Method for controlling the motion of a 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 an operating microscope and an operating microscope.

Background Art

[0002] In the prior art, especially in medical applications, operating microscopes that provide magnified images of a test object are disclosed. These, among other things, play a role in providing magnified images of partial regions of the human body, enabling better visual orientation and diagnosis by the surgeon during the procedure. In particular, operating microscopes capable of controlling the movement of the microscope head are also known. Such an operating microscope includes one or more drive devices that generate a driving force for the movable part of the operating microscope, and 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 objective lens of the operating microscope is in a desired direction, and movements such as positioning a reference point of the operating microscope, for example the focus, at a desired position in space. The movement of the operating microscope can be controlled by a user, for example a surgeon. For this purpose, the operating microscope may have appropriate operating elements for movement control.

[0003] German Patent Application Publication No. 10 2019 108 129A1 describes such a method for positioning a surgical microscope by motor. German Patent Application Publication No. 10 2009 037 018A1 is also known, disclosing a method for bringing a surgical microscope to a controlled position. International Publication Brochure No. 2021 / 140513 discloses a surgical system and control of system functions. German Patent Application Publication No. 10 2008 011 638A1 discloses a balancing device for a surgical microscope mounted on a pivot. International Publication Brochure No. 2021 / 252930A1 discloses a robotic digital surgical microscope and a hand-center controller for this microscope. International Publication Brochure No. 2018 / 217951A1 discloses a visualization system for use during surgical procedures. PCT application German Phase 11 2020 000 880T5 discloses a control device and an ophthalmic microscope system. [Overview of the project] [Problems that the invention aims to solve]

[0004] The technical objective is to provide a method for controlling the motion of a surgical microscope and a surgical microscope that simplifies motion control, particularly in different motion modes, and thereby ensures reliability of the operation. [Means for solving the problem]

[0005] This technical objective can be achieved by subject matter having the features of the independent patent claims. Other advantageous configurations of the present invention will become apparent from the dependent claims.

[0006] A method for controlling the motion of a surgical microscope is proposed. For the purposes of this invention, a microscope refers to a device for providing a magnified visual image of a subject, i.e., for microscopic imaging. The microscope may be an optical microscope that generates a magnified image representation by utilizing optical effects, particularly 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] A surgical microscope includes a microscope head. The microscope head may include the objective lens of the surgical microscope, which can produce an actual optical image representation of the object under examination. The objective lens may include the optical elements described herein. The microscope head may include a housing in which the objective lens or at least a part thereof is disposed. Within the housing, for example, a beam path for generating a microscopic image of the object under examination may be arranged. A tracking camera may also be disposed within the housing, thereby enabling optical and, in particular, mark-based positional and orientation determination of the target. The target may include at least one, but preferably more, marks and may be attached to, for example, an instrument, such as 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 can be formed separately from each other.

[0008] Furthermore, a surgical microscope may include a stand for holding the microscope head. The microscope head may be mechanically mounted to the stand, forming an end effector in particular for the stand. In this regard, the stand may be designed to allow the microscope head to move in space, in particular at least one degree of freedom, preferably six degrees of freedom, where the degrees of freedom may be translational or rotational. Translational and rotational motions and their corresponding degrees of freedom may point 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 particularly be the optical axis of the objective lens, and the corresponding longitudinal direction may be oriented away from the surgical microscope towards object space. The longitudinal axis (x-axis) and transverse 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 and transverse axes may also be oriented orthogonal to each other. The longitudinal and transverse (axial) directions can be oriented such that these axes form a Cartesian coordinate system.

[0009] A surgical microscope, in particular its stand, includes at least one drive mechanism for moving the surgical microscope, in particular the microscope head. Such a drive mechanism may be, for example, a servo motor. Of course, the stand may also include means for transmitting force / torque, such as a gear unit. Furthermore, the surgical microscope may include means for controlling movement. Using the control means, a user can, for example, control at least one drive mechanism in such a way that the surgical microscope moves in a desired manner in space. This allows the surgical microscope to be positioned in space, for example, at a designated target position and orientation, where the position and orientation indicate the position and / or orientation of the microscope head. The movement can also be controlled by a desired mode of motion, such as a desired direction of motion. The control means may be controlled by the user / surgeon by touch. operation It can be designed to do so. However, this is not essential. Alternatively, this means could enable, for example, voice control.

