positions, for example, a model of the anatomical target area 11 can be aligned with the acquired image of the anatomical target area on a display unit 18. The display unit 18 can, for example, display the acquired image and the model side by side.

[0067] Furthermore, the microscopy system 10 includes an input unit 19, via which the alignment of the recording unit 14 can be started manually.

[0068] Fig. Figure 2 shows an image captured by a recording unit described in more detail above. The image shows the cylindrical sleeve 20 and a drawn contour 21 of the end face of the cylindrical sleeve 20. It is clearly visible that the contour 21 is distorted because the recording unit 14 and the cylindrical sleeve 20 are not aligned with each other.

[0069] Fig. Figure 3 shows an image captured by a recording unit described in more detail above. The image shows the cylindrical sleeve 30 and a drawn contour 31 of the end face of the cylindrical sleeve 30. It is clearly visible that the contour 31 is not distorted, as the recording unit 14 and the cylindrical sleeve 30 are aligned with each other.

[0070] Fig. Figure 4 shows a schematic analysis of the contour 40 of a cylindrical sleeve. The first axis 41 and the second axis 42, perpendicular to it, are shown. Both axes pass through the center point 43. In this case, the recording unit must be rotated about the first axis 41, i.e., the longest axis, in the direction of the second axis 42 in order to reduce distortion.

[0071] Fig. Figure 5 shows an image with an inscribed inner contour 52 and contour 51 of the end face of a cylindrical sleeve 50. The inner contour 52 indicates the direction of rotation, in this case into the image plane, in which the recording unit must be rotated to reduce a deviation.

[0072] Fig.Figure 6 shows an aligned imaging unit 63 compared to a non-aligned imaging unit 64. The anatomical target area 62 is a tumor in the head of a patient 60. The cylindrical sleeve 61 extends partially into the head of the patient 60. The imaging unit 64 is positioned obliquely to a longitudinal axis of the cylindrical sleeve 61. Using the microscopy system described above, the non-aligned imaging unit 64 was brought into an aligned position. Reference symbol list 10 Medical Microscopy System 11, 62 Anatomical target area 12,60 patients 13, 20, 30, 50, 61 Cylindrical sleeve 14, 63, 64 Recording unit 15 articulated robot arm units 16 evaluation units 21, 31, 40, 51 contour 41 First axis 42 Second axle 43 Center point 52 Inner surface of the contour 17 Navigation unit 17a Marking Recording Unit 17b Patient marking 18 Display unit 19 Input unit

Claims

[1] Medical microscopy system (10) for recording an anatomical target area (11, 62) of a patient (12) in a medical operating area, wherein a cylindrical sleeve (13, 20, 30, 50, 61) is arranged above the anatomical target area (11, 62), with a recording unit (14, 63, 64) which is set up to take an image of the anatomical target area (11, 62) through the cylindrical sleeve (13, 20, 30, 50, 61), wherein the image includes at least a partial section of a contour (21, 31, 40, 51) of an end face of the cylindrical sleeve (13, 20, 30, 50, 61), an articulated robot arm unit (15), wherein the receiving unit (14, 63, 64) is arranged on the articulated robot arm unit (15), an evaluation unit (16), wherein the evaluation unit (16) is set up to determine in the recorded image a deviation of at least one part of the contour (21, 31, 40, 51) of the end face from a target contour of an end face of the cylindrical sleeve (13, 20, 30, 50, 61), wherein the evaluation unit (16) is configured to determine a movement command to correct a pose of the articulated robot unit (15) on the basis of the determined deviation, so that the deviation is reduced, and wherein the articulated robot arm unit (15) is configured to move at least one axis (41, 42) of the articulated robot arm unit (15) on the basis of the specified movement command in order to enable alignment of the receiving unit (14, 63, 64) so ​​that the deviation is reduced. [2] Medical microscopy system (10) according to claim 1, wherein the evaluation unit (16) determines the deviation by means of an image analysis method. [3] Medical microscopy system (10) according to claim 1 or 2, wherein the desired contour of the end face of the cylindrical sleeve (13, 20, 30, 50, 61) corresponds to an ideal circle. [4] Medical microscopy system (10) according to any one of the preceding claims, wherein the evaluation unit (16) defines a first axis (41) and a second axis (42) perpendicular to the first axis in the recorded at least one section of the contour (21, 31, 40, 51) of the front face; wherein the first axis (41) and the second axis (42) pass through a center point (43) of the contour (21, 31, 40, 51) of the front face; wherein the first axis (41) is chosen such that it has a maximum length within the contour (21, 31, 40, 51) of the end face; and wherein the movement command includes a rotation about the first axis (41). [5] Medical microscopy system (10) according to claim 4, wherein the evaluation unit (16) is configured to determine an inner surface of the contour (52) of the cylindrical sleeve (13, 20, 30, 50, 61) in the image, and to determine a direction for rotation about the first axis (41) for the traverse command based on the determined inner surface (52). [6] Medical microscopy system (10) according to one of the preceding claims, wherein the evaluation unit (16) is configured to determine a deviation of the center point of the recorded at least one subsection of the contour (21, 31, 40, 51) of the front face from a center point of the image; wherein the movement command comprises a movement such that the center point of the recorded at least one subsection of the contour (21, 31, 40, 51) of the front face and the center point of the image coincide. [7] Medical microscopy system (10) according to any of the preceding claims, further comprising a navigation unit (17) for detecting a position of the recording unit (14, 63, 64) and / or a position of a patient (12). [8] Medical microscopy system (10) according to any of the preceding claims, further comprising a display unit (18) configured to display the image. [9] Medical microscopy system (10) according to one of the preceding claims, wherein the display unit (18) is configured to display a model of the anatomical target area (11, 62) and the cylindrical sleeve (13, 20, 30, 50, 61), in particular wherein the image and the model are aligned with each other. [10] Medical microscopy system (10) according to one of the preceding claims, further comprising an input unit (19) via which the alignment of the recording unit (14, 63, 64) can be started and / or is carried out continuously. [11] Medical microscopy system (10) according to one of the preceding claims, wherein the evaluation unit (16) performs the determination of the deviation based on geometric data of the cylindrical sleeve (13, 20, 30, 50, 61). [12] Medical microscopy system (10) according to one of the preceding claims, wherein the recording unit (14, 63, 64) is configured to automatically perform a zoom operation during alignment so that the deviation can be better determined. [13] Medical microscopy system (10) according to one of the preceding claims, wherein the recording unit (14, 63, 64) is configured to automatically perform a zoom operation after alignment, so that the anatomical target area is magnified and recorded. [14] Medical microscopy system (10) according to one of the preceding claims, wherein the cylindrical sleeve (13, 20, 30, 50, 61) has a pattern. [15] Medical microscopy system (10) according to one of the preceding claims, wherein the evaluation unit (16) is configured to receive geometric data of the cylindrical sleeve (13, 20, 30, 50, 61) and, based on the geometric data of the cylindrical sleeve in the recorded image, to determine a deviation of at least one partial section of the contour (21, 31, 40, 51) of the end face from a target contour of an end face of the cylindrical sleeve (13, 20, 30, 50, 61). [16] Use of an articulated arm unit and / or a receiving unit (14, 63, 64) in a medical microscopy system (10) according to any one of claims 1 to 15.

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