Method for controlling the movement of a surgical microscope, and surgical microscope

Abstract

The invention relates to a method for controlling the movement of a surgical microscope and to a surgical microscope, wherein, in a main operating mode (M1), a movement of a microscope head (2) in a first predetermined manner of movement is controlled by an actuation of an operating element (16) in a first manner of actuation, wherein an auxiliary operating mode (M2) is activatable, wherein, in the auxiliary operating mode (M2), a movement of the microscope head (2) in a further predetermined manner of movement is controlled by an actuation of the operating element (16) in the first manner of actuation, wherein the first and the further manners of movement differ from one another.

Description

[0001] Method for controlling the movement of a surgical microscope and surgical microscope

[0002] The invention relates to a method for controlling the movement of a surgical microscope and to a surgical microscope.

[0003] Surgical microscopes for the magnified display of examination objects, particularly in medical applications, are known from the prior art. These serve, among other things, to magnify partial areas of a body to enable a surgeon to better visualize and diagnose during an operation. Surgical microscopes that enable movement control, particularly of a microscope head, are also known. Such surgical microscopes comprise one or more drive devices for generating a driving force for moving parts of the surgical microscope, whereby the microscope head can be moved as desired by appropriately controlling the drive device(s).Examples of applications include positioning the microscope head such that an optical axis of a surgical microscope objective assumes a desired orientation, as well as moving it such that a reference point of the surgical microscope, e.g., a focal point, is positioned at a desired spatial position. The movement of the surgical microscope can be controlled by a user, e.g., a surgeon. For this purpose, the surgical microscope can have suitable control elements for movement control.

[0004] DE 102019 108 129 A1 describes such a method for motorized positioning of a surgical microscope. Also known is DE 102009 037 018 A1, which discloses a method for controlled movement to a position with a surgical microscope. WO 2021 / 140513 discloses a surgical system and the control of system functions. DE 10 2008 011 638 A1 discloses a balancing device for a surgical microscope mounted on a rotation axis. WO 2021 / 252930 A1 discloses a robotic and digital surgical microscope and a hand-centered controller for this microscope. WO 2018 / 217951 A1 discloses a visualization system for use during a surgical procedure. DE 11 2020 000 880 T5 discloses a control device and an ophthalmic microscope system.The technical problem is to create a method for controlling the movement of a surgical microscope and a surgical microscope which simplifies the control of the movement, in particular with different movement modes, and in particular ensures operational reliability.

[0005] The solution to the technical problem is achieved by the subject matter having the features of the independent claims. Further advantageous embodiments of the invention are set forth in the subclaims.

[0006] A method for controlling the movement of a surgical microscope is proposed. For the purposes of this invention, a microscope refers to a device for, in particular, magnified visual representation, i.e., microscopic imaging, of an examination object. The microscope can be a light microscope, which generates a magnified image by utilizing optical effects, in particular by means for beam guidance and / or shaping and / or steering, for example, lenses. However, the microscope can also be a digital microscope, wherein the (magnified) image to be visualized by the microscope can be generated by means of an image capture device and displayed on a corresponding display device.

[0007] The surgical microscope comprises a microscope head. The microscope head can comprise an objective lens of the surgical microscope, which can produce a real optical image of an examination object. The objective lens can comprise the optical elements explained. The microscope head can comprise a housing, wherein the objective lens or at least parts thereof are arranged in the housing. For example, a beam path for the microscopic imaging of the examination object can be arranged in the housing. It is conceivable that a tracking camera is also arranged in the housing, which enables optical and, in particular, marker-supported position determination of a target. The target can comprise at least one, but preferably several, markers and can be attached, for example, to an instrument, e.g., a surgical instrument.In this case, the housing can also comprise a further beam path for optical detection by the tracking camera, wherein the explained beam paths can be formed separately from one another. Furthermore, the surgical microscope can comprise a stand for holding the microscope head. The microscope head can be mechanically fastened to the stand and in particular form an end effector of the stand. The stand can be designed in such a way that it enables movement of the microscope head in space, in particular with at least one, preferably with six, degrees of freedom, wherein a degree of freedom can be a translational or a rotational degree of freedom. A translational and a rotational movement as well as the corresponding degrees of freedom can relate to a reference coordinate system.A vertical axis (z-axis) of this reference coordinate system can be oriented parallel to the gravitational force, and the corresponding vertical direction (axial direction) can be oriented opposite to the gravitational force. Alternatively, the vertical axis can be parallel to an optical axis of the surgical microscope, which can in particular be an optical axis of the objective, and the corresponding vertical direction can be oriented away from the surgical microscope toward an object space. A longitudinal axis (x-axis) and a transverse axis (y-axis) of the reference coordinate system can span a plane oriented perpendicular to the vertical axis. Furthermore, the longitudinal and transverse axes can also be oriented orthogonally to one another. The longitudinal and transverse directions (axial directions) can be oriented such that the axes form a Cartesian coordinate system.

