Method for controlling movement of surgical microscope and surgical microscope

Abstract

The present invention relates to a method for controlling the movement of a surgical microscope and a surgical microscope, in which in a main operating mode (M1), the movement of the microscope head (2) in a first predetermined movement mode is controlled by operating the operator (16) in a first operating manner, and an auxiliary operating mode (M2) can be activated, and in the auxiliary operating mode (M2), the movement of the microscope head (2) in another predetermined movement mode is controlled by operating the operator (16) in the first operating manner, and the first and another movement modes are different from each other.

Description

[Technical Field]

[0001] The present invention relates to a method for controlling the movement of a surgical microscope and a surgical microscope. [Background technology]

[0002] The prior art discloses surgical microscopes that provide magnified images of specimens, particularly in medical applications. These serve, inter alia, to provide magnified images of partial regions of the human body, enabling better visual orientation and diagnosis by surgeons during procedures. Surgical microscopes that allow for control of the movement of the microscope head are also known. Such surgical microscopes include one or more drive devices that generate driving forces for the surgical microscope's moving parts. By appropriately controlling the drive devices, the microscope head can be moved in a desired manner. Examples of applications include positioning the microscope head so that the optical axis of the surgical microscope's objective lens is oriented in a desired direction, and positioning the surgical microscope's reference point, e.g., the focal point, at a desired position in space. The movement of the surgical microscope can be controlled by a user, e.g., a surgeon. For this purpose, the surgical microscope may have suitable operating elements for movement control.

[0003] German Patent Application No. 10 2019 108 129 A1 describes such a method for motor-positioning a surgical microscope. German Patent Application No. 10 2009 037 018 A1 is also known, which discloses a method by which a surgical microscope can be approached to a position in a controlled manner. International Patent Application No. WO 2021 / 140513 discloses a surgical system and the control of system functions. German Patent Application No. 10 2008 011 638 A1 discloses a balancing device for a pivot-mounted surgical microscope. International Patent Application No. WO 2021 / 252930 A1 discloses a robotic digital surgical microscope and a hand-centered controller for this microscope. International Patent Application No. WO 2018 / 217951 A1 discloses a visualization system for use during a surgical procedure. PCT application DE 11 2020 000 880T5 discloses a control device and an ophthalmic microscope system. Summary of the Invention [Problem to be solved by the invention]

[0004] A technical object is to provide a method for controlling the movement of a surgical microscope and a surgical microscope that simplifies the movement control, particularly in different movement modes, thereby ensuring particularly reliable operation. [Means for solving the problem]

[0005] This technical object can be achieved by the subject matter having the features of the independent patent claims. Further advantageous configurations of the invention emerge from the dependent claims.

[0006] A method for controlling the movement of a surgical microscope is proposed. For the purposes of the present invention, a microscope refers in particular to a device for providing a magnified visual image of an object, i.e. for microscopic imaging. The microscope may be an optical microscope that generates a magnified image representation by utilizing optical effects, in particular by using means for beam guidance and / or beam shaping and / or beam steering, such as lenses. However, the microscope may also be a digital microscope, in which case the (magnified) image representation to be visualized by the microscope may be generated by an image acquisition device and displayed on a suitable display device.

[0007] The surgical microscope includes a microscope head. The microscope head may include a surgical microscope objective, which can generate an actual optical image representation of the specimen. The objective may include an optical element as described herein. The microscope head may include a housing, in which the objective or at least a part of it is arranged. For example, a beam path for generating a microscopic image of the specimen may be arranged within the housing. It is conceivable that a tracking camera is also arranged within the housing, thereby enabling optical, and in particular mark-based, localization of a target. The target may include at least one, but preferably multiple marks, and may be attached, for example, to an instrument, e.g., a surgical instrument. In this case, the housing may also include another beam path for optical detection by the tracking camera, and the aforementioned beam paths may be formed separately from one another.

