A foot pedal control unit

Abstract

The invention relates to a foot pedal control unit or haptic foot pedal for an ophthalmic surgery system. The unit has a base and a treadle that is configured for pivotal pitch movement and for pivotal yaw movement relative to the base for generating control signals to an ophthalmic surgery system. The unit further comprises a multiple number of haptic actuators distributed over the treadle and arranged to individually and controllably actuate, as well as a control system and command lines interconnecting the control system with the multiple number haptic actuators. The control system is arranged to drive one or more respective individual actuators of the multiple number of actuators for generating a local haptic signal if a respective associated pre-determined condition has been met.

Description

[0001] Title: A foot pedal control unit

[0002] The invention relates to a foot pedal control unit for an ophthalmic surgery system, comprising a base and a treadle that is configured for pivotal pitch movement and for pivotal yaw movement relative to the base for generating control signals to an ophthalmic surgery system.

[0003] Foot pedal control units for generating control signals to an ophthalmic surgery system are generally known in ophthalmic surgery practice. By arranging the treadle to move in pivotal pitch movement, such as an accelerator type pedal, and in pivotal yaw movement, two different parameters can be controlled.

[0004] Control units of the so-called Active Kinesthetic type provide a feedback to the user when a force is applied. In other words, the user will notice the activation of the feedback after the treadle pedal has been pressed.

[0005] In the control unit architecture, break positions are by some surgeons experienced to be either too sturdy or too loose, thus leading to overshoot. Further, it might be difficult to distinguish between three or more different treadle positions since the pedal travel is relatively short in its angular motion. Also, the break system sometimes produces squeaking noise since it is friction based. Further feedback is provided via audible signals.

[0006] It is an object of the present invention to provide a foot pedal control unit having an improved experience.

[0007] Thereto, according to the invention, a foot pedal control unit comprises a base, a treadle configured for pivotal pitch movement and / or pivotal yaw movement relative to the base for generating control signals to an ophthalmic surgery system, a multiple number of haptic actuators distributed over the treadle and arranged to individually and controllably actuate, a control system and command lines interconnecting the control system with the multiple number haptic actuators, wherein the control system is arranged to drive one or more respective individual actuators of the multiple number of actuators for generating a local haptic signal if a respective associated pre-determined condition has been met.

[0008] By applying a multiple number of actuators that are individually and controllably actuatable, an increased variety of feedback signals can be provided to the user, while, on the other hand, a patient discomfort is reduced since there is a reduced amount of audible signals in the operating theater.

[0009] Accordingly, the foot pedal control unit acts as a haptic foot pedal. As an example, the haptic actuators can be arranged in a onedimensional or two-dimensional array. Alternatively, the haptic actuators may be positioned in another configuration such as a random pattern.

[0010] Preferably, a location of an actuating haptic actuator is adjacent to a location of an input structure, in particular a button or switch, being assigned to a function related to the pre-determined condition that is associated with the haptic actuator. Then, the haptic signal can be easily and intuitively associated with the operated button or switch.

[0011] Advantageously, respective individual actuators can be driven to generate, in an ensemble, a dynamic spatial haptic pattern so as to suggest a specific signal to the user.

[0012] By way of example only, embodiments of the present invention will now be described with reference to the accompanying figures in which

[0013] Fig. 1A shows a schematic perspective view of a foot pedal control unit according to the invention;

[0014] Fig. IB shows a schematic perspective partial cross sectional view of a treadle of the foot pedal control unit of Fig. 1A;

[0015] Fig. 2 shows a schematic top view of the foot pedal control unit of Fig. 1A in a first state; Fig. 3 shows a schematic top view of the foot pedal control unit of Fig. 1A in a second state;

[0016] Fig. 4 shows a schematic top view of the foot pedal control unit of Fig. 1A in a third state;

[0017] Fig. 5 shows a schematic top view of the foot pedal control unit of Fig. 1A in a fourth state, and

[0018] Fig. 6 shows a schematic top view of the foot pedal control unit of Fig. 1A in a fifth state.

[0019] It is noted that the figures merely show preferred embodiments according to the invention. In the figures, the same reference numbers refer to equal or corresponding parts.