[0008] The surgical microscope, in particular the stand, comprises at least one drive device for moving the surgical microscope, in particular the microscope head. Such a drive device can, for example, be a servo motor. Of course, the stand can also comprise means for force / torque transmission, e.g. gear units. Furthermore, the surgical microscope can comprise means for controlling the movement. Using the control means, for example, a user can control the at least one drive device such that the surgical microscope executes a desired movement in space. This allows the surgical microscope, for example, to be positioned in a predetermined target position in space, where the position designates a position and / or orientation of the microscope head. A movement with a desired manner of movement, e.g. a desired direction of movement, can also be controlled.The control means can be configured for haptic confirmation by a user / surgeon. However, this is not mandatory. Alternatively, the means can enable voice control, for example.

[0009] The surgical microscope further comprises at least one control element.

[0010] The control element forms a means for controlling the movement. The control element can be designed, in particular, for manual operation by a user, i.e., for haptic actuation. Actuation can occur, for example, by pressing, sliding, or turning. By way of example and not limitation, the control element can be designed as a joystick or a switch, in particular as a toggle or rocker switch.

[0011] In a main operating mode, the movement of the microscope head is controlled in a first predetermined movement mode by actuating an operating element in a first actuating mode. The main operating mode can be activated, for example, by actuating a corresponding activation means, which is also referred to below as a further activation means. This will be explained in more detail below. The actuating mode refers to the manner in which the operating element is actuated. The operating element can thus be designed such that it can be actuated in different actuating modes. Actuation in different actuating modes can occur, for example, if different sections of the operating element are actuated and / or the corresponding actuating force has different directions and / or different amplitudes.

[0012] For example, by moving a joystick in a first direction of movement, a movement of the microscope head in a first predetermined direction can be controlled. By operating the joystick in a direction opposite to the first direction of movement, the movement of the microscope head in a further direction can also be controlled, which can be opposite to the first direction, for example. In other words, different modes of actuation can differ in at least one property of the actuation, where the property is, for example, a location of the actuation, a direction of the actuation, an intensity of the actuation. The operating element can in particular be arranged on the microscope head, furthermore in particular on a handle of the surgical microscope. The handle can likewise be arranged on the microscope head or its housing. Alternatively, an operating element can of course also be arranged on the housing of the microscope head or at another location.

[0013] A mode of movement can specify at least one property of a movement. For example, a mode of movement can specify a direction of movement and a type of movement. A type of movement can be, for example, a translational movement, a rotational movement, or a mixture thereof. A mode of movement can also specify a type and / or a number of degrees of freedom of movement, in particular the released degrees of freedom of movement. Furthermore, a mode of movement can also specify a reference point and / or a reference axis of the movement, in which case the movement in this mode of movement can be a rotational movement around the reference point and / or the reference axis and / or a translational movement along the reference axis.

[0014] Furthermore, an auxiliary operating mode can be activated, in particular by generating an activation signal via a corresponding activation means. This activation means can also be referred to as the first activation means. This is explained in more detail below. If the auxiliary operating mode is activated or has already been activated, a movement of the microscope head in a further predetermined movement mode is controlled in the auxiliary operating mode by actuating the operating element in the first actuation mode, wherein the first and the further movement modes are different from one another. In particular, the first and the further movement modes differ in at least one property. Purely by way of example, a translational movement can be controlled when the operating element is actuated in the first actuation mode in the main operating mode, while a rotational movement is controlled by the same actuation in the auxiliary operating mode.

[0015] In other words, the method according to the invention enables different movements to be controlled by a similar actuation of the same operating element. This increases the scope of (control) functions that can be controlled with the operating element. In particular, different operating elements and / or different actuation methods of a single operating element do not have to be provided to control different movements, which simplifies operation for movement control, in particular because a user does not have to actuate different operating elements and, for example, change their grip. It is also advantageous that the installation space required and manufacturing costs of the surgical microscope do not increase with an increasing range of functions.