[0008] Furthermore, the surgical microscope may include a stand for holding the microscope head. The microscope head may be mechanically attached to the stand, in particular forming an end effector for the stand. In this regard, the stand may be designed to allow movement of the microscope head in space, in particular with at least one degree of freedom, preferably six degrees of freedom, which may be translational or rotational. The translational and rotational movements and the corresponding degrees of freedom may refer to a reference coordinate system. The longitudinal axis (z-axis) of this reference coordinate system may be oriented parallel to gravity, and the corresponding longitudinal direction (axial direction) may be oriented opposite to gravity. Alternatively, the longitudinal axis may be oriented parallel to the optical axis of the surgical microscope, which may in particular be the optical axis of the objective lens, and the corresponding longitudinal direction may be oriented away from the surgical microscope toward the object space. The longitudinal axis (x-axis) and lateral axis (y-axis) of the reference coordinate system may in this regard extend in a plane oriented perpendicular to the longitudinal axis. Furthermore, the longitudinal axis and lateral axis may also be oriented orthogonal to each other. The longitudinal and lateral (axial) directions may be oriented such that these axes form a Cartesian coordinate system.

[0009] The surgical microscope, in particular the stand, includes at least one drive for moving the surgical microscope, in particular the microscope head. Such a drive can be, for example, a servo motor. Of course, the stand can also include means for transmitting force / torque, for example, a gear unit. Furthermore, the surgical microscope can include means for controlling the movement. Using the control means, the user can, for example, control the at least one drive in such a way that the surgical microscope undergoes a desired movement in space. Thereby, the surgical microscope can be positioned in space, for example, at a specified target position / orientation, the position / orientation indicating the position and / or orientation of the microscope head. The movement can also be controlled in a desired manner, for example, in a desired direction. The control means can be designed so that the user / surgeon can confirm it by touch. However, this is not necessary. Alternatively, the means can, for example, enable voice control.

[0010] The surgical microscope further comprises at least one control. This control is a means for controlling movement. The control may be designed in particular for manual manipulation by a user, i.e., for tactile manipulation. Manipulation can be performed, for example, by pressing, displacing, or rotating. By way of example and not limitation, the control may be designed as a joystick or a switch, in particular as a toggle or rocker system.

[0011] In the primary operating mode, the movement of the microscope head in a first predetermined movement manner is controlled by operating the control in a first operating manner. The primary operating mode can be activated, for example, by operating a corresponding actuation means, also referred to below as another actuation means, as will be explained in more detail below. An actuation manner refers to the way in which the control is operated. Thus, the control can be designed so that it can be operated in different operating manners. Operation in different operating manners can be performed, for example, when different parts of the control are operated and / or when the corresponding actuation forces have different directions and / or different amplitudes.

[0012] For example, movement of the microscope head in a first predetermined direction can be controlled by moving the joystick in the first direction of movement. By actuating the joystick in a direction opposite to the first direction of movement, the movement of the microscope head can also be controlled in another direction, which can be, for example, the opposite of the first direction. In other words, different control modes can differ in at least one control characteristic, such as the control location, the control direction, or the control strength. The control can be located in particular on the microscope head, more particularly on the handle of the surgical microscope. The handle can also be located on the microscope head or on its housing. Alternatively, the control can of course be located on the microscope head housing or elsewhere.

[0013] A movement mode can specify at least one characteristic of the movement. For example, a movement mode can define the direction of the movement and the type of movement. For example, the type of movement can be translational, rotational, or a mixture thereof. The type of movement and / or the number of degrees of freedom, in particular the degrees of freedom of movement allowed, can also be defined by the movement mode. For example, a reference point and / or a reference axis of the movement can also be defined by the movement mode, and the movement in this movement mode can then be rotational around the reference point and / or reference axis and / or translational along the reference axis.

[0014] Furthermore, the auxiliary operating mode can be activated, in particular by generating an activation signal via a corresponding activation means. This activation means can also be called a first activation means, as will be explained in more detail below. When the auxiliary operating mode is activated or has already been activated, the movement of the microscope head in another predetermined movement mode is controlled in the auxiliary operating mode by operating the control in a first operating manner, the first and the other movement mode differing from each other. In particular, the first and the other movement mode differing from each other in at least one characteristic. By way of example only, a translational movement can be controlled in the main operating mode, for example when the control is operated in the first operating manner, while a rotational movement is controlled in the auxiliary operating mode by the same operation.