[0020] Figure 1A shows a schematic perspective view of a foot pedal control unit 1 according to the invention. The foot pedal control unit 1 is arranged for controlling operation of an ophthalmic surgery system such as a vitrectome, a lighting unit, a laser unit, a phacoemulsification unit, a diathermy unit, a viscous fluid control unit, an irrigation and aspiration unit or a microdose drug delivery unit. The control unit 1 has a base 2 and a treadle 3 that is movable relative to the base 2. The treadle 3 is configured for pivotal pitch movement in a pitch direction P and for pivotal yaw movement in a yaw direction Y relative to the base 2. By moving the treadle 3 in the pivotal pitch direction P, an accelerator type movement is performed, around a pivoting axis Al that is substantially horizontal. Similarly, by moving the treadle 3 in the pivotal yaw direction Y, a pivoting movement to the left or right is performed, around a pivoting axis A2 that is substantially vertical. When a user of the control unit 1 moves the treadle 3, by his or her foot 7, in the pitch direction P and / or the yaw direction Y, a single or multiple number of control signals can be generated for operating the ophthalmic surgery system. As an example, operational parameters of the controlled ophthalmic surgery system can be adjusted, independently of each other, preferably in a linear way. The treadle 3 can be moved in the pitch direction P and subsequently in the yaw direction Y, or vice versa, or simultaneously. Generally, a movement in the pitch direction P controls a first parameter while a movement in the yaw direction Y controls a second parameter, thus providing a dual linear functionality on the control unit or foot switch. However, in principle, a multiple number of parameters can be controlled by moving the treadle 3 in the pitch or yaw direction.

[0021] In another embodiment, the treadle 3 is configured for pivotal pitch movement only, or for pivotal yaw movement only.

[0022] The foot pedal control unit 1 also comprises a carrying handle 6 for manually carrying the unit 1. The handle 6 is located at a rear side on the base 2. Further the foot pedal control unit 1 may be provided with an I / O interface for interacting with the user, e.g. via audible or visible signals.

[0023] The foot pedal control unit 1 further comprises a multiple number of haptic actuators distributed over the treadle and arranged to individually and controllably actuate, for generating a haptic feedback to the user. The foot pedal control unit 1 also comprises a control system and command lines to drive the actuators as described in more detail referring to Fig. IB.

[0024] Figure IB shows a schematic perspective partial cross sectional view of the treadle 3 of the foot pedal control unit 1 of Fig. 1A. The treadle 3 has a support module 13 and a top layer 14 at least partially covering the support module 13. In the shown partial view, two exemplary haptic actuators 15a, b are illustrated, mounted on top of the support module 13. In the shown embodiment, the support layer 13 and the top layer 14 are offset from each other, defining an intermediate space 16 therebetween. Here, a single or a multiple number of mounting elements can be provided, in the intermediate space 16, connecting the top layer 14 to the support module 13. Alternatively, the intermediate space 16 can be filled with an intermediate layer or the top layer 14 may be mounted directly on top of the support module 13. In the latter case, the haptic actuators 15a, b may extend into the support module 13. The haptic actuators may be implemented as so-called linear resonant actuators LRA. Alternatively, another haptic actuator type may be applied, e.g. a so-called eccentric rotating mass ERM device. The haptic actuators 15 may generally be arranged for generating a foot sensible signal such as a tick, click or buzzer type haptic signal.

[0025] In Fig. IB is also shown the control system 17 and the command lines 18a, b mentioned above, the command lines 18a, b interconnecting the control system 17 with the multiple number of haptic actuators 15a, b. In the shown embodiment, the control system 17 is arranged on the support module 13. However, the control system 17 may be provided at another location, e.g. at the base 2 of the foot pedal control unit 1.

[0026] Generally, the control system 17 is arranged to drive one or more respective individual actuators of the multiple number of actuators for generating a local haptic signal if a respective associated pre-determined condition has been met. As an example, the control system 17 may be arranged to drive a single respective individual actuator for generating a local haptic signal if a respective associated pre-determined condition has been met, or the control system 17 may be arranged to drive a multiple number of respective individual actuators for generating a local haptic signal if a respective associated pre-determined condition has been met, e.g. two, three or four individual actuators, or even more individual actuators, e.g. six individual actuators, as described in more detail below referring to exemplary embodiments.

