• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a medical device, comprising a medical-optical device (2) and a holding device (1) with at least two holding arms (3, 4, 5, 6), which via a joint (8, 9, 10, 11, 12 ) are movably connected to each other with at least one degree of freedom of movement, and with an actuator (14, 15), which is so connected to the at least two retaining arms (3, 4, 5, 6), that a force via the actuator (14, 15) between the at least two retaining arms (3, 4, 5, 6) in the direction of freedom of movement is exercisable. A control unit comprises a first controller for outputting a first control signal via an actuator to the actuator (14, 15). The medical-optical device (2) is mounted on the holding device (1). According to the invention, the control unit comprises means for measuring a kinematic state at the joint (8, 9, 10, 11, 12) and a second controller for outputting a second control signal via the actuator to the actuator (14, 15). The control unit is set up such that it can be displaced into a first operating state and into a second operating state, wherein in the first operating state the actuator (14, 15) can be actuated via the first regulator and the actuator in dependence on that at the joint (8, 9, 10, 11, 12) is controlled in a position-controlled manner such that a relative position between the at least two retaining arms (3, 4, 5, 6) at least largely independent of external or internal effects on the holding device (1) or the medical-optical Device (2) is maintained, and wherein in the second operating state of the actuator (14, 15) via the second controller and the actuator is so controlled controlled force that a relative movement between the at least two holding arms (3, 4, 5, 6) allows is. The invention also relates to a method for operating the medical device.
    公开号:CH711874A2
    申请号:CH01524/16
    申请日:2016-11-17
    公开日:2017-06-15
    发明作者:Voigt Christian；Litsch Dominik；Hanel Christine
    申请人:Zeiss Carl Meditec Ag；
    IPC主号:
    专利说明:

    Description: [0001] The invention relates to a medical device having a medical-optical device and a holding device. The holding device comprises at least two retaining arms, which are movably connected to one another via a joint with at least one degree of freedom of movement. Furthermore, the holding device has an actuator which is thus connected to the two holding arms. in that a force can be exerted via the actuator in the direction of the degree of freedom of movement between the two holding arms. The medical-optical device is mounted on the holding device. A control unit comprises a first controller for outputting a first control signal via an actuator to the actuator.
    In many medical procedures, medical optical devices are used to examine or treat a patient. These devices are often mounted on an articulated holding device, so that they can be positioned at different positions in the working space and where appropriate can be aligned in a desired direction. In operation, it is often necessary to vary the position and optionally alignment of the medical-optical device, for example, to change a viewing angle of a surgical microscope to the surgical field or a beam direction of a treatment laser. Thus, standstill phases in which the medical-optical device is held in a certain position in space often alternate with movement phases in which the medical-optical device is transferred from one position to another position.
    In a movement phase, the medical-optical device as smooth as possible by a user, that is, under the exercise of low physical forces, can be transferred from an initial position to an end position. From the prior art it is known to provide the holding device with actuators at the joints, which support a movement of the tripod or make it possible in the first place.
    DE 10 2004 063 606 A1 discloses a medical device which comprises a medical-optical device in the form of a surgical microscope, which is held on a holding device. For the force-free movement of the surgical microscope, the medical device has electric motors at the joints of the holding device. Positioners detect angular positions in the swivel joints. Current control curves are stored in an electronic memory, from which current values can be determined as a function of the detected angle divisions. From the detected angular positions, a current value is determined by means of the current control curves, with which the electric motors are energized, so that a defined torque is generated in the electric motors. In this way, a static load torque can be compensated by the counter-torque generated in the electric motors, so that the operating microscope can be moved seemingly force-free by a user. However, the medical device according to DE 10 2004 063 606 A1 has disadvantages in the unguided state when a user does not actively move the medical device or keep it in a position in the room. In this case, there may be a drift, so a creeping movement of the medical-optical device from a set position out. Another disadvantage of the medical device is that an (unintentional) impact against the holding device or the surgical microscope can result in an uncontrolled movement, which is to be avoided in an operating situation.
    To avoid uncontrolled movements, it is known from the prior art to provide holding devices with brakes, which can be activated by a user to suppress any or all degrees of freedom of movement of the holding device, so that a position and / or orientation of the medical optical device is maintained in the room. Holding devices with brakes are for example in the publications DE 10 144 033 A1. DE 20 218 693 U1 and DE 20 2007 003 822 U1. A disadvantage of the use of brakes, however, is that they increase the complexity of the overall system, support an oscillation tendency due to resiliencies and, as a rule, have to be actively opened and closed several times during an operation, which hampers the course of the operation.
