SENSORY TRANSMITTER SYSTEM

Description

[0001] The invention relates to a sensory transmitter system and relates in particular to a sensory transmitter system for a medical, in particular surgical, motor system or a medical, in particular surgical, electric drive.

[0002] A well-known sensory encoder system for a surgical motor system is a single-channel, non-redundant encoder system using, for example, a Hall sensor for electrical systems, which is used, among other things, in a motor cable with a hand control, which is also known per se. In such electrical systems, mechanical return springs have been used to date, which return an actuating device, such as a lever or slider, to its original position after it has been actuated by a user. If an incorrect signal is inadvertently output by a sensor in the encoder system, this can lead to a safety-relevant malfunction. If, for example, the sensor should suddenly fail, for example due to a stuck-at-fault error orIn the event of a sensor sticking fault (a fault in which, for example, a sensor gate at an input or output is "stuck" at a certain value), an applied part or tool can start operating or operating without a user activating the actuating device. This can surprise the user, who is, for example, in or at a site with the applied part and / or tool. The disadvantage is that the non-redundant sensor system does not protect against electronic failure.

[0003] EP 2 923 651 A1 discloses a surgical instrument intended and designed to connect and cut tissue and has two Hall sensors that can detect a position of a lever coupled to a transmitter.

[0004] US 2014 / 020 0594 A1 discloses a surgical instrument with a switch having a magnet whose position can be manipulated by a user and a plurality of Hall sensors.

[0005] The invention is therefore based on the object of improving a sensory encoder system for a medical or surgical motor system or a medical or surgical electric drive in such a way that a query for the plausibility of the signals is enabled and the safety of the system is increased.

[0006] This object is achieved according to the invention by a hand control device having the features of claim 1. Advantageous developments of the invention are the subject of the appended subclaims.

[0007] The invention is based on the general idea of ​​providing multi-channel and thus redundant signals and / or sensor systems in handheld controls. By using at least two sensors that are controlled independently of one another but in parallel (simultaneously), it is ensured that if at least one sensor fails, an error or defect can be detected and the handheld control can be deactivated by an external control unit, to which the handheld control is usually connected. According to the underlying general idea, the output signals or output signal values ​​of the at least two sensors can be programmed the same or differently, and the sensors can preferably be controlled by means of a magnetic field or magnetically, and in this case by means of one magnet for all sensors, by means of several magnets for respective sensor groups, or by means of individual magnets for each respective sensor. In addition, the magnet orThe magnets and / or the sensor(s) can be encapsulated, for example, potted, to ensure water and / or vapor tightness. Furthermore, the sensor(s) can be arranged in a fixed position within a device, and the magnet(s) can move toward the sensor(s), for example, in a circular arc, such as in the case of a hinged device, or linearly. However, there is no restriction to a specific trajectory and / or direction of movement; in principle, movements in any direction and / or along any trajectory are possible.

[0008] Finally, several and at least two independent sensors can be integrated in a module with several or at least two independent, integrated sensor areas.

[0009] The use of a redundant sensory encoder system for hand and / or foot controls offers increased security against the unintentional and unintentional starting of an application part or tool and thus prevents the corresponding devices from starting up and thus injuring sensitive tissue when the tool is in the site.

[0010] In detail, a sensory encoder system for a medical motor system includes a multi-channel redundant detection device which is accommodated in a hand control device adapted to control the medical motor system and is arranged to detect the actuation of an actuating device of the hand control device, wherein the multi-channel redundant detection device is designed to be interrogated for the plausibility of output signals thereof.

[0011] The multi-channel redundant detection device includes at least two detection receiving devices and one detection transmitting device.

[0012] Preferably, the at least two detection receiving devices are similar detection receiving devices.

[0013] The at least one detection transmitting device includes exactly one detection transmitting device which is assigned to all of the at least two detection receiving devices and is arranged to supply them with a basically identical detection transmitting quantity.

[0014] Alternatively, an associated detection transmitting device is provided for each of the at least two detection receiving devices, which is arranged to apply a respective detection transmitting variable to a corresponding one of the at least two detection receiving devices.