[0016] It is conceivable that the auxiliary control mode could be deactivated again. Deactivation could occur, for example, when the main control mode is (re)activated, e.g., when an activation signal for the main control mode is generated (which could then also be a deactivation signal for the auxiliary control mode). It is also conceivable that a corresponding deactivation signal could be generated to deactivate the auxiliary control mode. It is also possible that the auxiliary control mode could only be activated from the activated main control mode. Alternatively, the auxiliary control mode could also be activated independently of the activation state of the main control mode.

[0017] The surgical microscope can comprise activation means for activating the main and auxiliary operating modes, whereby these can be identical but preferably different from one another. Activation of a mode can occur whenever the corresponding mode is not activated. These activation means can, for example, be operated manually or acoustically or comprise a user interface for user input. Thus, an activation signal can be generated, for example, by hand or foot actuation or by a voice command. It is also conceivable for an activation signal to be generated via the operation of a graphical user interface such as a touch panel or screen, for example, by selecting a desired movement mode there.

[0018] The first and / or the further activation means can be designed, for example, as operating element(s) of a hand control panel or a foot control panel. The hand control panel can be arranged, for example, on a handle of the surgical microscope. Such an operating element can therefore be designed for actuation by a hand, in particular a finger, or a foot of a user. An operating element can be designed, for example, as a push button or key which, when pressed, generates an activation signal. The operating element can be a freely configurable operating element, wherein various functions can be assigned to such an operating element, for example, by appropriate programming. Alternatively, the switching element can be a switching element with a fixed configuration in terms of function, wherein a predetermined function is permanently and unchangeably assigned to it.

[0019] It is also conceivable for the main operating mode to be activated by actuating an activation means in a first actuation mode and for the auxiliary operating mode to be activated in a further actuation mode that is different therefrom. The corresponding activation means can thus be designed such that it can be actuated in different actuation modes. It is also conceivable for the auxiliary operating mode to be activated when the activation means is actuated for at least a predetermined period of time, in particular longer than the predetermined period of time. In this case, the main operating mode can be activated when the activation means is actuated for less than the predetermined period of time. It is also conceivable for the activation means for activating the main operating mode to be a switching means for switching between different main operating modes.Thus, if one of several main operating modes is activated, a different main operating mode can be activated if the activation means is operated in the first operating mode and / or for less than the predetermined time period. This also makes it possible to activate all main operating modes in a predetermined sequence, i.e., to cycle through them.

[0020] The surgical microscope can also comprise deactivation means for deactivating the main and auxiliary operating modes, whereby these can also be the same, but preferably different from one another. The deactivation means can further be the same or different from the activation means. An activation signal or deactivation signal for the main or auxiliary operating mode can also be generated if, based on an image, i.e., by evaluating an image, at least one marker element with a predetermined identity is identified. The image can, for example, be generated by the previously explained tracking camera, which can also be a component of the surgical microscope or a microscopy system. Of course, it is also conceivable that the image evaluated for identification is generated by an image capture device of the surgical microscope for microscopic imaging. For example,It is conceivable that the main operating mode is activated or deactivated upon identification of a first identity, and the auxiliary operating mode is activated or deactivated upon identification of a different, further identity. Activating an operating mode can also lead to the deactivation of the previously activated operating mode. In this case, the activation means for one operating mode forms the deactivation means for deactivating another operating mode.

[0021] In a preferred embodiment, the further mode of movement is a translational movement along an optical axis of the microscope head, in particular in or opposite to the axial direction, which can be oriented from the microscope head to the object space. Thus, in the auxiliary operating mode, the first actuation mode of the operating element can control a translational movement in a first direction along the optical axis and a further actuation mode can control a translational movement in the opposite direction. It has been shown that a translational movement along the optical axis is desired by a user less frequently than other modes of movement. By assigning this mode of movement to the auxiliary operating mode, it is advantageous that other, more frequently desired modes of movement can be assigned to the main operating mode and, compared to the auxiliary operating mode, do not require any additional activation.This in turn advantageously simplifies the operation of the surgical microscope, while at the same time enabling the translational movement described.