[0010] A surgical microscope further includes at least one control element, which is a means for controlling movement. The control element may be designed in particular for manual operation by the user, i.e., for tactile operation. Operation can be performed, for example, by pressing, displacing, or rotating. In some, but not limited to, the control element may be designed as a joystick or switch, in particular as a toggle or rocker system.

[0011] In the main operating mode, the movement of the microscope head in a first predetermined motion mode is controlled by the operation of the controllator in a first operating method. The main operating mode can be activated, for example, by operating a corresponding starter, also referred to below as another starter, which will be explained in detail later. The operating method refers to the way in which the controllator is operated. Therefore, a controllator can be designed to be operated in different operating methods. Operation in different operating methods can be performed, for example, when different parts of the controllator are operated, and / or when the corresponding operating forces have different directions and / or different amplitudes.

[0012] For example, the movement of the microscope head in a first predetermined direction can be controlled by moving the joystick in the first direction of movement. By operating the joystick in the opposite direction to the first direction of movement, the movement of the microscope head can also be controlled in another direction, which may be, for example, the opposite of the first direction. In other words, different operating methods may differ in at least one operating characteristic, which may be, for example, the location of operation, the direction of operation, or the force of operation. The operator may be located particularly on the microscope head, and more particularly on the handle of a surgical microscope. The handle may also be located on the microscope head or its housing. Alternatively, the operator may be located not only on the housing of the microscope head, but also elsewhere.

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

[0014] Furthermore, an auxiliary operating mode can be activated by generating an activation signal, particularly via a corresponding activation means. This activation means may also be called the first activation means, which will be described in more detail later. When the auxiliary operating mode is activated, or has already been activated, the movement of the microscope head in another predetermined mode of motion is controlled in the auxiliary operating mode by operating the operator in the first operating method, and the first and other modes of motion are distinct from each other. In particular, the first and other modes of motion differ in at least one characteristic. For example, translational motion can be controlled in the primary operating mode when the operator is operated in the first operating method, while rotational motion is controlled in the auxiliary operating mode by the same operation.

[0015] In other words, the method according to the present invention makes it possible to control different movements by similar operations of the same operator. This expands the range of functions that can be controlled using the operator. In particular, there is no need to provide different operators and / or different operating methods for a single operator to control different movements, and as a result, the operation for movement control is simplified, especially because the user does not need to operate different operators or, for example, change the position of their hand for that purpose. Another advantage is that the spatial requirements and manufacturing costs of the surgical microscope do not increase even as the range of functions increases.

[0016] It is also possible that the auxiliary operating mode may be stopped again. This stopping can occur, for example, when the main operating mode is (re)activated, for example, when the activation signal for the main operating mode is generated (which may also serve as the stop signal for the auxiliary operating mode). Alternatively, a corresponding stop signal may be generated to stop the auxiliary operating mode. It is also possible to enable the auxiliary operating mode to be activated only from the activated main operating mode. Alternatively, the auxiliary operating mode can also be activated independently of the activated state of the main operating mode.

[0017] A surgical microscope may include activation means for activating primary and auxiliary operating modes, which may be the same but preferably different from each other. 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. Therefore, activation signals can be generated, for example, by hand or foot, or by voice commands. Alternatively, activation signals may be generated through the operation of a graphical user interface, such as a touch panel or touchscreen, for example, by selecting a desired motion mode therein.