[0015] In other words, the method according to the invention allows different movements to be controlled by similar manipulation of the same control. This broadens the range of functions that can be controlled using the control. In particular, it is not necessary to provide different controls and / or different manipulation methods for one control to control different movements, which simplifies the operations for movement control, in particular because the user does not have to manipulate different controls or, for example, change his or her hand position for this purpose. This also advantageously means that the spatial requirements and manufacturing costs of the surgical microscope do not increase as the range of functions increases.

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

[0017] The surgical microscope may include activation means for activating the primary and secondary operating modes, which may be the same but preferably differ from one another. A mode can be activated whenever the corresponding mode is not activated. These activation means may be operated, for example, manually or acoustically, or may include a user interface for user input. Thus, the activation signal may be generated by operation, for example, with a hand or foot, or by a voice command. It is also conceivable that the activation signal may be generated via operation of a graphical user interface, such as a touch panel or touch screen, for example, by selecting the desired movement mode therein.

[0018] The first and / or further activation means can be designed as an operator, for example, on a hand-operated or foot-operated control panel. A hand-operated control panel can be arranged, for example, on the handle of a surgical microscope. Such an operator can therefore be designed to be activated by the user's hand, in particular by a finger, or by a foot. The operator can be designed, for example, as a push knob or a button, which generates an activation signal when pressed. The operator can be a freely configurable operator in terms of function, to which various functions can be assigned, for example, by corresponding programming. Alternatively, the switching element can be a permanently configured switch element in terms of function, to which a predetermined function is permanently and irrevocably assigned.

[0019] Activation of the main operating mode is performed by operating the activation means in a first operating mode, and activation of the auxiliary operating mode can be performed in a different operating mode. Therefore, the corresponding activation means can be designed so that it can be operated in different operating modes. It is also conceivable that activation of the auxiliary operating mode occurs when the activation means is operated for at least a predetermined period of time, in particular for a period longer than the predetermined period of time. In this case, the main operating mode can be activated when the activation means is operated for a period shorter than the predetermined period of time.

[0020] The activation means for activating a primary operating mode may also be a switching means for switching between different primary operating modes. Thus, when one of the primary operating modes is activated, another primary operating mode may be activated when the activation means is operated in a first manner and / or for a time shorter than a predetermined period. This allows for activating all the primary operating modes in a predetermined sequence, i.e., switching between them.

[0021] The surgical microscope may also include a stop means for stopping the primary and auxiliary operating modes, which may be the same or preferably different. The stop means may furthermore be the same as or different from the activation means. An activation or deactivation signal for the primary or auxiliary operating mode can also be generated when at least one mark element having predetermined identification information is identified based on an image, i.e., by evaluating an image representation. The image representation can be generated, for example, by the aforementioned tracking camera, which may be a component of the surgical microscope or microscopy system. However, it is of course also conceivable that the image representation evaluated for identification purposes is generated by an image capture device of the surgical microscope for generating a microscopic image. For example, it is conceivable that the primary operating mode is activated or deactivated when a first identification information is identified, and the auxiliary operating mode is activated or deactivated when a different identification information is identified. Activating an operating mode may result in the deactivation of a previously activated operating mode. In this case, the activation means of one operating mode therefore forms the deactivation means for deactivating the other operating mode.

[0022] In a preferred embodiment, the other mode of movement is a translational movement along the optical axis of the microscope head, in particular in an axial direction from the microscope head toward the object space, or in the opposite direction. Thus, in the auxiliary operating mode, a first operating mode of the control can control a translational movement in a first direction along the optical axis, and a second operating mode can control a translational movement in the opposite direction. Translational movement along the optical axis has proven to be less desired by users than other modes of movement. By assigning this mode of movement to the auxiliary operating mode, advantageously, other, more frequently desired modes of movement can be assigned to the primary operating mode, without requiring any additional activation compared to the auxiliary operating mode. This, in turn, advantageously simplifies the operation of the surgical microscope while still enabling the aforementioned translational movement.

