Retention system for the operator

Abstract

The support system (1) according to the invention comprises a support device (2) with a number of adjustment axes (v1, ..., vn) and an operating device (3). The support device (2) is configured to hold at least a part of the operator's body in a position and / or orientation. The operating device (3) comprises at least one first operating unit (4) arranged outside the operator's gripping range (G) and a second operating unit (5) arranged within the operator's gripping range (G) with partially corresponding functions, arranged to control the adjustment axes (v1, ..., vn). The operating device (3) also comprises a third operating unit (6) with which the operator can control the support device (2) using his body movements, and a fourth operating unit (7) arranged within the operator's gripping range. This allows the functions of the support device (2) to be divided between the control units (4, 5, 6, 7) and allows for intuitive control.

Description

[Technical field]

[0001] The present invention relates to a support system for an operator in surgery and to a support system for laboratory personnel or dentists. [Background technology]

[0002] Holding systems for operators are generally known. For example, there are operating chairs with armrests and / or footrests for the operator, which allow the operator, who normally stands at the operating table, to be held by the operating chair or by the armrests and / or footrests. This allows the operator, especially during long operations in certain forced positions and / or with certain requirements for the fine motor skills of the operator, to perform them in a less tiring or fatigue-free manner. In the ideal case, the operator can perform such operations reliably and with high quality.

[0003] The operating chair is usually configured to be adjustable so as to suit the requirements of the operator during the operation. For example, from DE 102020103861 a operating chair is known which can be adjusted in height as well as laterally and fore-aft.

[0004] German utility model 202018102964 describes a height-adjustable work chair with two footrests, whereby adjustment of the work chair height by an operator sitting on the work chair can be performed by means of a foot pedal. Furthermore, the work chair can store the adjusted height and return to the stored height on restart.

[0005] Furthermore, a work chair with foot buttons and upper body belts is described in US Patent No. 6,224,154. The height of the seat and foot rest, as well as the forward and backward inclination of the seat and foot rest, can be adjusted by the operator himself by means of an operating device. The work chair shown there further comprises a main support column to which a fastener for a harness is attached, so that the operator can lean forward into the harness, supporting his upper body in an adjusted position.

[0006] Since adjustment by foot can lead to incorrect adjustment of the work chair if there are a large number of operating elements, manual adjustment by an operating device that the operator can operate manually is natural in view of the increasing number of functions and adjustability of the work chair.

[0007] From the field of computers or computer-related environments, user interfaces for manually inputting control signals are known, for example from DE 602004006227, which are particularly sophisticated with multiple input sensing axes along which control signals are detected by the user interface. [Prior art documents] [Patent documents]

[0008] [Patent Document 1] German Patent Invention No. 102020103861 [Patent Document 2] German Utility Model No. 202018102964 [Patent Document 3] U.S. Patent No. 6,224,154 [Patent Document 4] German patent number 602004006227 Summary of the Invention [Problem to be solved by the invention]

[0009] However, operation of such a user interface, especially without incorrect adjustment, requires high concentration of the user during input, which may distract the operator from the actual operation.

[0010] Starting from that, it is an object of the present invention to provide an improved holding system for an operator which has as simple and intuitive an operability as possible. [Means for solving the problem]

[0011] This object is solved by a retention system according to claim 1.

[0012] The holding system according to the invention comprises a support device with a plurality of adjustment axes and a manipulation device configured to hold in position and / or orientation at least one body part of an operator supported by the support device, the manipulation device comprising at least one first manipulation unit arranged outside the grasping range of the operator and a second manipulation unit arranged within the grasping range of the operator, the first manipulation unit having at least partially coincident functions configured to control the adjustment axes.

[0013] Doing so allows for the separation of the control of the adjustment axis in several operating units. The first operating unit is placed outside the grasping range of the operator, and another person, for example an assistant, can assist the operator to control the adjustment axis of the support device. This reduces the risk of the operator incorrectly controlling the adjustment axis, and the operator can concentrate on the surgery with as few distractions as possible. For example, the operator can thus control or readjust the desired adjustment axis of the support device, explaining to a further person in what position and / or orientation he wants to hold it or what changes of the current position and / or orientation should be performed. The assistant can then adjust the desired position and / or orientation by means of the second operating unit.

[0014] A feature of the support system according to the invention is an operating device of the support device, which can adjust the position and / or the orientation. The operating device preferably further comprises a third and a fourth operating unit. The second, third and fourth operating units are arranged in a distributed manner, in particular in the gripping range and / or the foot range of the operator, so that the operator can control the adjustment axes of the support device during operation. Each of the second, third and fourth operating units is assigned to a specific adjustment axis of the multiple adjustment axes of the support device. The functions defined by all adjustment axes of the support device are thus distributed to the second, third and fourth operating units. This allows a control of the adjustment axes that is particularly intuitive for the operator, since each function is assigned a specific position, for example the gripping range of the operator's right arm or left arm and / or the foot range of the operator's right foot or left foot. By arranging the first operating unit outside the gripping range and outside the foot range of the operator, in particular all of the adjustment axes can be controlled.