[0027] A first haptic actuator 15a extends through the top layer 14 of the treadle 3. The top layer 14 is provided with an aperture 19 allowing the first haptic actuator 15a to locally traverse the top layer 14 such that its top portion 20a may have mainly the same level as a top surface 14a of the top layer 14. Using such structure, the top layer 14 partially covers the support module 13 such that only areas on the support module 13 free of haptic actuators are covered. A second haptic actuator 15b is situated in an alternative structure. Here, the top layer 14 locally contacts the second haptic actuator 15b. In particular, the second haptic actuator 15b extends from the support module 13 and protrudes towards the top layer 14, such that its top portion 20b is located adjacent to or into a lower surface 14b of the top layer 14. The top layer 14 is thus arranged for local vibration, at the location of the second haptic actuator 15b.

[0028] Both the first haptic actuator 15a and the second haptic actuator 15b are positioned relative to the top layer 14 such that top portions 20a of the haptic actuators 15a together with the top layer 14 form a top surface 14a of the treadle 3. The treadle top surface 14a may be mainly flat so as to form a comfortable foot support for its user, while, on the other hand, provide a broad range of passive kinesthetic sensations including ticks, klicks, buzzers, pulse, etc.

[0029] By integrating a small array of haptic actuators or attenuators in / under the foot inlays of the pedal an endless amount of programmable haptic system feedback options are available.

[0030] Advantageously, no force by the user needs to be applied to experience the system feedback. Not only pedal positions can be communicated to the user but virtually all surgical parameters, signals and audio feedbacks.

[0031] Distinguishing haptic feedback can be performed by the signal of the actuator or attenuator such as click, buzz, ramp, pulse, etc, a pattern of multiple attenuators signals such as up / down, circular, in / out, or the location of an attenuator such as left, right, top, bottom center.

[0032] Generally, a user dynamically controls the system mostly by the treadle and switches or buttons. Unlike traditional instruments and tools there is no tactile feedback with the surgical system on the limb that actuates the function. This has multiple reasons such as indirect control like the fluidics, not tangible like laser or electrical diathermy or micro forces like phaco-tip loading.

[0033] When combining the haptic system feedback to the foot that actuates the function the user will experience a physical enhanced control over the surgical system, without disturbing the patient.

[0034] Preferably, the top layer 14 has a resonance frequency that is remote from the acoustic spectrum of haptic signals generated by the multiple number of haptic actuators 15. This prevents the haptic signals of the haptic actuators 15 from travelling through a large portion of the treadle. Instead, the haptic signals are only locally sensible by the foot 7 of the user.

[0035] The haptic actuators 15 can be arranged in a one-dimensional or two-dimensional array, on the treadle 3, as shown in more detail referring to Fig. 3. Alternatively, the haptic actuators 15 can be arranged in another pattern, e.g. forming a closed contour such as a polygon, an ellipse or a circle, or forming a stochastic pattern.

[0036] Especially referring to Fig. 1A, the foot pedal control unit 1 includes an input structure such as a single or a multiple number of buttons or switches for generating a signal to be transmitted to the surgery system. In the shown exemplary embodiment, the foot pedal control unit 1 six switches 4, e.g. a left front switch 4a, a right front switch 4b, a left back switch 4c and a right back switch 4d, as well as a left side switch 4e and a right side switch 4f, e.g. referring to Fig. 2, and a signal lamp 5. Another number of switches may be applied and / or a number of buttons, e.g. more or less than six switches and two or more buttons. Further, the buttons and / or switches may have another location on the foot pedal control unit.