[0015] Preferably, at least two Hall sensors are arranged as the at least two detection receiving devices and at least one magnet is arranged as the at least one detection transmitting device.

[0016] Alternatively, at least two light sensors are preferably arranged as the at least two detection receiving devices and at least one light source is arranged as the at least one detection transmitting device.

[0017] Alternatively, the at least two detection receiving devices are preferably different detection receiving devices.

[0018] Preferably, in the latter case, two detection receiving devices and two detection transmitting devices are arranged, wherein one of the two detection receiving devices is a Hall sensor and the other of the two detection receiving devices is a light sensor, and one of the two detection transmitting devices is a magnet associated with the Hall sensor and the other of the two detection transmitting devices is a light source associated with the light sensor.

[0019] Preferably, the at least two detection receiving devices, each with independent detection areas, are accommodated in a common housing arrangement.

[0020] The at least two detection receiving devices and the one or each associated detection transmitting device are encapsulated in a vapor-tight and / or water-tight manner.

[0021] Preferably, the at least two detection receiving devices are arranged in a stationary manner, and the at least one detection transmitting device is arranged to be movable and can be moved towards and away from the at least two detection receiving devices by actuating the actuating device on a predetermined trajectory.

[0022] Preferably, the at least two detection receiving devices are programmed to output the same output signal or, alternatively, are programmed to output different output signals.

[0023] Advantageously, a hand control device for a medical motor system includes a sensor system configured as described above.

[0024] In other words, the object is achieved by a sensor system for a medical motor system, comprising a multi-channel redundant detection device which is accommodated in a hand control device adapted to control the medical motor system and is arranged to detect the actuation of an actuating device of the hand control device, wherein the actuating device is configured as a lever or slider; the multi-channel redundant detection device includes at least two detection receiving devices and precisely one detection transmitting device; the precisely one detection transmitting device is assigned to all of the at least two detection receiving devices and is arranged to supply them with a fundamentally identical detection transmitting variable; and the multi-channel redundant detection device is designed to be interrogated for the plausibility of output signals thereof.

[0025] The sensor system is further developed such that the at least two detection receiving devices and the exactly one or each one detection transmitting device are encapsulated in a vapor-tight and / or water-tight manner.

[0026] Preferably, the sensor system is further developed such that the at least two detection receiving devices are arranged offset in the direction of a lever travel or slide travel of exactly one detection transmitting device.

[0027] Preferably, the sensor system is further developed such that the at least two detection receiving devices contain Hall sensors or light sensors and the precisely one detection transmitting device contains a magnet or a light source.

[0028] Preferably, the transmitter system is further developed such that the at least two detection receiving devices are similar detection receiving devices.

[0029] Preferably, the transmitter system is further developed such that an associated detection transmitting device is provided for each of the at least two detection receiving devices and is arranged to apply a respective detection transmitting variable to a corresponding one of the at least two detection receiving devices.

[0030] Preferably, the transmitter system is further developed such that the at least two detection receiving devices are different detection receiving devices.

[0031] Preferably, the sensor system is further developed such that the at least two detection receiving devices, each with independent detection areas, are accommodated in a common housing arrangement.

[0032] Preferably, the transmitter system is further developed such that the at least two detection receiving devices are arranged in a stationary manner, and the precisely one detection transmitting device is arranged to be movable and can be moved towards the at least two detection receiving devices on a predetermined trajectory curve by actuating the actuating device.

[0033] Preferably, the transmitter system is further developed such that the at least two detection receiving devices are programmed to output the same output signal or are programmed to output different output signals.

[0034] Furthermore, the object is achieved by a hand control device for a medical motor system, with a sensor system according to the above definition.