[0015] The gripping range represents the range of the support device that the operator can reach with his right or left hand. The foot range represents the range that the operator can reach with his right or left foot. For example, the support device can be a work chair configured on which the operator can sit during operation. The position and / or orientation of the operator seated on the work chair is supported by the work chair. The function of the operating unit preferably represents a movement for adjustment of the position and / or orientation of the support device controlled by one or more of the adjustment axes. The adjustment axis is in particular a device configured to move at least a part of the support device in an adjustment direction. The part of the support device can be, for example, a lateral support or a seat of the work chair. The movement of the adjustment axis can be translational and / or rotational. For example, the work chair can comprise a column support that can be specifically height adjustable by the adjustment device and configured to be pivotable laterally. Additional support elements can be attached to the column support, such as an upper body support device, at least one, preferably several lateral supports and / or arm rests, and a seat, for example via support arms attached to the column support, which are preferably arranged at the upper end of the column support.

[0016] In particular, adjustment axes that can be controlled by the second control unit can also be controlled by the first control unit, whereby an assistant controlling the first control unit can also control adjustment axes that the operator can control by the second control unit.

[0017] In one embodiment, the operating device comprises a third operating unit with a release device, which is preferably arranged in the range of the feet of the operator. The release device is in particular configured to switch at least one of the adjustment axes of the support device from a holding mode to a moving mode and vice versa, such that the supported body part of the operator can move in the moving mode and is held in the holding mode by the support device. The operator can switch the support device from the holding mode to the moving mode to move the supported body part in the adjustment direction. For example, the predetermined time can be in the range of 0.5 to 4 seconds, preferably 1 to 3 seconds, preferably 2 to 3 seconds, or at least 5 seconds. The predetermined time during which the supported body part of the operator must remain stationary in a constant position, at which the control device switches from the moving mode to the holding mode, can be adjusted to a period that the operator considers comfortable. The supported body part of the operator in particular assumes an at least substantially constant position when the moving speed of the body part in the adjustment direction is about 0 m / s, i.e. within a tolerance range centered on the value 0 m / s. The tolerance limits may be, for example, ±0.2 m / sec, ±0.1 m / sec, or ±0.05 m / sec, and the tolerance limits and duration may be adjusted as the operator deems comfortable.

[0018] Preferably, the third operating unit comprises a sensor device having a number of sensor units for detecting a movement of the operator in the adjustment direction of the adjustment axes and / or a movement of the support device in the adjustment direction of at least one of the adjustment axes, in particular a sensor signal of the sensor unit serving as a control signal for the third operating unit.

[0019] The manipulation device preferably comprises a control device arranged to switch the support device from a moving mode to a holding mode when the supported body part of the operator remains stationary in a position for a predetermined period of time.

[0020] The operator can assume a desired position and / or orientation in the movement mode which is set after the end of a short time during which the operator remains stationary in this position. A simple adjustment of the position of the operator held in the holding mode by the support device does not require time-consuming repositioning of the support device.

[0021] Preferably, the adjustment axis that can be controlled by the third operating unit can be controlled by the first operating unit, which allows a certain redundancy in the operating concept, so that the operator and the assistant can also control the same adjustment axis.

[0022] In particular, the first operating unit comprises a control element, which is elastically supported in a rest position and can be moved manually along at least three control axes, and a plurality of operating elements, which, when operated, set different allocations of the control element between the control axes and the adjustment axes of the control element. Furthermore, the control element is movable along at least four, preferably at least five, particularly preferably at least six control axes. The control axes can, for example, include three axes arranged perpendicular to one another, and the control element can, for example, be deflected in a translational and / or rotational manner from the rest position. The control element can therefore have at least six degrees of freedom.

[0023] The first operating unit is preferably configured to detect the amount and direction of a manually performed deflection of the control element from a rest position and to assign a control signal to one of the adjustment axes of the support device depending on the amount and / or direction of the deflection. For example, the control element comprises a plurality of directional regions, for example at least four directional regions, assigned to at least one adjustment axis. In this way, a plurality of adjustment axes can be controlled by the control element of the first operating unit.

[0024] In particular, the second operating unit comprises a control element that is elastically supported in a rest position and can be manually moved along at least three control axes and a number of operating elements which, when operated, define different allocations between the control axes of the control element and the adjustment axes of the control element.