[0037] As indicated above, the control system 17 may be arranged to drive a single respective individual actuator of the multiple number of actuators 15, e.g. a specific actuator, for generating a local haptic signal if a respective associated pre-determined condition has been met. Such condition may be user-programmable or pre-programmed. As an example, the pre-determined condition may be associated with a function selectable by actuating a button or switch 4. Preferably, a haptic actuator 15 may be located near a location of a button or switch 4 that is assigned to a function related to the pre-determined condition mentioned above that is associated with the haptic actuator 15. As an example, the left front switch 4a may have a high energy pulse function and a haptic actuator 15b adjacent to the left front switch 4a may generate a haptic signal after the user has pressed said left front switch 4a, thereby providing a easy to interpret and consistent feedback signal to the user, as described in more detail referring to Fig. 2.

[0038] Optionally, the control system 17 is arranged for driving a multiple number of respective individual actuators 15, e.g. in time and location, to generate, in an ensemble, a dynamic spatial haptic pattern, as explained in more detail referring to Fig. 4 and Fig. 6.

[0039] Some user-programmable examples are described in more detail below. Specifically, a feedback associated with constant irrigation programmed left side button or switch, pulsating periodically, e.g. every 30 sec. may be applied. Further, a function acknowledge of sideway movement may be implemented. Also, a feedback signal may be provided relating to a state wherein irrigation - programmed threshold has been reached. Further, a down movement on multiple inline actuators can be simulated. Further, a feedback can be generated in case of Diathermy Pedal press to desired setpoint - toe position increasingly pulsating when energy is delivered. Also, when a Phaco handpiece needle touches tissue, impedance change in the handpiece and a signal in the phaco power pedal location can be generated. In addition, a general system Alarm or warning can be provided. In principle, the treadle system may provide tactile feedback to the user instead of or together with the audio feedback to communicate dynamic system behavior.

[0040] The tactile feedback of the brake could be pattern driven giving a sense of pulses and ramps etc.

[0041] Figure 2 shows a schematic top view of the foot pedal control unit 1 of Fig. lAin a first state. As shown, the unit 1 includes five haptic actuators 15a-e located at a front or toe portion, a left portion, a central portion, a right portion and a back or heel portion of the treadle surface 14a, respectively. The unit 1 includes the four switches 4a-d and a button 5 mentioned above. The unit 1 also includes the two further switches, viz. a left side switch 4e and a right side switch 4f. In Fig. 2 a first haptic signal

[0042] 51 is symbolically shown at the left haptic actuator 15b. In the shown embodiment, the first haptic signal Si may be a signal of the buzz type actuating e.g. periodically, e.g. repeatedly after a cycle of 15 seconds, after the left front switch 4a has been pressed, e.g. activating an alternate pressure by the surgery system. The first haptic signal Si functions as a reminder to the user of the foot pedal control unit 1 that the left front switch 4a has been pressed. It is noted that the location of the actuating haptic actuator 15b is close to the left front switch having a function that is associated with the pre-determined condition of said actuator 15b.

[0043] Fig. 3 shows a schematic top view of the foot pedal control unit of Fig. 1A in a second state. Here, a second haptic signal S2 is symbolically shown at the right haptic actuator 15d. In the shown embodiment, the second haptic signal S2 may be a signal of the click type, after the right side switch 4f has been activated by the yaw function. The second haptic signal

[0044] 52 functions as a confirmation signal to the user of the foot pedal control unit 1 that the right side switch 4f has been activated by the yaw function.

[0045] Fig. 4 shows a schematic top view of the foot pedal control unit of Fig. 1A in a third state. Here, an ensemble of haptic signals S3’, S3”, S3’” is generated. Specifically, it is symbolically shown that a third haptic signal S3 is subsequently generated by the front haptic actuator 15a, the central haptic actuator 15c and the back haptic actuator 15e, virtually suggesting a downward experience. The third haptic signal S3 may be a signal of the pulse type. The ensemble of haptic signals may form a feedback signal to the user that temporarily a high energy level is applied for diathermy catherization.

[0046] Fig. 5 shows a schematic top view of the foot pedal control unit of Fig. 1A in a fourth state. Here, a fourth haptic signal S4 is symbolically shown at the front haptic actuator 15a. The fourth haptic signal S4 may be a signal of the buzz type forming a warning signal to the user that an occlusion has occurred in a vitrectomy type surgery system.