[0023] In another embodiment, the auxiliary operating mode is deactivated after a predetermined inactive period has elapsed. The inactive period refers to a period during which the control is not operated. For example, this period can be 5 seconds. Therefore, if the auxiliary operating mode is activated and the control is not operated, or is not operated by a selected operation mode, or by several selected operation modes, the auxiliary operating mode is deactivated. After the auxiliary operating mode is deactivated, the surgical microscope can be set to a state in which both the primary and auxiliary operating modes are deactivated. In this case, the primary operating mode must first be activated again for motion control. However, preferably, the primary operating mode is activated after or together with the deactivation of the auxiliary operating mode. Alternatively, the inactive period can be a period during which no motion is initiated, i.e., no motion command is generated, regardless of the operation of the control in the auxiliary operating mode. Therefore, it is conceivable that no motion occurs, regardless of the operation of the control in the auxiliary operating mode, due to, for example, a defect or collision. Then, automatic switching to the primary operating mode is also possible. This advantageously increases the operational reliability of the surgical microscope, especially when the other mode of movement is translational movement along the optical axis, since it reduces the risk of collision with the patient or other surgical equipment.

[0024] Alternatively, the auxiliary operating mode can be stopped when a trajectory limit of the movement is reached in the auxiliary operating mode. For example, if the movement along the optical axis is controlled in the auxiliary operating mode, the auxiliary operating mode can be stopped when a focus limit is reached. For example, this limit can be a limit of a range of allowable focus positions, which can be predetermined. This also advantageously increases the operational reliability of the surgical microscope.

[0025] In another embodiment, the primary operating mode is activated after a predetermined period of inactivity, as previously described. This advantageously provides increased operational reliability as described above, while also providing increased ease of use by allowing movement control to continue after the secondary operating mode is deactivated without the need to reactivate the primary operating mode.

[0026] In another 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 be performed, for example, around a point on the optical axis, in particular around the focal point. Alternatively, the rotational movement can be performed around a reference point on the microscope head. The reference point can be located, for example, on one or more axes around which the microscope head mounted on the stand can rotate, in particular at the intersection of these multiple rotation axes. In particular, the direction of the translational or rotational movement can also be defined by the first mode of movement. Observations have shown that the aforementioned mode of movement is more frequently desired by users, in particular than translational movement along the optical axis. By assigning this mode of movement to the primary operating mode, other, less frequently desired, modes of movement can advantageously be assigned to secondary operating modes. This advantageously simplifies the operation of the surgical microscope while simultaneously enabling translational movement along the optical axis.

[0027] In another embodiment, the activation signal for activating the auxiliary operating mode is generated tactilely. The surgical microscope can include suitable activation means (first activation means) for this purpose, such as a manually operable activation means, e.g., a push button, a switch, or a different activation means for manual operation, as already mentioned. Such an activation means can be arranged in particular on the microscope head, in particular on its housing, or on the handle. This advantageously allows for simple and reliable activation of the auxiliary operating mode. Alternatively, the activation signal can be generated acoustically, for example, via an audio signal. In this case, the surgical microscope or the microscopy system including the surgical microscope can include means for audio activation, in particular at least one microphone and an evaluation device for evaluating the audio signal. The activation signal for activating the auxiliary operating mode can then be generated depending on the evaluation of the audio signal.

[0028] As a result, the operation of the surgical microscope is advantageously simplified, in particular the activation of auxiliary operating modes.

[0029] In another embodiment, the control is designed to be operated in multiple operating modes, and the auxiliary operating mode is activated in exactly one or more, but not all, selected operating modes. In other words, it is conceivable that the movement of the microscope head in a first predetermined movement mode is controlled in the activated main operating mode by operating the control in the first operating mode, while the movement of the microscope head in a second predetermined movement mode different from the first movement mode is controlled by operating the control in the other operating mode. When the auxiliary operating mode is then activated, the movement of the microscope head in at least the first movement mode, but preferably also in the other predetermined movement mode different from the second movement mode, can be controlled by operating the control in the first operating mode. However, by operating the control in the other operating mode, the movement of the microscope head in the aforementioned second predetermined movement mode is controlled in the activated auxiliary operating mode. This advantageously further improves the functionality of the surgical microscope, since the different movement modes of the main and auxiliary operating modes can be combined by different operating modes.

[0030] In another embodiment, the controls are designed as joysticks or as rocker switches, so that the surgical microscope can be manufactured in a simple and cost-effective manner.