[0025] The second control unit is preferably configured to detect the amount and direction of deflection of the control element from a rest position, which is performed manually, and to assign a control signal to one of the adjustment axes of the support device depending on the amount and / or direction of the deflection. Also, the control element of the second operating unit can have multiple directional areas, for example four directional areas, assigned to at least one adjustment axis. In this way, multiple adjustment axes can be controlled by the control element of the second operating unit.

[0026] Preferably, the control unit is configured to control the adjustment axis based on an input of the second operating unit and to overrule the input of the first operating unit when input is made at least substantially simultaneously at the first and second operating units, whereby the operator's control commands executed by the operator via the second operating unit are prioritized compared to the assistant's control commands.

[0027] Preferably, the control device is configured to control the adjustment axis based on an input of the third operating unit and to overrule the input at the first operating unit when the third operating unit is switched to a movement mode, whereby the operator's control commands executed by the operator via the third operating unit are prioritized compared to the assistant's control commands.

[0028] In particular, the second operating unit is located in a cavity of a lateral support of a support device provided for the operator. The second operating unit can be arranged within the gripping range of the operator, reducing the risk of unintentional operation of the control elements of the second operating unit, for example by the operator's elbow during operation. Furthermore, the lateral support can comprise a preferably foldable forearm rest arranged at the distal end of the armrest. The forearm rest provides a rigid support position and thus provides the operator with a place to place his arm. In so doing, the risk of unintentional operation of the control elements of the second operating unit can also be further reduced.

[0029] The first operating unit and the second operating unit comprise at least one additional operating element which, when activated, deactivates the respective control element of the operating unit. The control elements of the first and second operating units can thus be put into a deactivated state if the operator does not wish to exercise control. In this state, the risk of unintentional control by the operator and / or assistant is further reduced.

[0030] Further details of advantageous embodiments or specifications of the invention can be derived from the drawings, the description and the dependent claims. [Brief description of the drawings]

[0031] [Figure 1] FIG. 1 is a schematic three-dimensional view of an embodiment of a retention system according to the invention; [Diagram 2] FIG. 2 is a schematic three-dimensional view of the first operating unit. [Diagram 3] FIG. 2 is a schematic three-dimensional view of the second operating unit. [Figure 4] FIG. 11 is a schematic three-dimensional view of the fourth operational unit. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0032] FIG. 1 shows a support system 1 which, in the illustrated example, serves to hold an operator in a seated position, the operator's upper body being supported by a harness having a backrest portion 26 which the operator may wear.

[0033] The support device 2 comprises a platform 24 that can be driven forward and / or laterally and / or is configured to be adjustable in height. The platform comprises a footrest 22 on which an operator can support his / her feet when he / she is on the support device 2, and a further footrest 23. The footrest 3 can further serve as a support for a foot pedal for the control of an instrument, such as a surgical instrument.

[0034] From the top side of the platform, a work chair 27 extends vertically on which an operator may sit. The work chair 27 is height adjustable and includes a column support 19 extending vertically from the platform 24. The work chair 27 includes an adjustment axis v1 for controlling the height.

[0035] The work chair 27 with the column support 19 further comprises a second adjustment axis v2 configured to pivot the work chair 27 laterally. In this example, the second adjustment axis v2 comprises two linear drives (only the front one is shown) arranged adjacent to each other in the lateral direction of the work chair 27. The linear drives are attached to the work chair 27 and to the platform 2 such that a change in length of the linear drives results in a pivoting movement of the work chair. The linear drives are operated in opposite directions such that in case of a positive length change of one linear drive, the other linear drive performs a negative length change.

[0036] The working chair 27 further comprises a first support arm 20 attached to the column support 19, extending rearwardly from the column support 19. At the distal end of the first support arm 20, a first operating unit 4 of the operating device 3 is mounted outside the grasping range G of an operator, such that a person standing behind the working chair 27 can control the adjustment axes v1, ..., vn by means of the first operating unit 4.

[0037] Furthermore, starting from the column support 19, a second support arm 21 extends forward. At the distal end of the second support arm 21, a seat 28 is mounted for an operator. The seat 28 is configured to be tilted in the forward and backward directions by a third adjustment axis v3 located on the second support arm 21.

[0038] The first support arm 20 and the second support arm 21 branch off at a vertical point from the column support 19. Above this vertical point, the lateral support 14 and the additional lateral support 16 are attached to the column support 19.

[0039] The lateral support 14 includes an adjustment axis v4 that allows the lateral support 14 to be moved relative to the seat 28. The lateral support 14 further includes an adjustment axis v5 that allows the position of the lateral support to be adjusted laterally.