[0035] The invention is described in more detail below with further advantages and effects using preferred embodiments with reference to the drawings. Fig. 1 a schematic representation of a hand controller of a lever-actuated medical or surgical motor system incorporating a sensory encoder system according to one of the embodiments described herein; Fig. 2 a schematic representation of a hand control device of a slide-actuated medical or surgical motor system incorporating a sensory encoder system according to one of the embodiments described herein; Fig. 3 a schematic diagram of arrangements using the example of a sensory encoder system based on magnets and magnetically influenced sensors; and Fig. 4 a schematic diagram of concepts for hand control devices using the arrangements according to Fig. 3 .

[0036] Identical or functionally equivalent features are provided with the same reference numerals in the individual figures and are not described more than once for convenience.

[0037] Fig. 1 shows a schematic representation of a hand control device 10 of a lever-actuated medical or surgical motor system that includes a sensory transmitter system according to one of the embodiments described herein.

[0038] Such a hand control device 10 is fundamentally known, with the exception of the differences according to one of the following exemplary embodiments, and essentially comprises an application-side motor cable plug 20 for supplying and controlling the electronic motor system, for example, integrated into the handpiece via an external control unit (not shown), a manually operable lever 22 that is spring-loaded by a mechanical return spring 24, which serves to return the unloaded lever 22 to the starting position, and is pivotably articulated on a lever axis 26 on a housing body 30 of the hand control device 10. On the output side, there is a cable arrangement with an anti-kink sheath 32, to which a medical tool, such as a milling cutter for treatment in the site, driven by the motor of the motor system, is engaged.Areas of application for such systems can include, for example, bone surgery and arthroscopy, neurosurgery, veterinary medicine and the like, without being limited thereto.

[0039] Fig. 2 shows a schematic representation of a hand control device of a slide-actuated medical or surgical motor system incorporating a sensory encoder system according to one of the embodiments described herein.

[0040] In contrast to the hand control device according to Fig. 1 is in the embodiment according to Fig. 2 Instead of the lever 22, a slider 23 is provided for manual activation of the electronic motor system, which is spring-loaded by means of a mechanical return spring 25, which serves to return the unloaded slider 23 to the starting position, and is movably articulated along a displacement path 27 on a housing body 30 of the hand control device 10.

[0041] In accordance with the present embodiments, the hand control device 10 according to Fig. 1 or Fig. 2 Furthermore, a sensor system for the medical or surgical motor system, which includes a multi-channel redundant detection device which is accommodated in the hand control device 10 adapted to control the medical motor system and is arranged to detect the actuation of the lever 22 or the slide 23 of the hand control device 10, wherein the multi-channel redundant detection device is designed to be interrogated for the plausibility of output signals from sensors 40 arranged in the sensor system.

[0042] In detail, the multi-channel redundant detection device according to the present embodiments includes at least two sensors 40, which each form detection receiving devices and can be designed as Hall sensors and / or optical sensors in the form of, for example, light sensors, and at least one variable encoder or (variable) transmitter 42 which acts on the sensors 40 and forms a detection transmitting device and can be designed accordingly as a magnet with a magnetic north and south pole or as a light source emitting light in the visible range or the non-visible range, for example the infrared range.

[0043] The at least two sensors 40 and the at least one transmitter 42 form a multi-channel (redundant) (signal) transmitter system, which serves to protect the hand control device 10 against the tool starting up without a request from the user. In other words, the overall arrangement is designed, by means of the multi-channel redundant transmitter system, to prevent an application part or tool from starting up or starting up if a fault is detected and / or without a user actuating the lever 22 or the slide 23. Therefore, even in the event that one of the sensors 40 suddenly becomes defective, a status orA signal plausibility check based on the at least two output signals of the at least two sensors 40 can detect an error condition, and by triggering a shutdown of the hand control device 10, it can be prevented that the user with an application part / tool ​​in the situ is surprised by the tool suddenly starting to run. By using at least two sensors 40, which are controlled independently of one another but in parallel (simultaneously), it is thus ensured that if one sensor 40 fails, the defect can be detected and the hand control device 10 can be deactivated by the control unit.