[0022] In a further embodiment, the auxiliary operating mode is deactivated after a predetermined period of inactivity has elapsed. The period of inactivity here refers to a period of time during which the operating element is not actuated. It can be, for example, 5 seconds. If the auxiliary operating mode is activated and the operating element is not actuated or is not actuated according to a selected actuation method or according to several selected actuation methods, the auxiliary operating mode is deactivated. It is conceivable that, after the auxiliary operating mode has been deactivated, the surgical microscope is put into a state in which both the main operating mode and the auxiliary operating mode are deactivated. In this case, the main operating mode must first be reactivated for movement control. However, the main operating mode is preferably activated after or upon deactivation of the auxiliary operating mode.Alternatively, the inactivity period can be a period during which—regardless of actuation of the control element—no movement occurs, in particular, no movement command is generated. Thus, it is conceivable that no movement occurs despite actuation of the control element in auxiliary control mode, e.g., due to a defect or a collision. Even then, the system can automatically switch to the main control mode. This advantageously increases the operational reliability of the surgical microscope, particularly if the subsequent movement is a translational movement along the optical axis, as this reduces the risk of collision with a patient or other surgical equipment.

[0023] Alternatively, the auxiliary control mode is deactivated when a trajectory limit of the movement is reached in the auxiliary control mode. For example, if a movement along the optical axis is controlled in the auxiliary control mode, the auxiliary control mode can be deactivated when a focus limit is reached. This limit can, for example, be the limit of a range of permissible focus positions, where permissible focus positions can be predetermined. This also advantageously increases the operational reliability of the surgical microscope.

[0024] In a further embodiment, the main operating mode is activated after the predetermined inactivity period has elapsed. This has already been explained above. This advantageously increases operational reliability, as explained above, while simultaneously enhancing user-friendliness, since a movement can still be controlled after deactivation of the auxiliary operating mode without the need to reactivate the main operating mode.

[0025] In a further embodiment, the first mode of movement defines a translational movement in a plane oriented perpendicular to the optical axis. Alternatively, the first mode of movement defines a rotational movement. The defined rotational movement can occur, for example, around a point on the optical axis, in particular around a focal point. Alternatively, the rotational movement can occur around a reference point of the microscope head. The reference point can be arranged, for example, on one or more axes around which a microscope head attached to the stand can rotate, in particular at an intersection point of these multiple axes of rotation. The first mode of movement can also, in particular, define a direction of movement of the translational movement or the rotational movement.Observations show that the aforementioned movements are more frequently desired by users than, in particular, translational movement along the optical axis. Assigning this movement to the main operating mode advantageously allows other, less frequently desired movements to be assigned to the auxiliary operating mode. This, in turn, advantageously simplifies the operation of the surgical microscope while simultaneously enabling translational movement along the optical axis.

[0026] In a further embodiment, an activation signal for activating the auxiliary operating mode is generated haptically. The surgical microscope can comprise suitable activation means (first activation means) for this purpose, for example a manually operable activation means such as a push button, a switch or a different activation means for manual actuation. This has already been explained above. Such an activation means can in particular be arranged on the microscope head, in particular on its housing, or on a handle. This advantageously results in simple and reliable activation of the auxiliary operating mode. Alternatively, the activation signal is generated acoustically, for example via a voice signal.In this case, the surgical microscope or a microscopy system comprising the surgical microscope can comprise means for voice-based activation, in particular at least one microphone and an evaluation device for evaluating acoustic signals. The activation signal for activating the auxiliary operating mode can then be generated depending on the evaluation of an acoustic signal.

[0027] This advantageously results in simplified operation of the surgical microscope, in particular simplified activation of the auxiliary operating mode.

[0028] In a further embodiment, the operating element is designed for actuation in multiple actuation modes, wherein the auxiliary operating mode is activated for exactly one or more, but not all, selected actuation modes. In other words, it is conceivable that, in the activated main operating mode, actuation of the operating element in a first actuation mode controls a movement of the microscope head in a first predetermined movement mode, wherein actuation of the operating element in a further actuation mode controls the movement of the microscope head in a second predetermined movement mode that is different from the first movement mode.If the auxiliary operating mode is then activated, the movement of the microscope head can be controlled in a further predetermined movement by actuating the operating element in the first operating mode, which is different at least from the first, but preferably also from the second, movement mode. However, by actuating the operating element in the further operating mode, the movement of the microscope head is controlled in the explained second predetermined movement mode in the activated auxiliary operating mode. This advantageously results in a further improvement in the functionality of the surgical microscope, since different movement modes of the main and auxiliary operating modes can be combined using different operating modes.