[0040] The additional armrest 16 also includes an adjustment axis v6 that allows adjusting the vertical position of the additional lateral support above the seat 28. In addition, the additional lateral support 16 is provided with an adjustment axis v7 that allows adjusting the position of the additional lateral support 16 laterally. The adjustment axes v5 and v7 are configured to synchronously move the lateral supports 14, 16 so as to cooperatively adjust the distance between the lateral support 14 and the additional lateral support 16. Alternatively, the positions of the lateral supports 14 and 16 can be controlled asynchronously relative to each other in the laterally direction.

[0041] Furthermore, the lateral support 14 and the further lateral support 16 can each be provided with a hinge device, whereby the lateral supports 14, 16 can be manually folded upwards, which serves as a so-called quick exit or emergency exit for the operator.

[0042] The lateral support 14 comprises a cavity 13 in which the second operating unit 5 of the operating device 3 is arranged. The cavity 13 of the lateral support 14 is arranged on the upper side of the lateral support as well as on the side facing away from the further lateral support 16. At the distal end of the lateral support 14 a preferably foldable or extensible forearm rest 17 is arranged, on which the operator can support his forearms when he sits on the seat 28.

[0043] A sensor unit s2 is additionally attached to the side of the lateral support 14 facing the additional lateral support 16. The sensor unit s2 is configured to measure the force pressing against the lateral support 14.

[0044] The additional lateral support 16 comprises an additional cavity 15 on its upper side as well as on its side facing away from the lateral support 14. In the additional cavity 15 the fourth operating unit 7 of the operating device 3 is located.

[0045] An additional sensor unit s3 is arranged on the side of the additional lateral support 16 facing the lateral support 14. The additional sensor unit s3 is configured to measure the force pressing against the additional lateral support 16.

[0046] Furthermore, to start setting up the work chair, a change in force, such as a reduction in force, can be detected by the sensor unit s2 and the additional sensor unit s3. When the operator presses his / her upper body against the sensor unit s2 of the lateral support 14 arranged on the right side of the operator, the work chair pivots to the right, and when the operator presses his / her upper body against the additional sensor unit s3 of the additional lateral support 16 arranged on the left side of the operator, the work chair pivots to the left side of the operator.

[0047] Furthermore, at the distal end of the additional lateral support 16 is disposed an additional forearm rest 18 on which the operator can support his or her forearm during surgery.

[0048] Between the lateral supports 14 and 16 and behind the seat 28 an additional support 29 extends vertically. An upper body holding device 30 having a traction means Z is attached to the additional support 29. The traction means Z can be mechanically coupled to the backrest 26 of the harness 25 so that the operator can lean forward into the harness, and the upper body holding device 30 is configured to apply a traction force to the upper body of the operator via the traction means Z. The upper body holding device 30 is configured to hold the upper body of the operator.

[0049] In order to adjust the inclination angle at which the upper body of the operator is held by the upper body holding device 30, the upper body holding device includes an adjustment axis v8 configured to adjust the length of the traction means Z and thus the distance between the upper body holding device 30 and the backrest part 26 of the harness 25. Furthermore, the upper body holding device 30 can also be equipped with an adjustment means by which the position at which the traction means Z exits the upper body holding device can be defined. By means of the adjustment means, this position can be adjusted and / or fixed, for example, in an infinitely or discrete step. In this way, the upper body holding device 30 can be adapted to the height of the operator. It is preferable that the upper body holding device 30 can be adjusted so that the position at which the traction means Z exits the upper body holding device 22 behind the operator seated on the seat is located at least at the height of the shoulders of the operator.

[0050] The third operating unit 6 comprises a release device 8 and a control device 10 communicatively connected to the release device, the control device 10 being configured to switch at least one of the adjustment axes v1..., vn of the support device 2 from holding mode H to movement mode B or vice versa when the release device 8 is actuated. In this example, the release device 8 is configured to switch the adjustment axes v1, v2 and v8 from holding mode H to movement mode B and vice versa.

[0051] The release device 8 in this example comprises an operating element b31 arranged in the foot area F of the operator and a further operating element b32 arranged in the foot area F of the operator. The operating elements b31 and b32 are arranged below the upper seat 28 of the platform 24.

[0052] The third operating unit 6 further comprises a sensor device 9 having a number of sensor units s1, ..., sn. A sensor signal of the sensor device 9 serves as a control signal for the third operating unit 6 when the support device 2 is switched to the movement mode B by releasing the release device 8. When the supported body part of the operator remains stationary in a position and / or orientation for a predefined time I, the control device 10 switches the support device 2 from the movement mode to the holding mode.

[0053] In this example, the sensor device 9 comprises four sensor units s1, s2, s3 and s4, but furthermore the sensor device 9 may comprise additional sensor units s5, ..., sn.