    An object of the present invention is to develop a medical device with a medical-optical device and a motion-assisted holding device, so that a secure standstill is ensured. Another object is to provide a suitable method of operation for such a medical device.
    The objects are achieved by a medical device having the features of claim 1 and by a method having the features of claim 6.
    According to the invention, the control unit of the medical device comprises means for measuring a kinematic state at the joint and a second controller for outputting a second control signal via the actuator to the actuator. The control unit is set up such that it can be displaced into a first operating state and into a second operating state, wherein in the first operating state the actuator is controlled in a position-regulated manner via the first controller and the actuator as a function of the kinematic state measured on the joint such that a Relative position between the two retaining arms at least largely independent of external or internal influences on the holding device or the medical-optical device is maintained, and wherein in the second operating state of the actuator via the second controller and the actuator is so controlled controlled force that a relative movement between the two holding arms is possible.
    The term "force" is to be understood in the context of the present invention so that both a directed longitudinal force and a torque acting about an axis of rotation should be included. Analogously, the terms "force control * 1" or "force-controlled" are not to be restricted to the regulation of longitudinal forces, but also include regulations for torques.
    For the purposes of the present invention, a "measurement of a kinematic state" is to be understood as meaning a measurement of one or more kinematic variables. In particular, these include measurements, angles of rotation or translatory deflections. Angular velocities or translational velocities and angular accelerations or translatory accelerations or combinations of the mentioned quantities. The means for measuring a kinematic state are designed to determine a kinematic state at the joint, for example by direct measurement of one or more kinematic variables at the joint or indirectly by a device for tracking the position of the medical-optical device in the room and a recalculation kinematic quantities at the joint.
    In an operation of the medical device in which the control unit is set in the second operating state, the actuator is controlled by force. As a result, a relative movement between the two holding arms is made possible by exerting an external force on the holding device or the medical-optical device. Depending on the design of the control, the external force can also be very low, so that a user can move the medical-optical device almost free of force. After a change to the first operating state of the control unit, the actuator is controlled position-controlled. The change preferably takes place when the medical-optical device is to be held in a certain place in the room, for example at the place where it is located at an initiation of the change of operating conditions. The position regulation ensures that the medical-optical device remains at the set location, in particular also when external or internal forces are exerted on the medical-optical device or the holding device. A further advantage is that in a medical device according to the invention the use of brakes can be dispensed with in order to hold the medical-optical device at a desired position in the working space, or that existing brakes, which may be present for safety reasons, for example, smaller dimensions can be.
    In one embodiment of the invention, the control unit is adapted to drive in the second operating state, the actuator via the second controller in response to a kinematic state measured at the joint. This makes it possible in particular, the same sensors that are used in the first operating state of the control unit during the position-controlled actuation of the actuator for measuring a kinematic state for measuring a - possibly different-kinematic state in the second operating state of the control unit during a force-controlled or force-controlled activation of the Actors to use. In this way, a small number of sensors for the operation of the medical device with the control unit in the first operating state and in the second operating state is sufficient.
    In a further embodiment of the invention, the control unit comprises means for determining a force generated by the actuator, and the control unit is configured such that in the second operating state, the actuator is controlled via the second controller in dependence on the measured force. In this way, a force controller for the second operating state can be realized, which is characterized by a particularly precise adjustment of the force.
    In a further embodiment of the invention, the medical device comprises a user-operable release unit, which is arranged such that an actuation of the release unit causes a change of the control unit from the first operating state to the second operating state, or vice versa. The medical device can thus be put into a state in which a movement of the medical-optical device is possible by applying a defined force (second operating state of the control unit), or in which the medical-optical device securely held in a defined position and / or orientation in space (first operating state of the control unit).
    In a further embodiment of the invention, the medical device has means for blocking a relative movement between the two holding arms, and the control unit is adapted to cause a blocking of the relative movement when a limit value for the force generated by the actuator is exceeded. The activation of the means for blocking the relative movement is a safety mechanism with which, for example, the risk of overloading the actuators, the holding arms or other parts of the medical device due to unusually strong external forces acting, operating errors or control errors can be reduced. Alternatively or additionally, limiting values for kinematic state variables of individual, several or all holding arms of the holding device or for the medical-optical device can also be defined in the control unit in a suitable, for example spatially fixed, coordinate system. The limit values can also be designed so that critical positions of the holding device in the working space are avoided, for example to ensure a minimum distance of the medical-optical device from a patient.
    An inventive method for operating a medical device comprises the method steps: - Set the control unit in the first operating state in which a kinematic state is measured at the joint and the actuator via the first controller and the actuator position-controlled as a function of the measured kinematic State is controlled, so that a relative position between the two holding arms is at least largely maintained; and - change of the operating state of the control unit in the second operating state in which the actuator is controlled by force control via the second controller and the actuator, so that a relative movement between the two holding arms is made possible.