[0029] In a further embodiment, the operating element is designed as a joystick or as a rocker switch. This results in simple and cost-effective production of the surgical microscope. In a further embodiment, an activation signal for activating a main operating mode is generated using a further activation means which is different from the first activation means for activating the auxiliary operating mode. There can be several, e.g. three, different main operating modes, it being possible for each of these modes to be activated or for switching between these modes using the further activation means. For example, different main operating modes can be activated using a graphical user interface. This advantageously results in reliable operation of the surgical microscope, in particular activation of the operating modes.In particular, different main operating modes can define different movement modes with which the movement of the surgical microscope is controlled when the operating element is actuated in a first actuation mode.

[0030] Further proposed is a surgical microscope comprising at least one microscope head, at least one operating element for controlling the movement of the microscope head, and at least one control device. The surgical microscope is configured such that a method according to one of the embodiments described in this disclosure can be carried out with the surgical microscope.

[0031] A microscopy system comprising the surgical microscope is also described. The microscopy system can include further activation means for activating a main operating mode and first activation means for activating the auxiliary operating mode.

[0032] The invention is explained in more detail using exemplary embodiments. The figures show:

[0033] Fig. 1 is a schematic view of an inventive surgical microscope in one embodiment,

[0034] Fig. 2 is a schematic view of movements of a main operating mode of a surgical microscope,

[0035] Fig. 3 is a schematic representation of further movement modes of a main operating mode of a surgical microscope, Fig. 4 is a schematic representation of further movement modes of a main operating mode of a surgical microscope,

[0036] Fig. 5 is a schematic representation of movements of an auxiliary operating mode of a surgical microscope,

[0037] Fig. 6 is a schematic flow diagram of a method according to the invention according to a first embodiment,

[0038] Fig. 7 is a schematic flow diagram of a method according to the invention according to a further embodiment,

[0039] Fig. 8 is a schematic flow diagram of a method according to the invention according to a further embodiment,

[0040] Fig. 9 is a schematic flow diagram of a method according to the invention according to a further embodiment and

[0041] Fig. 10 is a schematic representation of a control element.

[0042] In the following, like reference numerals designate elements with like or similar technical features. Fig. 1 shows a surgical microscope 1 according to the invention being used in a surgical environment. The surgical microscope 1 comprises a microscope head 2, which is arranged at a free end of a stand 3 for holding the microscope head 2. The stand 3 enables a controlled movement of the microscope head 2 to change the position, i.e. the position and / or orientation of the microscope head 2 and thus also an optical axis 17 of an objective (not shown) of the surgical microscope 1, which objective can be arranged in a housing 25 of the microscope head 2 (see, for example, Fig. 2). The stand 3 shown represents an exemplary kinematic structure for holding and moving the microscope head 2. It will of course be known to those skilled in the art that other kinematic structures can also be used.Drive devices of the stand 3 (not shown) can enable a rotary movement of movable parts of the stand 3 about axes of rotation 4, 5, 6. Also shown is a control device 7, which serves to control the drive devices and thus the movement. For this purpose, the control device 7 can be connected to the drive devices via signals and / or data. Also shown is a patient 13 lying on an operating table 14. It is also shown that the surgical microscope 1, more precisely the microscope head 2, comprises at least one eyepiece 15 or an optical viewer into which the user 8, e.g., a surgeon, looks in order to observe a portion of the patient 13, in particular in a magnified manner. Not shown in Fig. 1 are handles 12 (see Fig. 2) of the microscope head 2.

[0043] The surgical microscope 1 further comprises a tracking camera 10 for detecting the position of an instrument 19, which can be held and moved by the user 8. A target 9 with at least one marker 11 can be attached to the instrument 19. Based on an image of the target 9 captured by the tracking camera 10, the position of the target 9 can be determined, and due to the stationary arrangement of the target 9 on the instrument 19, the position of the instrument 19 can also be determined. A marker 11 or the target 9 can have an identity, in particular a unique one, which can also be determined, in particular, based on an image. If an identity is detected based on an image, an operating mode associated with the identity can be activated or deactivated.