[0054] The sensor unit s1 is configured to detect the height of the seat 28. For example, the sensor unit s1 may comprise a Hall sensor attached to a gas pressure spring for height adjustment of the seat 28. Alternatively, the sensor unit s1 may comprise a force sensor for detecting the force pressing against the seat 28. The sensor unit s1 may also be configured to detect changes in force. In this way, the sensor unit s1 may detect, for example, the loading and / or relaxation of the seat 28.

[0055] In the lateral support 14, the sensor unit s2 is located on the inside of the lateral support 14 facing the seat 28. The sensor unit s2 is arranged to detect the force with which the upper body of an operator sitting on the seat 28 presses laterally against the lateral support 14. Similarly, an additional force sensor unit s3 is located in the additional lateral support 16. The sensor unit s4 is located in the upper body supporting device 30 and is configured to measure the length L_Z and / or length change of the traction means Z.

[0056] For example, the upper body holding device 30 can comprise an electrically driven winch around which the traction means Z is wound or wound onto. The electric drive of the winch for the traction means can in particular be controlled to drive the winch with an approximately constant torque in the winding direction, which applies an approximately constant traction force to the traction means. The electrically driven winch preferably comprises a gear with a variable speed ratio, whereby the winch can be configured, for example, in an automatic locking manner. The sensor unit s4 of the upper body holding device 30 can also be configured to detect the force acting on the traction means Z or the torque applied to the winch.

[0057] A schematic three-dimensional view of the first operating unit 4 is shown in FIG. 2. The first operating unit comprises a control element 11, which is elastically supported in a rest position P10. The control element 11 can move around a first control angle φ1 defined by a first control axis x1, a second control angle θ1 defined by a second control axis y1, and a third control angle ψ1 defined by a third control axis z1. The control axes x1, y1, z1 are arranged perpendicular to each other. Furthermore, the first operating unit 4 comprises a number of additional operating elements b11, b12, b13, b14, b15, which can switch the function of the first operating unit 4. The first operating unit 4 further comprises an additional operating element a1, which, when activated, stops the control element 11.

[0058] 3 shows the second operating unit 5. The second operating unit 5 is arranged in a cavity 13 of the lateral support 14. The second operating unit 5 comprises a control element 12 having three control axes x2, y2 and z2 defined perpendicular to one another. Control angles φ2, θ2 and ψ2 are defined around the control axes x2, y2 and z2, respectively. The control element 12 can move at least in the directions φ2, θ2 and ψ2. The second operating unit 5 further comprises an operating element b21 and an additional operating element a2 which, when actuated, stops the control element 12 of the operating unit 5.

[0059] FIG. 4 shows a fourth operating unit 7. The fourth operating unit 7 is arranged in the additional cavity 15 of the additional lateral support 16. The fourth operating unit 7 comprises a control element 31 with three control axes x4, y4 and z4 defined perpendicular to one another. Around the control axes x4, y4, z4, respectively, one control angle φ4, θ4 and ψ4 is defined. The control element 31 can move at least in the directions φ4, θ4 and ψ4. In addition to the operating elements b41, b42, the fourth operating unit 7 comprises an additional operating element a4, which stops the control element 31 of the fourth operating unit 7 when actuated.

[0060] The support system 1 for an operator that has been described so far works as follows.

[0061] To execute the operating holding system 1, it is controlled by the operating device 3. The operator puts on a harness 25 having a backrest part 26 and sits on a seat part 28 of an operating chair 27. A first connecting element is attached to the backrest part 26, which is complementary to a second connecting element attached to the end of the traction means Z. The first and second connecting elements preferably comprise magnet elements, which cause the first and second connecting elements to reciprocate towards each other in a pretensioned position during coupling. In the pretensioned position, the two connecting elements can be manually shifted to a latched position, in which they releasably couple the traction means Z to the backrest part 26 of the harness 25. If the operator puts on the harness 25 first and then pulls on a preferably sterile surgical gown with a rear opening, another person can connect the first connecting element with the second connecting element under the surgical gown without having to see both connecting elements. This speeds up the pre-operative procedure.

[0062] Now, the operator can control the height of the lateral supports 14 and 16 by means of the fourth operating unit 7 (shown in FIG. 4), which is located in the cavity 15 of the left lateral support 16. For this purpose, the operator activates the operating element b42. The operator can manually control the height of the lateral supports 14, 16 by pressing the control element 31 up or down in the direction of the third control axis z4. A shift forward or backward corresponds to a deflection of the control element 31 in the direction of the second control angle θ4. Furthermore, the operator can control the distance between the lateral supports 14 and 16 by rotating the control element 31 clockwise and counterclockwise. This corresponds to a deflection of the control element 31 in the direction of the first control angle φ4.