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

[0019] The activation of the main operating mode is performed by operating the activation means in a first operating manner, while the activation of the auxiliary operating mode can be performed in a different operating manner. Therefore, the corresponding activation means may be designed to be operated in a different operating manner. The activation of the auxiliary operating mode may also occur when the activation means is operated for at least a predetermined period of time, and especially for a period longer than the predetermined period. In this case, the main operating mode can be activated when the activation means is operated for a period shorter than the predetermined period.

[0020] The activation means for activating a main operating mode may also be a switching means for switching between different main operating modes. Therefore, when one of several main operating modes is activated, another main operating mode can be activated when the activation means is operated in a first manner and / or for a period of time shorter than a predetermined period. This makes it possible to activate all main operating modes in a predetermined sequence, that is, to switch between them.

[0021] The surgical microscope may also include stopping means for stopping primary and auxiliary operating modes, which may be the same but preferably different. The stopping means may further be the same as or different from the starting means. A starting or stopping signal for a primary or auxiliary operating mode may 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 may be generated, for example, by the aforementioned tracking camera, which may be a component of the surgical microscope or microscopy system. However, of course, the image representation to be evaluated for identification may also be generated by an image acquisition device of the surgical microscope for generating a microscopic image. For example, a primary operating mode may be started or stopped when a first piece of identification information is identified, and an auxiliary operating mode may be started or stopped when a different piece of identification information is identified. The activation of an operating mode may result in the stopping of an operating mode that was previously started. In this case, the starting means for one operating mode therefore forms a stopping means for stopping other operating modes.

[0022] In a preferred embodiment, another mode of motion is translational motion along the optical axis of the microscope head, particularly in the axial direction from the microscope head toward object space, or in the opposite direction. Thus, in the auxiliary operation mode, a first operating method of the operator can control translational motion in the first direction along the optical axis, and another operating method can control translational motion in the opposite direction. Translational motion along the optical axis has proven to be less desired by the user compared to other modes of motion. By assigning this mode of motion to the auxiliary operation mode, an advantage is that other, more frequently desired modes of motion can be assigned to the primary operation mode without requiring any additional activation compared to the auxiliary operation mode. This, in turn, is advantageous as it simplifies the operation of the surgical microscope while simultaneously enabling the aforementioned translational motion.

[0023] In another embodiment, the auxiliary operation mode is deactivated after a predetermined inactive period. The inactive period refers to a period during which the control element is not operated. For example, this can be 5 seconds. Therefore, the auxiliary operation mode is deactivated if the control element is not operated, or not operated by a selected operating method, or by several selected operating methods. After the auxiliary operation mode is deactivated, the surgical microscope may be set to a state in which both the main operation mode and the auxiliary operation mode are deactivated. In this case, the main operation mode must first be reactivated for motion control. However, preferably, the main operation mode is activated after or together with the deactivation of the auxiliary operation mode. Alternatively, the inactive period may be a period during which no movement occurs regardless of control element operation, i.e., no movement commands are generated. Therefore, it is possible that no movement occurs regardless of control element operation in the auxiliary operation mode, for example, due to a defect or collision. In this case, it is possible to automatically switch to the main operation mode. This has the advantage of increasing the operational reliability of the surgical microscope, especially when the other mode of motion is translational motion along the optical axis, because it reduces the risk of collision with the patient or other surgical instruments.

[0024] Alternatively, the auxiliary operating mode is stopped when the trajectory limit of the motion is reached in the auxiliary operating mode. For example, if motion along the optical axis is controlled in the auxiliary operating mode, the auxiliary operating mode can be stopped when the focal limit is reached. For example, this limit can be the limit of the range of acceptable focal positions, and the acceptable focal positions can be determined in advance. This also has the advantage of improving the operational reliability of the surgical microscope.

[0025] In another embodiment, the main operating mode is activated after a predetermined inactive period has elapsed. This has already been explained. The advantage of this is that, as explained above, operational reliability is increased, and at the same time, even after the auxiliary operating mode is stopped, the movement can be controlled without needing to restart the main operating mode, thus improving operability.