[0044] Fig. 2 shows a schematic representation of movements of a main operating mode M1 (see Fig. 6) of a surgical microscope 1 with a microscope head 2, which is attached to a stand 3. Two handles 12 are attached to the microscope head 2, which protrude from a housing 25 of the microscope head 2. A surgeon can grasp these handles 12 with his hands and move or position the microscope head 2 in space as desired by means of a hand movement. An operating element 16 for actuation by the user, in particular with the thumb or another finger, can be arranged on each of the handles 12. By actuating the operating element 16, a movement of the microscope head 2 can be controlled in a first predetermined movement mode in a main operating mode M1. Fig. 2 shows a longitudinal translation axis x and a transverse translation axis y as well as an optical axis 17, which corresponds to a vertical axis z.The axial directions of these axes x, y, z are shown by arrows. The longitudinal translational and transverse translational axes x, y are oriented perpendicular to one another and perpendicular to the optical axis 17. The axes x, y, 17 intersect at a reference point of the microscope head 2. This can in particular lie on at least one axis of rotation of a rotary joint, via which the microscope head 2 is attached to a movable element of the stand 3. By actuating one of the illustrated operating elements 16 in various operating modes, the movement of the microscope head 2 in and against the longitudinal translational direction as well as in and against the transverse translational direction can be controlled in a main operating mode M1. If an auxiliary operating mode M2 ​​is activated, the movement of the microscope head 2 in and against the direction of the optical axis 17 can be moved by actuating the operating element 16 in one or more operating modes.A first activation means 26, designed as a push button, can also be arranged on each of the handles 12 for operation by the user, in particular with the thumb or another finger. By actuating the first activation means 26, an activation signal ASM2 can be generated to activate the auxiliary operating mode M2.

[0045] Fig. 3 shows a schematic representation of movements of a main operating mode M1 (see Fig. 6) of a surgical microscope 1. In contrast to the embodiment shown in Fig. 2, a longitudinal axis x, a transverse axis y and a vertical axis z are shown, which intersect at a focal point FP. The vertical axis z is the optical axis 17 of the surgical microscope 1 and is oriented from the microscope head 2 towards a patient 13. Not shown is a reference point of the microscope head 2, which can lie on an axis of rotation, whereby the microscope head 2 attached to the stand 3 can rotate about this axis of rotation. In particular, the reference point can lie at an intersection point of two or more such axes of rotation. In a main operating mode M1 (see Fig.6) By actuating one of the operating elements 16 in a first actuation mode, a rotational movement of the microscope head 2 around the reference point and around an axis parallel to the transverse axis y, which runs through the reference point, can be controlled. By actuating it in a further actuation mode, a rotational movement of the microscope head 2 around the reference point and around an axis parallel to the longitudinal axis x, which runs through the reference point, can be controlled. If an auxiliary operating mode M2 ​​is activated, a movement of the microscope head 2 along or against the vertical axis z can be controlled by actuating the operating element 16 in the first actuation mode.

[0046] Fig. 4 shows a schematic representation of movement modes of a main operating mode M1 (see Fig. 6) of a surgical microscope 1. In contrast to the embodiment shown in Fig. 2, a longitudinal axis (not shown), a transverse axis (not shown) and a vertical axis z intersect at a focal point FP. The vertical axis z is the optical axis 17 of the surgical microscope 1 and is oriented from the microscope head 2 towards a patient 13. In a main operating mode M1 (see Fig. 6), a rotational movement R1 of the microscope head 2 around the focal point FP and around the longitudinal axis can be controlled by actuating one of the operating elements 16 in a first actuation mode. A rotational movement R2 of the microscope head 2 around the focal point and the transverse axis y can be controlled by actuating it in a further actuation mode.If an auxiliary operating mode M2 ​​is activated, a movement of the microscope head 2 along and against the vertical axis z can be controlled by actuating the operating element 16 in the first actuation mode.

[0047] Fig. 5 shows a schematic representation of movement modes of an auxiliary operating mode M2 ​​(see Fig. 6) of a surgical microscope 1. If the auxiliary operating mode M2 ​​is activated, a movement of the microscope head 2 along or against the vertical axis z, which corresponds to the optical axis 17 of the microscope head 2, can be controlled by actuating an operating element 16 in a first actuation mode.

[0048] Fig. 6 shows a schematic flow diagram of a method according to the invention. It is shown that a main operating mode M1 is activated. In this main operating mode M1, a movement of a microscope head 2 in a first predetermined movement mode is controlled by actuating an operating element 16 (see, for example, Fig. 2) in a first actuation mode. An auxiliary operating mode M2 ​​is activated by generating an activation signal ASM2. In the auxiliary operating mode M2, i.e. in the activated state, a movement of the microscope head 2 in a further predetermined movement mode, which is different from the first movement mode, is controlled by actuating the operating element 16 in the first actuation mode. The activation signal ASM2 can be generated here using a first activation means 26. Exemplary activation means and activation methods have been described above.