[0063] The operator can also control the inclination of the seat 28. For this purpose, the operator activates the operating element b41 of the fourth operating unit 7. The operator can now control the inclination of the seat 28 by deflecting the control element 31 in the direction of the second control angle θ4.

[0064] When the operator is satisfied with his adjustments, he can press the additional operating element a4 so as to deactivate the control element 31 of the fourth operating unit 7.

[0065] The operator now moves the holding system 1 to the operating table by means of the second operating unit 5, which is located in the cavity 13 of the right lateral support 14. For this purpose, the operator activates the operating button b21 and controls the holding system 1 by means of the control element 12. Deflection of the control element 12 in the direction of the control angle φ2 moves the platform 24 to the right or left. Deflection of the control element 12 in the direction of the control angle θ2 moves the platform 24 forward or backward, while deflection of the control element 12 in the direction of the control angle ψ2 rotates the platform 24. When the holding system 1 has reached the operating table, the operator finishes the positioning of the holding system 1 by pressing the additional operating button a2, thereby stopping the control element 12.

[0066] The operator can control his position and / or orientation relative to the operating table by the third operating unit 6 by his own body movements. The adjustment axes v1 (height adjustment of the working chair 27), v2 (lateral adjustment of the working chair 27) and v8 (traction means length of the upper body holding device 30) are initially in holding mode H. Here, the release devices 8 of the adjustment axes v1, v2 are released by the operator by actuating the operating element b31 with his foot. The adjustment axes v1, v2 are now switched to the movement mode B so that the operator can adjust the height of the working chair 27 by loading and unloading the seat 28 of the working chair 27 using his foot.

[0067] During height adjustment of the seat 28, the height is detected by the sensor unit s1 and transmitted to the control device 10. As soon as the detected height remains at least substantially constant over a predefined time I, the control unit 10 switches the adjustment axis v1 from the movement mode B to the holding mode H. By actuating the operating element b31, the control device 10 also switches the adjustment axis v2 from the holding mode H to the movement mode B. The adjustment axis comprises in this example two linear drives (only the front one is shown) each arranged laterally adjacent to the work chair 27. The two linear drives are attached to the work chair 27 and to the platform 24 such that a change in length of the linear drives results in a pivoting movement of the work chair. The linear drives are operated with opposite intent, such that in case of a positive length change of one linear drive, the other linear drive performs a negative length change.

[0068] During the adjustment of the lateral inclination of the working chair 27, the force with which the operator's upper body presses on the lateral supports 14, 16 is detected by the sensor units s2 and s3 and transmitted to the control device 10. If the operator presses his upper body on the right lateral support 14, the working chair 27 pivots to the right. However, if the operator presses his upper body on the left lateral support 16, the working chair 27 pivots to the left. The control device 10 is configured to evaluate the force signals of the sensor units s2, s3. As soon as the force signal has at least substantially the value 0N for a predefined time I, the control device 10 switches the adjustment axis v2 from the movement mode B to the holding mode H.

[0069] Furthermore, the operator can adjust the inclination of his upper body in that he operates the operating element b32 with his foot. By operating the operating element b32, the control device 10 switches the adjustment axis v8 of the upper body holding device 30 from the holding mode H to the moving mode B. Now, the operator can change the inclination of his upper body, which respectively changes the length L_Z of the traction means Z. In the upper body holding device 30, a respective sensor unit s4 is located, which is configured to detect the length L_Z of the traction means Z. The sensor unit s4 transmits a respective sensor signal to the control unit 10, which is configured to evaluate the sensor signal. As soon as the control device 10 determines that the change in the length L_Z of the traction means Z remains at least substantially constant, the upper body holding device 30 is switched from the moving mode B to the holding mode H.

[0070] Additionally or alternatively, the control device 10 can be configured to switch the upper body holding device 30 to the hover mode S, and the upper body holding device 30 is configured to apply a traction force to the upper body of the operator via the traction means Z and the harness 25. The traction force supports the operator's tilting of his / her upper body. For example, when the release device 8 is actuated for a predetermined duration, the control device 10 can be configured to activate the hover mode S of the upper body holding device 30. For example, in this way, the operator can keep pressing the operating element b32 with his / her foot for a predetermined period of time, such as 0.5 seconds, 1 second, or 1.5 seconds. If the operating element b32 comprises a light barrier, the operator can maintain his / her foot for a predetermined period of time within the release area of ​​the light barrier and activate the hover mode S with his / her foot accordingly. The operator can move freely according to the operating requirements of the hover mode S, without the need to repeatedly operate the operating unit for changes in position and / or direction, by a permanently applied reset force that is perceived as a slight resistance by the operator. In this way, the operator can move directly in hover mode S without having to put down the implement, yet the operator is somewhat relieved or supported. For example, the reset force can be 60%, 70%, 80%, or 90% of the gravity of the supported body part.