[0044] The at least two sensors 40 can be configured with a correspondingly adapted state or signal plausibility query to output essentially the same output signal, for example, if the at least two sensors 40 are of the same type or design, or alternatively, they can be configured to output different output signals, for example, if the at least two sensors 40 are of a different type or design. For example, if the individual sensors 40 each output output signals whose combination deviates from predetermined plausible states or plausibility conditions, it can be concluded that an error condition is present.

[0045] In one embodiment, exactly one transmitter 42 can be arranged, which is assigned to all of the at least two sensors 40 and is arranged to supply them with a fundamentally identical detection signal. In this case, both sensors 40 receive or detect the fundamentally identical signal or a corresponding signal from one and the same transmitter 42, for example, a magnet or a light source.

[0046] Alternatively, for each of the at least two sensors 40, a transmitter 42 can be provided which is individually assigned to each sensor 40 and which is arranged to apply its respective signal or its respective quantity to the corresponding sensor 42 assigned to it.

[0047] In one embodiment, at least two Hall sensors are arranged as the at least two sensors 40, and at least one magnet is arranged as the at least one transmitter 42. In another embodiment, at least two light sensors are arranged as the at least two sensors 40, and at least one light source is arranged as the at least one transmitter 42.

[0048] In the case where the at least two sensors 40 are of different construction or are arranged to detect different (physical) quantities, in another embodiment two sensors 40 and two transmitters 42 can be arranged, wherein one of the two sensors 40 is a Hall sensor and the other of the two sensors 40 is a light sensor, and one of the two transmitters 42 is a magnet associated with the Hall sensor and the other of the two transmitters 42 is a light source associated with the light sensor.

[0049] In a further embodiment, the at least two sensors 40, each with independent detection ranges, can be accommodated in a common housing arrangement. Furthermore, individually provided sensors 40 and / or sensors 40 installed in a common housing arrangement can each be encapsulated, for example, by adhesive bonding or potting, in a vapor-tight and / or watertight manner.

[0050] In the case of Fig. 1 In the hand control device 10 shown, the at least two sensors 40 are preferably accommodated and arranged in a stationary manner in the grip or handpiece, and the at least one transmitter 42 is movably arranged in the lever 22 and can be moved towards and away from the at least two sensors 40 by actuating (pressing down or releasing) the lever 22 on a predetermined trajectory.In other words, actuating the lever 22 by pressing it down causes the at least one transmitter 42 to approach the at least two sensors 40, so that the sensors detect its output variable (in the present exemplary embodiment, for example, a magnetic variable or a luminous flux) and, for example, switch or change their output signal when a threshold value is exceeded. Actuating the lever 22 in the opposite direction by releasing it causes the at least one transmitter 42 to move away from the at least two sensors 40 and the signal detectable by them to attenuate. Due to the lever geometry, the movement of the transmitter 42 follows a predetermined movement or trajectory curve.

[0051] In the case of Fig. 2 In the hand control device 10 shown, the at least two sensors 40 are preferably accommodated and arranged in a stationary manner in the grip or handpiece, and the at least one transmitter 42 is arranged in the displacement path 27 between the slide 23 and the return spring 25 such that actuation of the slide 23 leads to a displacement of the transmitter 42 in a first direction, and release of the slide 23, due to the restoring force of the return spring 25, leads to a displacement of the transmitter 42 in a second direction opposite to the first direction. In other words, when the slide 23 is actuated / released, the at least one transmitter 42 is moved in a back-and-forth movement along the displacement path 27 towards the at least two sensors 40, which are arranged in a suitable positional relationship thereto.moved away from them, so that they detect the output variable of the at least one transmitter 42 (in the present embodiment, for example, a magnetic variable or a luminous flux) and, for example, switch or change their output signal when a threshold value is exceeded or when the detectable variable is attenuated. In this respect, the displacement path 27 also corresponds to a predetermined trajectory curve along which the at least one transmitter 42 is movable.

[0052] Fig. 3 A schematic diagram shows a number of possible sensor-transmitter arrangements using the example of the sensory transmitter system based on magnets and magnetically influenced sensors, based on various exemplary embodiments. The number of arrangements is not limited to the number shown, so that other configurations may also arise depending on the application and / or in a specific practical embodiment.