[0026] In another embodiment, the first movement mode defines a translational movement in a plane perpendicular to the optical axis. Alternatively, the first movement mode defines a rotational movement. The defined rotational movement can be performed, for example, around a point on the optical axis, particularly around the focus. Alternatively, the rotational movement can be performed around a reference point of the microscope head. The reference point can be arranged, for example, on one or more axes around which the microscope head attached to the stand can rotate, particularly at the intersection of these multiple rotational axes. In particular, the direction of movement of the translational or rotational movement can also be defined by the first movement mode. As a result of observation, it has been found that the above-mentioned movement modes are particularly desired by the user more frequently than the translational movement along the optical axis. By assigning this movement mode to the main operation mode, other movement modes that are not so frequently desired can be advantageously assigned to the auxiliary operation mode. Thereby, as an advantage, the operation of the surgical microscope is simplified, and at the same time, the translational movement along the optical axis becomes possible.

[0027] In another embodiment, the activation signal for activating the auxiliary operation mode is generated haptically. For this purpose, the surgical microscope can include suitable activation means (first activation means), for example, manually operable activation means, such as push buttons, switches, or different activation means for manual operation. This has already been described. Such activation means can be arranged particularly on the microscope head, particularly on its housing, or on the handle. Thereby, as an advantage, a simple and reliable activation of the auxiliary operation mode becomes possible. Alternatively, the activation signal is generated acoustically, for example, through an audio signal. In this case, the surgical microscope, or the microscope examination system including the surgical microscope, can include means for audio activation, particularly at least one microphone and an evaluation device for evaluating the audio signal. Then, an activation signal for activating the auxiliary operation mode can be generated according to the evaluation of the audio signal.

[0028] As a result, as an advantage, the operation of the surgical microscope is simplified, particularly the activation of the auxiliary operation mode is simplified.

[0029] In another embodiment, the operator is designed to be operated in a plurality of operating modes, and the auxiliary operation mode is activated in exactly one or more, but not all, of the selected operating modes. In other words, the movement of the microscope head in a first predetermined movement pattern is controlled in the main operation mode activated by the operation of the operator in the first operation mode, while on the other hand, the movement of the microscope head in a second predetermined movement pattern different from the first movement pattern can be controlled by the operation of the operator in another operation mode. Then, when the auxiliary operation mode is activated, the movement of the microscope head in another predetermined movement pattern different from at least the first movement pattern and preferably also the second movement pattern can be controlled by the operation of the operator in the first operation mode. However, by operating the operator in another operation mode, the movement of the microscope head in the aforementioned second predetermined movement pattern is controlled in the activated auxiliary operation mode. As a result, as an advantage, the functionality of the surgical microscope is further improved because different movement patterns of the main and auxiliary operation modes can be combined by different operation methods.

[0030] In another embodiment, the operator is designed as a joystick or as a rocker switch. As a result, the surgical microscope can be manufactured in a simple and cost-effective way.

[0031] In another embodiment, the activation signal for activating the main operation mode is generated by another activation means different from the first activation means for activating the auxiliary operation mode. There can be a plurality of different, for example three, main operation modes, and each of these modes can be activated or the switching between these modes can be performed by different activation means. For example, different main operation modes can be activated in a graphical user interface. As a result, a highly reliable operation of the surgical microscope, particularly an advantageous method for activating the operation modes, is obtained. Different main operation modes can be defined particularly in different movement patterns, whereby the movement of the surgical microscope is controlled when the operator is operated in the first operation mode.