[0071] This allows the operator to control the support device 2 by his body movements, without the need to place his instruments. In the movement mode B, which is set after the end of a short time during which the operator remains in this position, the operator can assume the desired position and / or orientation. A simple adjustment of the operator's position, which is maintained in the holding mode H by the support device 2, makes time-consuming repositioning of the support device 2 unnecessary. The operator can thus concentrate on the surgery and is less distracted by the operation of the holding system 1. The surgery can thereby be performed in a shorter time and with potentially higher quality.

[0072] All the control commands executed by the operator can alternatively or additionally be executed by an assistant using the first operating unit 4 .

[0073] The assistant can move the holding system 1 to the operating table by means of the first operating unit 4 and can reposition the holding system 1. For this purpose, the assistant operates the operating button b11 and controls the holding system 1 by means of the control element 11. Deflection of the control element 11 in the direction of the control angle φ1 moves the platform 24 to the right or left. Deflection of the control element 11 in the direction of the control angle θ1 moves the platform 24 forward or backward, while deflection of the control element 11 in the direction of the control angle ψ2 rotates the platform 24.

[0074] In addition, the assistant can control the height and lateral inclination of the working chair 27 by deflection of the control element 11 in that he presses the operating element b12, whereby deflection of the control element 11 in the direction of the control angle θ1 controls the adjustment axis v1, whereas deflection of the control element 11 in the direction of the control angle φ1 controls the adjustment axis v2.

[0075] The assistant can also control the inclination of the seat 28 in that he presses the operating element b13 and deflects the control element 11 in the direction of the control angle θ1. Furthermore, the assistant can adjust the lateral supports 14, 16 by actuating the operating element b14 and deflecting the control element 11 in the direction of the control angle θ1. In addition, the assistant can wind the traction means Z up or down by operating the operating element b15 using the first operating unit 4 and deflecting the control element 11 in the direction of the control angle θ1.

[0076] Once the holding system 1 has been brought to the desired position, the assistant can finish positioning the holding system 1 in that he presses the additional operating button a1, thereby deactivating the control element 11.

[0077] The holding system 1 according to the invention comprises a support device 2 with a number of adjustment axes v1, ..., vn and an operating device 3. The support device 2 is configured to hold in position and / or orientation at least one body part of an operator supported by the support device 2. The operating device 3 comprises at least one first operating unit 4 outside the gripping range G of the operator, configured to control the adjustment axes v1, ..., vn and having at least partially corresponding functions, and a second operating unit 5 arranged in the gripping range G of the operator. Preferably, the operating device 3 further comprises a third operating unit 6 with which the operator can control the support device 2 by movements of his body and a fourth operating unit 7 arranged in the gripping range G of the operator. This allows the functions defined by all adjustment axes of the support device 2 to be separated in the operating units 4, 5, 6, 7, whereby a particularly intuitive control of the adjustment axes v1, ..., vn can be realized by the operator. [Explanation of symbols]

[0078] 1 Retention System 2 Supporting Devices 3. Operation Device 4 First operating unit 5 Second operating unit 6 Third operating unit 7 Fourth operating unit 8. Release Device 9 Sensor Devices 10 Control Device 11 Control element of the first operating unit 12 Control elements of the second operating unit 13 Cavity 14 Lateral support 15 Additional Cavities 16 Additional lateral support 17 Forearm Rest 18 Additional lateral support additional forearm rest 19 Post support part 20 First support arm 21 Second Support Arm 22 Footrest 23 Additional Footrest 24 Platform 25 Harness 26 Harness backrest 27 Work Chair 28 Seat area 29 Additional Supports 30 Upper body support device 31 Control elements of the fourth operating unit a1 additional operating element of the first operating unit a2 additional operating element of the second operating unit a4 Additional control elements of the second operating unit b11..., b1n Operating elements of the first operating unit b21..., b2n Operating elements of the second operating unit b41..., b4n Operating elements of the fourth operating unit B. Movement Mode F Operator's foot range G Operator's Grasping Range H Hold Mode I Scheduled Time P1 rest position of the control element of the first operating unit P2 rest position of the control element of the second operating unit S Hover Mode s1...sn Multiple sensor units v1…, vn Multiple adjustment axes x1 first control axis of the control element of the first operating unit y1 second control axis of the control element of the first operating unit z1: the third control axis of the control element of the first operating unit φ1 first control angle of the control element of the first operating unit θ1 the second control angle of the control element of the first operating unit ψ1 the third control angle of the control element of the first operating unit x2 first control axis of the control element of the second operating unit y2 second control axis of the control element of the second operating unit z2: the third control axis of the control element of the second operating unit φ2 the first control angle of the control element of the second operating unit θ2: the second control angle of the control element of the second operating unit ψ2 the third control angle of the control element of the second operating unit x4: first control axis of the control element of the fourth operating unit y4: second control axis of the control element of the fourth operating unit z4: the third control axis of the control element of the fourth operating unit φ4: the first control angle of the control element of the fourth operating unit θ4: the second control angle of the control element of the fourth operating unit ψ4: the third control angle of the control element of the fourth control unit Z Traction means