[0047] Fig. 6 shows a schematic top view of the foot pedal control unit of Fig. 1A in a fifth state. Here, another ensemble of haptic signals S5 is generated. Specifically, a pulse or click type fifth haptic signal S5 is periodically generated in a cycle. During a cycle the fifth signal S5 is simultaneously generated by the front haptic actuator 15a, the back haptic actuator 15e, the left haptic actuator 15b and the right haptic actuator 15d, and subsequently by the central haptic actuator 15c. The cycle is periodically generated virtually suggesting an expanding and contracting experience, or an inward and outward experience. The ensemble of signals may form a warning signal, e.g. indicating that a surgery device has not been connected correctly.

[0048] The states shown in Fig. 2-6 illustrate exemplary states of haptic signals or ensemble of haptic signals that can be applied to the foot pedal control unit 1 according to the invention.

[0049] The invention is not restricted to the embodiments described above. It will be understood that many variants are possible.

[0050] These and other embodiments will be apparent for the person skilled in the art and are considered to fall within the scope of the invention as defined in the following claims. For the purpose of clarity and a concise description features are described herein as part of the same or separate embodiments. However, it will be appreciated that the scope of the invention may include embodiments having combinations of all or some of the features described.

[0051] The invention is not restricted to the embodiments described above. It will be understood that many variants are possible.

[0052] These and other embodiments will be apparent for the person skilled in the art and are considered to fall within the scope of the invention as defined in the following claims. For the purpose of clarity and a concise description features are described herein as part of the same or separate embodiments. However, it will be appreciated that the scope of the invention may include embodiments having combinations of all or some of the features described.

Claims

Claims1. A foot pedal control unit for an ophthalmic surgery system, comprising:- a base,- a treadle configured for pivotal pitch movement and / or pivotal yaw movement relative to the base for generating control signals to an ophthalmic surgery system,- a multiple number of haptic actuators distributed over the treadle and arranged to individually and controllably actuate,- a control system and command lines interconnecting the control system with the multiple number haptic actuators, wherein the control system is arranged to drive one or more respective individual actuators of the multiple number of actuators for generating a local haptic signal if a respective associated pre-determined condition has been met.

2. A foot pedal control unit according to claim 1, wherein the treadle comprises a support module and a top layer at least partially covering the support module, and wherein the multiple number of haptic actuators are mounted on top of the support module.

3. A foot pedal control unit according to claim 2, wherein the haptic actuators extend through the top layer.

4. A foot pedal control unit according to claim 2 or 3, wherein the top layer locally contacts the haptic actuator and is arranged for local vibration.

5. A foot pedal control unit according to claim 4, wherein the top layer is locally thinner at or near one or more of the haptic actuators than elsewhere.

6. A foot pedal control unit according to any of the preceding claims, wherein a resonance frequency of the top layer is remote from a spectrum of haptic signals generated by the multiple number of haptic actuators.

7. A foot pedal control unit according to any of the preceding claims, wherein the top layer partially covers the support module such that only areas on the support module free of haptic actuators are covered.

8. A foot pedal control unit according to any of the preceding claims, wherein top portions of the haptic actuators together with the top layer form a top surface of the treadle.

9. A foot pedal control unit according to any of the preceding claims, wherein the respective pre-determined conditions are user-programmable.

10. A foot pedal control unit according to any of the preceding claims, wherein the haptic actuators are arranged in a one -dimension al or two- dimensional array.

11. A foot pedal control unit according to any of the preceding claims, wherein the haptic actuators are arranged for generating a tick, klick or buzzer type haptic signal.

12. A foot pedal control unit according to any of the preceding claims, wherein the control system is arranged for driving respective individual actuators to generate in an ensemble a dynamic spatial haptic pattern.

13. A foot pedal control unit according to any of the preceding claims, wherein a location of an actuating haptic actuator is adjacent to a location of an input structure, in particular a button or switch, being assigned to a function related to the pre-determined condition that is associated with the haptic actuator.

14. A foot pedal control unit according any of the preceding claims, wherein the haptic actuators are linear resonant actuators.

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