[0031] In another embodiment, the activation signal for activating the primary operating mode is generated by a separate activation means different from the first activation means for activating the auxiliary operating mode. There can be multiple, e.g., three, primary operating modes that are different from one another, and each of these modes can be activated or switched between by a separate activation means. For example, the different primary operating modes can be activated via a graphical user interface. This results in a reliable operation of the surgical microscope, and in particular an advantageous method for activating the operating modes. The different primary operating modes can be defined, in particular, by mutually different movement modes, whereby the movement of the surgical microscope is controlled when the control is operated in a first operating manner.

[0032] Furthermore, a surgical microscope is proposed, comprising at least one microscope head, at least one operator for controlling the movement of the microscope head, and at least one control device, so that the surgical microscope is configured such that the method according to any of the embodiments described in the present disclosure can be performed using this surgical microscope.

[0033] Also described is a microscopy system including a surgical microscope, which may include separate activation means for activating a primary mode of operation and first activation means for activating an auxiliary mode of operation.

[0034] The invention will now be described in detail based on exemplary embodiments. [Brief explanation of the drawings]

[0035] [Figure 1] 1 shows a schematic diagram of a surgical microscope according to the present invention in one embodiment; [Figure 2] 1A-1C show schematic diagrams of the movement modes of the main operating modes of the surgical microscope. [Figure 3] 1 shows a schematic diagram of another movement mode of the main operating mode of the surgical microscope. [Figure 4] 1 shows a schematic diagram of another movement mode of the main operating mode of the surgical microscope. [Figure 5] 1 shows a schematic diagram of the movement mode of the auxiliary operating mode of the surgical microscope. [Figure 6] 1 shows a schematic flow chart of the method according to the present invention according to a first embodiment; [Figure 7] 3 shows a schematic flow chart of the method according to the invention according to another embodiment; [Figure 8] 3 shows a schematic flow chart of the method according to the invention according to another embodiment; [Figure 9] 3 shows a schematic flow chart of the method according to the invention according to another embodiment; [Figure 10] A schematic diagram of an operator is shown. DETAILED DESCRIPTION OF THE INVENTION

[0036] Identical reference numerals below denote elements with the same or similar technical features. FIG. 1 shows a surgical microscope according to the invention in use in a surgical environment. The surgical microscope 1 includes a microscope head 2, which is arranged at the free end of a stand 3 for holding the microscope head 2. The stand 3 allows controlled movement of the microscope head 2 to change the orientation, i.e., the position and / or orientation, of the microscope head 2 and, thus, of the surgical microscope 1, of the optical axis 17 of an objective lens (not shown), which can be arranged in a housing 25 of the microscope head 2 (see, for example, FIG. 2). The illustrated stand 3 is an exemplary movement structure for holding and moving the microscope head 2. Those skilled in the art will understand that other movement structures can also be used. A drive (not shown) for the stand 3 can enable rotational movement of the movable parts of the stand 3 about rotation axes 4, 5, and 6. The figure also shows a control device 7, which serves to control the drive and thus the movement. For this purpose, the control device 7 can be connected to the drive for signal and / or data exchange. Also shown is a patient 13 lying on an operating table 14. Furthermore, the surgical microscope 1, or more precisely the microscope head 2, comprises at least one eyepiece 15 or optical viewer through which a user 8, e.g. a surgeon, looks at a partial area of ​​the patient 13, in particular under magnification. In Figure 1, the handle 12 of the microscope head 2 (see Figure 2) is not shown.

[0037] The surgical microscope 1 further comprises a tracking camera 10 for detecting the position and orientation of an instrument 19 that can be held and moved by a user 8. In this case, a target 9 with at least one mark 11 can be attached to the instrument 19, and the position and orientation of the target 9 can be determined based on an image representation of the target 9 taken by the tracking camera, and the position and orientation of the instrument 19 can also be determined based on a fixed arrangement of the target 9 on the instrument 19. The mark 11 or the target 9 can in particular have a unique identification, which can also in particular be determined based on the image. When the identification is detected based on the image, an operating mode assigned to the identification can be activated or deactivated.