Claims

1. A support system (1) for an operator, comprising: a support device (2) with a number of adjustment axes (v1, ..., vn) configured to maintain in position and / or orientation at least one body part of the operator supported by said support device (2); an operating device (3) for controlling the adjustment axes (v1, ..., vn), the operating device (3) comprising at least one first operating unit (4) arranged outside the gripping range (G) of the operator and a second operating unit (5) arranged within the gripping range (G) of the operator, the first operating unit (4) having at least partially corresponding functions, Retention system (1).

2. The adjustment axes (v1, ..., vn) that can be controlled by the second operating unit (5) can also be controlled by the first operating unit (4), A retention system (1) according to claim 1.

3. the operating device (3) comprises a third operating unit having a release device (8), preferably arranged in the foot area (F) of the operator, the release device (8) being configured to switch at least one of the adjustment axes (v1, ..., vn) of the support device (2) from a holding mode (H) to a moving mode (B) and vice versa, characterised in that the supported body part of the operator is movable in the movement mode (B) and is held in the holding mode (H) by the support device (2), A retention system (1) according to claim 1 or 2.

4. characterised in that the third operating unit (6) comprises a sensor device (9) having a number of sensor units (s1, ..., sn) for detecting a movement of the operator in the adjustment directions of the adjustment axes (v1, ..., vn) and / or a movement of the support device (2) in at least one adjustment direction of the adjustment axes (v1, ..., vn), A retention system (1) according to claim 3.

5. a sensor signal of the sensor device (9) serves as a control signal in the third operating unit (6), A retention system (1) according to claim 4.

6. characterised in that the manipulation device (3) comprises a control device (10) configured to switch the support device (2) from the movement mode (B) to the holding mode (H) if the supported body part of the operator remains in position for a predetermined time (I), A retaining system (1) according to any one of claims 3 to 5.

7. The adjustment axes (v1, ..., vn) controllable by the third operating unit (6) are also controllable by the first operating unit (4), A retaining system (1) according to any one of claims 3 to 5.

8. The first operating unit (4) a control element (11) elastically supported in a rest position (P10) and manually movable along at least three control axes (φ1, θ1, ψ1); a number of operating elements (b11, ..., b1n) which, when activated, set different allocations of said control element (11) between said control axes (φ1, θ1, ψ1) and said adjustment axes (v1, ..., vn) of said control element (11), A retention system (1) according to any one of the preceding claims.

9. The first operating unit (5) - detecting the amount and direction of deflection of said control element (11) from said rest position (P10) performed manually, - configured to assign a control signal to one of the adjustment axes (v1, ..., vn) of the support device (2) depending on the amount and / or the direction of the deflection, A retention system (1) according to claim 8.

10. The second operating unit (5) a control element (12) elastically supported in a rest position (P20) and manually movable along at least three control axes (φ2, θ2, ψ2); a number of operating elements (b21, ..., b2n) which, when activated, set different allocations of said control element (12) between said control axes (φ2, θ2, ψ2) and said adjustment axes (v1, ..., vn) of said control element (12), A retention system (1) according to any one of the preceding claims.

11. The second operating unit (5) - detecting the amount and direction of deflection of said control element (12) from said rest position, performed manually; - configured to assign a control signal to one of the adjustment axes (v1, ..., vn) of the support device (2) depending on the amount and / or the direction of the deflection, A retention system (1) according to claim 10.

12. the control device (10) is configured to control the adjustment axes (v1, ..., vn) based on an input of the second operating unit (5) and to reject the input of the first operating unit (4) when the first and second operating units (4, 5) are input at least substantially simultaneously. A retaining system (1) according to any one of claims 6 to 11.

13. the control device (10) is configured to control the adjustment axes (v1, ..., vn) based on an input of the third operation unit (6) and to reject an input of the first operation unit (4) when the third operation unit is switched to the movement mode (B). A retention system (1) according to any one of claims 6 to 12.

14. characterised in that the second operating unit (6) is located in a cavity (13) of a lateral support (14) provided for the operator of the support device (2), A retaining system (1) according to any one of the preceding claims.

15. characterised in that the first operating unit (4) and the second operating unit (5) comprise at least one additional operating element (a10, a20) which, when activated, deactivates the respective control element (11, 12) of the operating unit (4, 5), A retaining system (1) according to any one of the preceding claims.

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