[0049] Fig. 7 shows a schematic flow diagram of a method according to the invention in a further embodiment. In contrast to the embodiment shown in Fig. 6, the main operating mode M1 is activated from the activated auxiliary operating mode M2 ​​after a predetermined inactivity period has elapsed. When the main operating mode M1 is activated from the activated auxiliary operating mode M2, the auxiliary operating mode M2 ​​is deactivated simultaneously. As an alternative to expiration of the predetermined activity period, a deactivation signal DASM2 can also be generated, which leads to the activation of the main operating mode M1 and the deactivation of the auxiliary operating mode M2. Exemplary deactivation means and deactivation methods have also been described above.

[0050] Fig. 8 shows a schematic flow diagram of a method according to the invention in a further embodiment. In contrast to the embodiment shown in Fig. 7, the main operating mode M1 is activated from an activated auxiliary operating mode M2 ​​upon generation of an activation signal ASM1 for the main operating mode M1, for example by actuating a suitable further activation means 18 (see Fig. 9). The auxiliary operating mode M2 ​​is also deactivated after a predetermined period of inactivity, wherein such a deactivation puts the surgical microscope into a state M3 in which neither the main operating mode M1 nor the auxiliary operating mode M2 ​​is activated. It is of course conceivable that a deactivation signal (not shown) is generated in the activated main or auxiliary operating mode M1, M2, by means of which deactivation the surgical microscope 1 is also put into this state M3.

[0051] Fig. 9 shows a schematic flow diagram of a method according to the invention in a further embodiment. Shown is a further activation means 18 for activating a main operating mode M11, M12, M13. This further activation means 18 can, for example, be designed as a graphical user interface or comprise such a interface. Of course, the further activation means 18 can also be designed in a different form, e.g. as an operating element of a hand or foot control panel or as a voice-controlled activation means. As explained above, the further activation means 18 can also be formed by the first activation means 26 (see, for example, Fig. 2).By appropriately actuating / controlling the further activation means 18, various activation signals ASM11, ASM12, ASM13 can be generated, which lead to the activation of a first main operating mode M11, a second main operating mode M12, or a third main operating mode M13. These can differ, in particular, in the modes of movement in which a movement of the microscope head 2 is controlled upon actuation of an operating element 16 (see Fig. 2). From each of the main operating modes M11, M12, M12 activated in this way, the auxiliary operating mode M2 ​​can then be activated by generating an activation signal ASM2. From this activated auxiliary operating mode M2, the previously activated main operating mode M11, M12, M13 can in turn be activated, either by generating a corresponding activation signal or after a predetermined period of inactivity has elapsed.

[0052] Fig. 10 shows a schematic plan view of an operating element 16 designed as a cross-rocker switch 20. Shown are a switch longitudinal axis xs and a switch transverse axis ys, which span a switch-specific coordinate system, wherein an origin of this coordinate system is arranged at a geometric center of gravity of the cross-rocker switch 20. An actuation in a first actuation mode of this cross-rocker switch 20 can occur by pressing on a first leg 21 of the cross-rocker switch 20, which is then tilted about the switch longitudinal axis xs in a mathematically positive direction relative to the axial direction shown. An actuation in a second actuation mode of this cross-rocker switch 20 can occur by pressing on a second leg 22 of the cross-rocker switch 20, which is then tilted about the switch longitudinal axis xs in a mathematically negative direction relative to the axial direction shown.A third actuation of this cross rocker switch 20 can be achieved by pressing a third leg 23 of the cross rocker switch 20, which is then tilted about the switch's transverse axis ys in a mathematically positive direction relative to the illustrated axial direction. A fourth actuation of this cross rocker switch 20 can be achieved by pressing a fourth leg 24 of the cross rocker switch 20, which is then tilted about the switch's transverse axis ys in a mathematically negative direction relative to the illustrated axial direction.

[0053] If a main operating mode M1 (see, for example, Fig. 6) is activated, actuation of the cross rocker switch 20 in the first actuation mode can control a movement of the microscope head 2 against the direction of a longitudinal axis x, which - as shown, for example, in Fig. 3 - runs through a focal point FP and is oriented perpendicular to a vertical axis z, wherein the vertical axis z is in turn oriented parallel to the optical axis 17. Furthermore, actuation of the cross rocker switch 20 in the second actuation mode can control a movement in the direction of the longitudinal axis x. Actuation of the cross rocker switch 20 in the third actuation mode can control a movement against the direction of a transverse axis y, which also runs through the focal point FP and forms a Cartesian coordinate system with the longitudinal and vertical axes x, z. Actuation of the cross rocker switch 20 in the fourth actuation mode can control a movement in the direction of the transverse axis y.