[0053] Fig. 3(A) shows a case in which two sensors 40 (Hall sensors) and two transmitters 42 (magnets) are arranged side by side. In this case, each transmitter 42 individually applies pressure to its associated sensor 40. Fig. 3(B) shows a case in which two sensors 40 (Hall sensors) and two transmitters 42 (magnets) are arranged one behind the other. In this case, too, each transmitter 42 individually applies pressure to its associated sensor 40. Fig. 3(C) shows a case in which two sensors 40 (Hall sensors) are arranged side by side and a transmitter 42 (magnet) is arranged for both sensors 40. In this case, only one transmitter 42 acts on both of its associated sensors 40. Fig. 3(D) shows a case in which two sensors 40 (Hall sensors) are arranged one behind the other, and a transmitter 42 (magnet) is arranged for both sensors 42. In this case, too, the transmitter 42 acts on both of its associated sensors 40. Fig. 3(E) finally shows a case in which two sensors 40 are accommodated in a common sensor housing and a transmitter 42 is assigned to them together.

[0054] It is noted that in Fig. 3(A) bis 3(D) , ie in the case of two sensors 40 with two magnets or transmitters 42, as connections on each sensor 40 Ground, Supply Voltage and Output in the form of a total of three sensor connections provided for this purpose, and in Fig. 3(E) , ie a double sensor with a magnet or transmitter 42 as connections Ground or mass, Supply Voltage or supply voltage and Output 1 or output (signal) 1 and Output 2 or output (signal) 2 in the form of a total of four sensor connections provided for this purpose.

[0055] Fig. 4 shows a schematic diagram of concepts for hand control devices (here by means of the lever 22 or the slide 23) using the arrangements and / or embodiments according to Fig. 3 .

[0056] In detail Fig. 4(L1) bis Fig. 4(L5) slider-based (parallel: (L1), (L2); offset: (L3), (L4), (L5)) controls each with one or two transmitters 42, in which the at least one movably arranged transmitter 42 by means of the slider 23 ( Fig. 2 ) which can be moved along an imaginary line in the direction of an arrow (also shown) (and opposite thereto), ie in the direction of the at least two stationary sensors 40 or, for an opposite process, away from them.

[0057] Fig. 4(L6) to (L9) further represent lever-based (parallel: (L6), L(7); offset: (L8), L(9)) controls each with one or two transmitters 42, in which the at least one movably arranged transmitter 42 by means of the lever 22 ( Fig. 1 ) in the direction of the at least two stationary sensors 40 or, for an opposite operation, away from them. Fig. 4(L6) to (L9) represents a pivot point or a rotation axis of the lever 22, around which the at least one transmitter 42 arranged along an imaginary line can be pivoted in the direction of the arrow also shown (and opposite to this).

[0058] It is noted that in Fig. 4 In each case, the at least one transmitter 42 is shown as being movable and the at least two sensors 40 as being stationary. However, the invention is not necessarily limited thereto. Rather, a configuration can also be shown in which the at least one transmitter 42 is stationary and the at least two sensors 40 are arranged movably.

[0059] Further embodiments include combinations of different sensor types. In other words, in the individual arrangement systems possible as described above with two Hall sensors as receiver or sensor 40 and two magnets as transmitter 42, different sensor types can also be combined. For example, the two Hall sensors are Fig. 4 (L1) to Fig. 4(L9) It can be replaced, for example, by two light systems (light transmitter and light receiver), whose light emissions can be in the visible or invisible range, for example, the infrared range. In these cases, an associated light source, as the at least one transmitter 42, can be concealed, encapsulated, and protected behind translucent materials, for example, opaque or clear plastics or glass, or behind a material that is clear to dark in terms of transparency but permeable to infrared.