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

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

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

[0035] [Figure 1] A schematic diagram of a surgical microscope according to the present invention in one embodiment is shown. [Figure 2] A schematic diagram of the motion patterns in the main operating mode of a surgical microscope is shown. [Figure 3] A schematic diagram of another motion pattern for the main operating mode of a surgical microscope is shown. [Figure 4] A schematic diagram of another motion pattern for the main operating mode of a surgical microscope is shown. [Figure 5] A schematic diagram of the motion patterns of the auxiliary operation modes of a surgical microscope is shown. [Figure 6] A schematic flowchart of the method according to the present invention in the first embodiment is shown. [Figure 7] A schematic flowchart of the method according to the present invention in another embodiment is shown. [Figure 8] A schematic flowchart of the method according to the present invention in another embodiment is shown. [Figure 9] A schematic flowchart of the method according to the present invention in another embodiment is shown. [Figure 10] A schematic diagram of the control unit is shown. [Modes for carrying out the invention]

[0036] The same reference numerals below indicate elements having the same or similar technical features. Figure 1 shows a surgical microscope according to the present invention in use in a surgical setting. The surgical microscope 1 includes a microscope head 2, which is positioned at the free end of a stand 3 for holding the microscope head 2. The stand 3 allows the microscope head 2 to be moved in a controlled manner, thereby changing the position and / or orientation of the optical axis 17 of the objective lens (not shown) of the microscope head 2, and therefore of the surgical microscope 1, which can be positioned within the housing 25 of the microscope head 2 (see, for example, Figure 2). The stand 3 in the figure is an exemplary motion structure for holding and moving the microscope head 2. Those skilled in the art will see that other motion structures may also be used. A drive mechanism (not shown) of the stand 3 may enable the rotational movement of the movable part of the stand 3 around rotation axes 4, 5, and 6. The figure also shows a control device 7, which plays a role in controlling the drive mechanism and, therefore, the motion. For this purpose, the control device 7 can be connected to the drive mechanism for signal and / or data exchange. Also shown is a patient 13 lying on an operating table 14. Furthermore, the surgical microscope 1, more precisely the microscope head 2, includes at least one eyepiece 15 or optical viewer through which a user 8, for example a surgeon, looks through to observe a specific area of ​​the patient 13, particularly magnified. In Figure 1, the handle 12 of the microscope head 2 (see Figure 2) is not shown.

[0037] The surgical microscope 1 further includes 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 having 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 captured by the tracking camera, and the position and orientation of the instrument 19 can also be determined based on the fixed placement of the target 9 on the instrument 19. The mark 11 or target 9 may have unique identification information, which can also be determined based on the image. When the identification information is detected based on the image, the operating mode assigned to that identification information can be activated or deactivated.

[0038] Figure 2 shows a schematic diagram of the motion pattern in the main operating mode M1 (see Figure 6) of a surgical microscope 1 having a microscope head 2 mounted on a stand 3. Two handles 12 are attached to the microscope head 2, which protrude from the housing 25 of the microscope head 2. The surgeon can move or position the microscope head 2 in space by grasping these handles 12 with both hands and moving their hands in the desired manner. Each handle 12 may be equipped with a control element 16 that the user operates in particular with the thumb or other fingers. By operating the control elements 16, the movement of the microscope head 2 in the first predetermined motion pattern in the main operating mode M1 can be controlled. Figure 2 shows the optical axis 17 corresponding to the longitudinal axis z, as well as the longitudinal translation axis x and the transverse translation axis y. The axial directions of these axes x, y, and z are indicated by arrows. The longitudinal and transverse translation axes x and y are oriented perpendicular to each other and perpendicular to the optical axis 17. Axes x, y, and 17 intersect at the reference point of the microscope head 2. This can be on at least one axis of rotation of a swivel joint, through which the microscope head 2 is attached to the movable element of the stand 3. In the main operating mode M1, the movement of the microscope head 2 can be controlled in the longitudinal translational direction and in the opposite direction, and in the transverse translational direction and in the opposite direction, by operating one of the operators 16 in the diagram in various operating modes. When the auxiliary operating mode M2 ​​is activated, the movement of the microscope head 2 in the direction of the optical axis 17 and in the opposite direction can be achieved by operating the operators 16 in one or more operating modes. A first activation means 26, designed as a push button for the user to operate in particular with the thumb or other fingers, can also be located on the handle 12. By operating the first activation means 26, an activation signal ASM2 for activating the auxiliary operating mode M2 ​​can be generated.