[0054] If, however, an auxiliary operating mode M2 ​​is activated, actuating the rocker switch 20 in the first actuation mode can control a movement of the microscope head 2 in the direction of the vertical axis z. Furthermore, actuating the rocker switch 20 in the second actuation mode can control a movement opposite to the direction of the vertical axis z.

[0055] When the rocker switch 20 is actuated in the third actuation mode and in the fourth actuation mode, no movement of the microscope head 2 can be controlled in the activated auxiliary operating mode M2, i.e., the actuation cannot cause any movement control. Alternatively, however, the actuation function can be retained in the activated main operating mode M1. Then, actuating the rocker switch 20 in the third actuation mode can control a movement opposite to the direction of the transverse axis y, and actuating the rocker switch 20 in the fourth actuation mode can control a movement in the direction of the transverse axis y.

[0056] List of reference symbols

[0057] 1 surgical microscope

[0058] 2 microscope head

[0059] 3 Tripod

[0060] 4, 5, 6 axes of rotation

[0061] 7 Control device

[0062] 8 users

[0063] 9 Target

[0064] 10 tracking camera

[0065] 11 markers

[0066] 12 Handle

[0067] 13 patients

[0068] 14 Operating table

[0069] 15 Eyepiece

[0070] 16 Control element

[0071] 17 optical axis

[0072] 18 additional activating agents

[0073] 19 instruments

[0074] 20 rocker switches

[0075] 21, 22, 23, 24 Legs of the rocker switch

[0076] 25 housings

[0077] 26 first activating agent

[0078] M1, M11, M12, M13 main operating mode, main operating modes

[0079] M2 Auxiliary control mode

[0080] M3 condition

[0081] ASM1, ASM2

[0082] ASM11, ASM12, ASM13 activation signal

[0083] X, xs Longitudinal axis y, ys Transverse axis z Vertical axis FP Focus point

[0084] R1 , R2 Rotationsbewegung

Claims

Patent claims 1. Method for controlling the movement of a surgical microscope (1), wherein in a main operating mode (M1) a movement of a microscope head (2) is controlled in a first predetermined movement mode by actuating an operating element (16) in a first actuation mode, wherein an auxiliary operating mode (M2) is activatable, wherein in the auxiliary operating mode (M2) a movement of the microscope head (2) is controlled in a further predetermined movement mode by actuating the operating element (16) in the first actuation mode, wherein the first and the further movement modes are different from one another.

2. Method according to claim 1, characterized in that the further movement is a translational movement along an optical axis (17) of the microscope head (2).

3. Method according to one of the preceding claims, characterized in that the auxiliary operating mode (M2) is deactivated after a predetermined inactivity period has elapsed or is deactivated when a trajectory limit of the movement in the auxiliary operating mode (M2) is reached.

4. Method according to claim 3, characterized in that the main operating mode (M1) is activated after the expiration of the predetermined inactivity period.

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

6. Method according to one of the preceding claims, characterized in that an activation signal (ASM2) for activating the auxiliary operating mode (M2) is generated haptically or acoustically. Method according to one of the preceding claims, characterized in that the operating element (16) is designed for actuation in a plurality of actuation modes, wherein the auxiliary operating mode (M2) is activated for exactly one or more, but not all, selected actuation modes. Method according to one of the preceding claims, characterized in that the operating element (16) is designed as a joystick or as a rocker switch (20). Method according to one of the preceding claims, characterized in that an activation signal (ASM1) for activating the main operating mode (M1) is generated by a further activation means (18) which is different from the first activation means (26) for activating the auxiliary operating mode (M2).Surgical microscope, comprising at least one microscope head (2), at least one operating element (16) for controlling the movement of the microscope head (2) and at least one control device (7), wherein the surgical microscope (1) is configured such that. - in a main operating mode (M1), a movement of the microscope head (2) is controlled in a first predetermined movement mode by actuating the operating element (16) in a first actuation mode, - an auxiliary operating mode (M2) can be activated, - in the auxiliary operating mode (M2), a movement of the microscope head (2) is controlled in a further predetermined movement mode by actuating the operating element (16) in the first actuating mode, wherein the first and the further movement modes are different from one another.

Images