[0038] FIG. 2 shows a schematic diagram of the movement modes in the main operating mode M1 (see FIG. 6 ) of a surgical microscope 1 with a microscope head 2 mounted on a stand 3. Two handles 12 are attached to the microscope head 2, protruding from the microscope head 2's housing 25. The surgeon can grasp these handles 12 with both hands and move the microscope head 2 in space or position it by moving his or her hands in the desired manner. The handles 12 can each have a control 16 that the user operates, in particular with the thumb or other fingers. By manipulating the control 16, the microscope head 2 can be controlled in the main operating mode M1 in a first predetermined movement mode. FIG. 2 shows the longitudinal translation axis x and the lateral translation axis y, as well as the optical axis 17 corresponding to the longitudinal axis z. The axial directions of these axes x, y, and z are indicated by arrows. The longitudinal and lateral translation axes x and y are oriented perpendicular to each other and perpendicular to the optical axis 17. The x, y, and 17 axes intersect at a reference point on the microscope head 2. This may in particular be on at least one rotation axis of a swivel joint, via which the microscope head 2 is attached to a movable element of the stand 3. By operating one of the illustrated controls 16 in various operating modes, the movement of the microscope head 2 in the longitudinal translation direction and vice versa, as well as in the lateral translation direction and vice versa, can be controlled in the main operating mode M1. When the auxiliary operating mode M2 ​​is activated, the movement of the microscope head 2 in the direction of the optical axis 17 and vice versa can be achieved by operating the control 16 in one or more operating modes. First actuation means 26, designed in particular as a push button for the user to operate with a thumb or other finger, can also be arranged on each handle 12. By operating the first actuation means 26, an actuation signal ASM2 for activating the auxiliary operating mode M2 ​​can be generated.

[0039] FIG. 3 shows a schematic diagram of the movement mode of the surgical microscope 1 in the main operating mode M1 (see FIG. 6 ). Unlike the embodiment shown in FIG. 2 , the longitudinal axis x, the transverse axis y, and the vertical axis z are shown, which intersect at the focal point FP. The vertical axis z is the optical axis 17 of the surgical microscope 1 and is directed from the microscope head 2 toward the patient 13. A possible reference point of the microscope head 2 on an axis of rotation about which the microscope head 2 mounted on a stand can rotate is not shown. In particular, the reference point can be on the intersection of two or more such axes of rotation. In the main operating mode M1 (see FIG. 6 ), the rotational movement of the microscope head 2 about the reference point and about an axis parallel to the transverse axis y and passing through the reference point can be controlled by operating one of the controls 16 in a first operating manner. The rotational movement of the microscope head 2 about the reference point and about an axis parallel to the longitudinal axis x and passing through the reference point can be controlled by operating it in a different operating manner. When the auxiliary operating mode M2 ​​is activated, the movement of the microscope head 2 along or against the longitudinal axis z can be controlled by operating the control 16 in a first operating manner.

[0040] FIG. 4 shows a schematic diagram of the movement modes of the main operating mode M1 (see FIG. 6 ) of the surgical microscope 1. Unlike the embodiment shown in FIG. 2 , the longitudinal axis (not shown), the lateral axis (not shown), and the longitudinal axis z intersect at the focal point FP. The longitudinal axis z is the optical axis 17 of the surgical microscope 1 and is directed from the microscope head to the patient 13. In the main operating mode M1 (see FIG. 6 ), the rotational movement R1 of the microscope head 2 around the focal point FP and around the longitudinal axis can be controlled by operating one of the controls 16 in a first operating manner. The rotational movement R2 of the microscope head 2 around the focal point and around the lateral axis y can be controlled by operating another operating manner. When the auxiliary operating mode M2 ​​is activated, the movement of the microscope head 2 along the longitudinal axis z and in the opposite direction can be controlled by operating the controls 16 in the first operating manner.

[0041] Figure 5 shows a schematic diagram of the movement mode in the auxiliary operating mode M2 ​​(see Figure 6) of the surgical microscope 1. When the auxiliary operating mode M2 ​​is activated, the movement of the microscope head 2 along or opposite to the longitudinal axis z, which corresponds to the optical axis 17 of the microscope head 2, can be controlled by operating the control 16 in a first operating manner.

[0042] 6 shows a schematic flow chart of a method according to the present invention. It shows that a main operating mode M1 is activated. In this main operating mode M1, the movement of the microscope head 2 in a first predetermined movement mode is controlled by operating the control 16 (see, for example, FIG. 2) in a first operation manner. 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, the movement of the microscope head 2 in another predetermined movement mode different from the first movement mode is controlled by operating the control 16 in the first operation manner. The activation signal ASM2 can be generated by a first activation means 26. Exemplary activation means and activation methods have been described above.