[0039] Figure 3 shows a schematic diagram of the motion of the surgical microscope 1 in its primary operating mode M1 (see Figure 6). Unlike the embodiment shown in Figure 2, a longitudinal axis x, a transverse axis y, and a 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, directed from the microscope head 2 to the patient 13. A possible reference point on the axis of rotation of the microscope head 2 is not shown, and the microscope head 2, mounted on a stand, can rotate around this axis of rotation. In particular, the reference point may lie at the intersection of two or more such axes of rotation. In primary operating mode M1 (see Figure 6), the rotational motion of the microscope head 2 around the reference point and around an axis parallel to the transverse axis y and passing through the reference point can be controlled by operating one of the operators 16 in a first operating manner. By operating in a different operating manner, the rotational motion of the microscope head 2 around the reference point and around an axis parallel to the longitudinal axis x and passing through the reference point can be controlled. When auxiliary operation mode M2 ​​is activated, the movement of the microscope head 2 along the vertical axis z, or in the opposite direction, can be controlled by operating the control element 16 in the first operating method.

[0040] Figure 4 shows a schematic diagram of the motion of the surgical microscope 1 in its main operating mode M1 (see Figure 6). Unlike the embodiment shown in Figure 2, the longitudinal axis (not shown), the transverse axis (not shown), and the vertical axis z 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 to the patient 13. In the main operating mode M1 (see Figure 6), the rotational motion 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. By operating in a different operating manner, the rotational motion R2 of the microscope head 2 around the focal point and around the transverse axis y can be controlled. When the auxiliary operating mode M2 ​​is activated, the motion of the microscope head 2 along the vertical axis z and in the opposite direction can be controlled by operating the controls 16 in a first operating manner.

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

[0042] Figure 6 shows a schematic flowchart of the method according to the present invention. This shows that the main operating mode M1 has been activated. In this main operating mode M1, the movement of the microscope head 2 in a first predetermined motion mode is controlled by operating the operator 16 (see, for example, Figure 2) in a first operating manner. The auxiliary operating mode M2 ​​is activated by generating an activation signal ASM2. In the auxiliary operating mode M2, i.e., when activated, the movement of the microscope head 2 in another predetermined motion mode different from the first motion mode is controlled by operating the operator 16 in a first operating manner. The activation signal ASM2 can be generated by the first activation means 26. Exemplary activation means and activation methods have already been described.

[0043] Figure 7 shows a schematic flowchart of the method according to the present invention in another embodiment. Unlike the embodiment in Figure 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 stopped. Instead of elapsed a predetermined active period, a stop signal DASM2 can also be generated, resulting in the activation of the main operating mode M1 and the stopping of operating mode M2. Exemplary stopping means and stopping methods have already been described.

[0044] Figure 8 shows a schematic flowchart of the method according to the present invention in another embodiment. Unlike the embodiment shown in Figure 7, the main operating mode M1 is started from the activated auxiliary operating mode M2 ​​when an activation signal ASM1 for the main operating mode M1 is generated, for example by operating another suitable activation means 18 (see Figure 9). The auxiliary operating mode M2 ​​is also stopped after a predetermined inactive period has elapsed, and when stopped in this manner, the surgical microscope is set to 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 stop signal (not shown) is generated in the activated main or auxiliary operating modes M1, M2, and the surgical microscope 1 is also set to this state M3 by this signal.

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

[0046] Figure 10 shows a schematic top view of the operator 16 designed as a cross rocker switch 20. The longitudinal axis xs and transverse axis ys of the switch are shown, which form a coordinate system specific to the switch, with the origin of this coordinate system located at the geometric centroid of the cross rocker switch 20. Operation of the cross rocker switch 20 in a first mode is performed by pressing the first leg 21 of the cross rocker switch 20, which tilts mathematically in a positive direction with respect to the illustrated axis around the longitudinal axis xs of the switch. Operation of the cross rocker switch 20 in a second mode is performed by pressing the second leg 22 of the cross rocker switch 20, which tilts mathematically in a negative direction with respect to the illustrated axis around the longitudinal axis xs of the switch.