[0060] Alternatively, at least in the cases of Fig. 4(L1) bis Fig. 4(L4) und Fig. 4(L6) bis Fig. 4(L8) , ie in cases where a transmitter 42 is directly assigned to each sensor 40 and therefore the transmitter 42 does not move from one sensor 40 to another, only one of the two Hall sensors can be replaced by such a light system.

[0061] Furthermore, in the arrangements described above, it is possible to provide the at least two sensors 40 entirely in analogue design, entirely in digital design or in a combination of analogue design and digital design.

[0062] The above describes a redundant sensor system in an electric hand control, which is preferably designed in the form of a housing arrangement with at least two sensor elements and at least one magnet, which are thus designed with at least two channels in order to stop the function of the hand control device in the event of faulty signals detected by means of at least double (redundant) query, ie a malfunction such as a start without request, and thereby ensure that an unwanted activation or unwanted continued operation of application parts (e.g. in the situs) is prevented.The sensor system can thus be designed for a medical and / or surgical motor system and can include a multi-channel redundant detection device which is accommodated in a hand control device adapted to control the medical motor system and is arranged to detect the actuation of an actuating device of the hand control device, wherein the multi-channel redundant detection device is designed to be interrogated for the plausibility of output signals thereof.

[0063] It is understood that the described embodiments and the drawings, which are not to scale, are merely exemplary in nature, and modifications may readily occur to those skilled in the art without thereby departing from the scope of the description and the scope of protection defined by the appended claims. Likewise, external shapes, dimensions, and the like are not subject to any particular restrictions as long as they provide and achieve the effect and functionality according to the invention.

Claims

1. A hand-operated control device (10) with a detector system for a medical motor system, comprising a multi-channel redundantly-configured detection device (40, 42) which is accommodated in the hand-operated control device (10) that is adapted to control the medical motor system and which is arranged to detect the actuation of an actuating device (22; 23) of the hand-operated control device (10), wherein the actuation device is configured as a lever or slider; the multi-channel redundant detection device (40, 42) comprises at least two detection receiving devices (40) and exactly one detection transmitting device (42) or respectively one associated detection transmitting device (42); the exactly one detection transmitting device is associated with all of said at least two detection receiving devices (40) and arranged to charge said at least two detection receiving devices with a detection transmitting quantity which is basically the same; or the detection transmitting device (42) associated with each of the at least two detection receiving devices (40) is provided and arranged to charge a corresponding one of the at least two detection receiving devices (40) with a respective detection transmitting quantity; and the multi-channel redundant detection device (40, 42) is designed to allow the plausibility of its output signals to be checked, characterized in that for the detector system, the at least two detection receiving devices (40) as well as the exactly one detection transmitting device (40) or the respectively one associated detection transmitting device (42) are molded together in a vapor-proof and / or watertight manner.

2. The hand-operated control device (10) according to claim 1, in which the at least two detection receiving devices (40) are positioned so as to be offset in the direction of a lever path or slider path of the exactly one detection transmitting device (42).

3. The hand-operated control device (10) according to claim 1 or 2, in which the at least two detection receiving devices (40) comprise Hall sensors or light sensors and the exactly one detection transmitting device (42) or the respective one associated detection transmitting device (42) respectively comprises a magnet or a light source.

4. The hand-operated control device (10) according to any of the preceding claims, in which the at least two detection receiving devices (40) are identical detection receiving devices.

5. The hand-operated control device (10) according to any of the claims 1 to 3, in which the at least two detection receiving devices (40) are different detection receiving devices.

6. The hand-operated control device (10) according to any of the preceding claims, in which the at least two detection receiving devices (40), each with mutually independent detection ranges, are accommodated in a common housing assembly.

7. The hand-operated control device (10) according to any of the preceding claims, in which the at least two detection receiving devices (40) are stationarily positioned and the at least one detection transmitting device (42) is movably positioned and can be moved toward the at least two detection receiving devices (40) by actuating the actuating device (22; 23) on a predetermined trajectory.

8. The hand-operated control device (10) according to any of the preceding claims, in which the at least two detection receiving devices (40) are programmed to output the same output signal or are programmed to output different output signals.