[0043] 7 shows a schematic flow chart of a method according to another embodiment of the present invention. Unlike the embodiment of FIG. 6, the main operating mode M1 is activated after a predetermined inactive period has elapsed from the activated auxiliary operating mode M2. When the main operating mode M1 is activated from the activated auxiliary operating mode M2, the auxiliary operating mode M2 ​​is simultaneously deactivated. Instead of the predetermined active period, a deactivation signal DASM2 can also be generated, which results in the activation of the main operating mode M1 and the deactivation of the operating mode M2. Exemplary deactivation means and methods have already been described.

[0044] Fig. 8 shows a schematic flow chart of a method according to another embodiment. Unlike the embodiment shown in Fig. 7, the main operating mode M1 is activated from the activated auxiliary operating mode M2 ​​when an activation signal ASM1 for the main operating mode M1 is generated, for example by operating suitable additional activation means 18 (see Fig. 9). The auxiliary operating mode M2 ​​is also deactivated after a predetermined inactive period has elapsed, and once deactivated, the surgical microscope 1 is set to a state M3 in which neither the main operating mode M1 nor the auxiliary operating mode M2 ​​is activated. Of course, it is also conceivable that a deactivation signal (not shown) is generated in the activated main or auxiliary operating mode M1, M2, thereby also setting the surgical microscope 1 to this state M3.

[0045] FIG. 9 shows a schematic flowchart of a method according to another embodiment of the present invention. An alternative activation means 18 for activating the alternative operating modes M11, M12, and M13 is shown. This alternative activation means 18 can be configured as or include, for example, a graphical user interface. Of course, the alternative activation means 18 can also take the form of other activation means, such as a hand-operated or foot-operated control panel or a voice-controlled activation means. As mentioned above, the alternative activation means 18 can also be formed by the first activation means 26 (see, for example, FIG. 2). By correspondingly operating / controlling the alternative activation means 18, various activation signals ASM11, ASM12, and ASM13 can be generated, thereby activating the first main operating mode M11, the second main operating mode M12, or the third main operating mode M13. These may differ, in particular, by the manner in which the microscope head 2 is controlled by operating the control 16 (see FIG. 2). The auxiliary operating mode M2 ​​can then be activated from the activated main operating mode M11, M12, M12 by generating an activation signal ASM2. From this activated auxiliary operating mode M2, the previously activated main operating mode M11, M12, M13 can be reactivated by generating a corresponding activation signal or after a predetermined inactive period has elapsed.

[0046] 10 shows a schematic top view of an actuator 16 designed as a cross rocker switch 20. The switch's longitudinal axis xs and transverse axis ys are shown, forming a coordinate system specific to the switch, the origin of which is located at the geometric center of gravity of the cross rocker switch 20. Operation of the cross rocker switch 20 in a first operating mode is performed by depressing the first leg 21 of the cross rocker switch 20, which then tilts about the switch's longitudinal axis xs in a mathematically positive direction relative to the illustrated axial direction. Operation of the cross rocker switch 20 in a second operating mode is performed by depressing the second leg 22 of the cross rocker switch 20, which then tilts about the switch's longitudinal axis xs in a mathematically negative direction relative to the illustrated axial direction.

[0047] Actuation of the cross rocker switch 20 in the third operating mode can be achieved by depressing the third leg 23 of the cross rocker switch 20, which then tilts about the switch's lateral axis ys in a mathematically positive direction relative to the axial direction of the figure. Actuation of the cross rocker switch 20 in the fourth operating mode can be achieved by depressing the fourth leg 24 of the cross rocker switch 20, which then tilts about the switch's lateral axis ys in a mathematically negative direction relative to the axial direction of the figure.

[0048] When the primary operating mode M1 (see, e.g., FIG. 6 ) is activated, operation of the cross rocker switch 20 in a first operating mode can control movement of the microscope head 2 in the opposite direction along the longitudinal axis x, which extends through the focal point FP and is oriented perpendicular to the longitudinal axis z, which is then oriented parallel to the optical axis 17, as shown, for example, in FIG. 3 . Furthermore, operation of the cross rocker switch 20 in a second operating mode can control movement in the opposite direction along the transverse axis y, which also extends through the focal point FP and forms a Cartesian coordinate system together with the longitudinal and longitudinal axes x and z. Operation of the cross rocker switch 20 in a fourth operating mode can control movement in the direction of the transverse axis y.