[0047] The third mode of operation of the cross rocker switch 20 is performed by pressing the third leg 23 of the cross rocker switch 20, which tilts mathematically in a positive direction with respect to the axial direction in the figure, around the lateral axis ys of the switch. The fourth mode of operation of the cross rocker switch 20 is performed by pressing the fourth leg 24 of the cross rocker switch 20, which tilts mathematically in a negative direction with respect to the axial direction in the figure, around the lateral axis ys of the switch.

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

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

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

[0051] 1 Surgical microscope 2 Microscope heads 3 Stands 4, 5, 6 Rotation axes 7 Control device 8 users 9 target 10 Tracking Cameras 11 Mark 12 handles 13 patients 14 Operating table 15 eyepieces 16 Operators 17 Optical axis 18 Another Activation Method 19. Equipment 20 Cross rocker switches 21, 22, 23, 24 Legs of the cross rocker switch 25 Housing 26 First Activation Means M1, M11, M12, M13 Main operating modes, Multiple main operating modes M2 Auxiliary Operation Mode M3 condition ASM1, ASM2, ASM11, ASM12, ASM13 activation signals x, xs are the longitudinal axes. y, ys: Horizontal axis z-axis (vertical axis) FP focus R1, R2 rotational motion

Claims

1. In a method for controlling the movement of a surgical microscope (1), the movement of the microscope head (2) in a first predetermined movement mode is controlled in the main operation mode (M1) by the operation of the operator (16) in a first operation method, and the auxiliary operation mode (M2) can be activated. In the auxiliary operation mode (M2), the movement of the microscope head (2) in another predetermined movement mode is controlled by the operation of the operator (16) in the first operation method, and the first and the other movement modes are different from each other. The method is characterized in that the auxiliary operation mode (M2) is stopped after a predetermined inactive period has elapsed, or when the trajectory limit of the motion in the auxiliary operation mode (M2) is reached.

2. The method according to claim 1, characterized in that the other motion is translational motion along the optical axis (17) of the microscope head (2).

3. The method according to claim 1, characterized in that the main operating mode (M1) is activated after the predetermined inactive period has elapsed.

4. The method according to claim 1 or 2, characterized in that the first mode of motion is defined as translational or rotational motion (R1, R2) in a plane oriented perpendicular to the optical axis (17).

5. The method according to claim 1 or 2, characterized in that the activation signal (ASM2) for activating the auxiliary operation mode (M2) is generated tactilely or acoustically.

6. The method according to claim 1 or 2, characterized in that the operator (16) is designed to be operated in multiple operating modes, and the auxiliary operating mode (M2) is activated in exactly one or more, but not all, selected operating modes.

7. The method according to claim 1 or 2, characterized in that the operator (16) is designed as a joystick or as a rocker switch (20).

8. The method according to claim 1 or 2, characterized in that the activation signal (ASM1) for activating the main operation mode (M1) is generated by a different activation means (18) than the first activation means (26) for activating the auxiliary operation mode (M2).

9. The method according to claim 1 or 2, characterized in that the microscope head (2) is mechanically attached to a stand (3) having at least one drive device for moving the microscope head (2).

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) is - In the main operation mode (M1), the movement of the microscope head (2) in a first predetermined motion mode is controlled by the operation of the operator (16) in a first operation method. - Auxiliary operation mode (M2) can be activated. - In the auxiliary operation mode (M2), the movement of the microscope head (2) in another predetermined motion mode is controlled by the operation of the operator (16) in the first operation method, and the first and the other motion modes are different from each other. The auxiliary operation mode (M2) is stopped after a predetermined inactive period has elapsed, or when the trajectory limit of the motion in the auxiliary operation mode (M2) is reached. A surgical microscope configured in such a way

11. The surgical microscope according to claim 10, characterized in that the microscope head (2) is mechanically attached to a stand (3) having at least one drive device for moving the microscope head (2).

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