[0049] On the other hand, when the auxiliary operating mode M2 ​​is activated, operation of the cross rocker switch 20 in the first operating mode can control movement of the microscope head 2 in the direction of the longitudinal axis z. Furthermore, operation of the cross rocker switch 20 in the second operating mode can control movement opposite to the direction of the longitudinal axis z.

[0050] When the cross rocker switch 20 is operated in the third and fourth operating modes, it cannot control any movement of the microscope head 2 in the activated auxiliary operating mode M2, and therefore cannot perform movement control by operation. Alternatively, the operation function can be retained in the activated main operating mode M1. Then, operation of the cross rocker switch 20 in the third operating mode can therefore control movement in the opposite direction of the lateral axis y, and operation of the cross rocker switch 20 in the fourth operating mode can control movement in the direction of the lateral axis y. [Explanation of symbols]

[0051] 1 Surgical microscope 2 Microscope head 3 Stand 4th, 5th, and 6th rotation axes 7 Control Device 8 users 9 target 10 Tracking Camera 11 marks 12 Handle 13 patients 14 Operating table 15 eyepiece 16 Controls 17 Optical axis 18 Alternative Launch Methods 19 Equipment 20 Cross Rocker Switch 21, 22, 23, 24 Legs of cross rocker switch 25 Housing 26 First activation method M1, M11, M12, M13 main operation modes, multiple main operation modes M2 Auxiliary operation mode M3 state ASM1, ASM2, ASM11, ASM12, ASM13 start signal x, xs longitudinal axes y, ys horizontal axis z vertical axis FP focus R1, R2 rotational movement

Claims

1. A method for controlling the movement of a surgical microscope (1), wherein the movement of a microscope head (2) in a first predetermined movement mode is controlled by operating an operator (16) in a first operation manner in a main operation mode (M1), and an auxiliary operation mode (M2) can be activated, and in the auxiliary operation mode (M2), the movement of the microscope head (2) in another predetermined movement mode is controlled by operating the operator (16) in the first operation manner, and the first and other movement modes are different from each other.

2. 2. The method according to claim 1, wherein the other mode of movement is a translational movement along the optical axis (17) of the microscope head (2).

3. 3. The method according to claim 1 or 2, characterized in that the auxiliary operating mode (M2) is stopped after a predetermined period of inactivity or when a trajectory limit of the movement in the auxiliary operating mode (M2) is reached.

4. 4. The method of claim 3, wherein the main operating mode (M1) is activated after the predetermined period of inactivity has elapsed.

5. 5. The method according to claim 1, wherein the first mode of movement defines a translational or rotational movement (R1, R2) in a plane oriented perpendicular to the optical axis (17).

6. Method according to any one of claims 1 to 5, characterized in that the activation signal (ASM2) for activating the auxiliary operating mode (M2) is generated tactilely or acoustically.

7. 7. The method according to claim 1, wherein the operator (16) is designed to be operated in a plurality of operating modes, and the auxiliary operating mode (M2) is activated in exactly one or more, but not all, selected operating modes.

8. 8. The method according to any one of claims 1 to 7, characterized in that the operator (16) is designed as a joystick or as a rocker switch (20).

9. 9. The method according to claim 1, wherein the activation signal (ASM1) for activating the main operating mode (M1) is generated by another activation means (18) different from the first activation means (26) for activating the auxiliary operating mode (M2).

10. A surgical microscope comprising at least one microscope head (2), at least one operator (16) for controlling the movement of the microscope head (2), and at least one control device (7), wherein the surgical microscope (1) in a main operating mode (M1), the movement of the microscope head (2) in a first predetermined movement manner is controlled by operating the control (16) in a first operating manner; - the auxiliary operating mode (M2) can be activated, In the auxiliary operating mode (M2), the movement of the microscope head (2) in another predetermined movement mode is controlled by operating the control (16) in the first operating mode, and the first and the other movement modes are different from each other. A surgical microscope configured to:

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