    Alternatively or additionally, the inventive method can also be performed in reverse order, ie starting with a displacement of the control unit in the second operating state and a subsequent change of the operating state of the control unit in the first operating state. Furthermore, multiple changes between the operating states of the control unit are possible. Without departing from the scope of the invention, the control unit between a change from the first operating state to the second operating state or vice versa also occupy other operating states in which the medical-optical device is guided on the holding device, for example, without control by the user or with the help of the actuator or more actuators at multiple joints defined from one location to another location in the workspace is moved. A release unit in this case would preferably be configured so that the various operating states can be selected by a user.
    The inventive method is characterized in that the medical-optical device on the one hand in the force-controlled operating state of the control unit can be spent by a user under exercise of a defined force or even almost free of power from one layer to another position and on the other hand in the position-controlled operating condition a secure positioning of the medical-optical device in the working space is ensured even under the influence of external or internal forces on the device or the holding device.
    In one embodiment of the method, the change between the operating states is initiated by actuation of a release unit. Without departing from the scope of the invention, a change can be initiated both from the first to the second operating state or vice versa one or more times in succession.
    In a further embodiment of the method, the first controller and the second controller are adapted to each other, that without the action of external forces in the second operating state immediately after the change of a given by the actuator force by less than 10%, preferably by less than 5%, more preferably by less than 1%, different from a given in the first operating state immediately before the change of the actuator force. In this way, a force or torque jump in the force exerted by the actuator or in the moment at a transition between the operating states can be reduced or avoided. This aspect is particularly important in a transition from the position-controlled to the force-controlled operating state in order to avoid a sudden movement of the medical-optical device (for example, a sagging due to gravity).
    In a further embodiment of the method, a force generated by the actuator is measured, and when a limit value is exceeded means for blocking a relative movement between the two holding arms are activated, by which the relative movement is braked and / or suppressed. For a safety mechanism is realized, with the example, the risk of overloading the medical device can be avoided.
    The invention will be described in more detail with reference to figures. This shows in detail
    1 shows a first embodiment of a medical device according to the invention;
    FIG. 2: a pivot connection of the medical device with an actuator; FIG.
    3 shows a first embodiment of a method according to the invention;
    4 shows a second embodiment of a method according to the invention; and FIG. 5 shows a second embodiment of a medical device according to the invention.
    In Fig. 1, a first embodiment of an inventive medical device is shown. The medical device has a medical-optical device in the form of a surgical microscope 2, which is held on a holding device in the form of a stand 1.
    During surgery, it is often necessary to vary the location of the surgical microscope in the room. Depending on the application, the variations may include both changes in position and changes in the angular orientation of the surgical microscope in the room or combinations of said changes. In order to accomplish this, the stand 1 comprises a plurality of retaining arms 3, 4, 5, 6, which are connected to each other via articulated joints 8, 9, 10, 11, 12.
    The stand has a vertically arranged first support arm 3, which is connected via a first pivot 7, which has a vertically arranged axis of rotation, with the ground. Alternatively, the first support arm 3 may also be attached to a floor panel which may be provided with rollers for transporting the medical device in the operating room. About the first pivot 7, the tripod can be pivoted as a whole with the surgical microscope 2 attached thereto about the vertical axis of rotation. The first holding arm 3 is via a second
    Rotary joint 8, which has a horizontally arranged axis of rotation, connected to a second support arm 4, which is designed in this embodiment as a parallelogram construction. The parallelogram construction comprises a third pivot joint 9, a fourth pivot joint 10 and a fifth pivot joint 11, the axes of rotation of which are arranged parallel to the axis of rotation of the second pivot joint 8. The upper arm of the parallelogram construction is designed as a third holding arm 5 and extends beyond the fifth pivot 11. At the other end of the third support arm 5, a front link 6 is arranged via a sixth joint 12, on which in turn the surgical microscope 2 is held by a seventh joint 13. The fifth joint 12 and the sixth joint 13 can be configured with a plurality of degrees of freedom of movement, for example with a plurality of axes of rotation and / or translational degrees of freedom of movement.
    At one, several or all joints of the stand 1 actuators are provided with which a movement of the tripod can be supported or performed. The actuators are explained in this exemplary embodiment by way of example with reference to a first actuator 14 and a second actuator 15. The first actuator 14 is arranged between the first holding arm 3 and the second holding arm 4, so that an actuation of the first actuator 14 causes a rotation of the second holding arm 4 and the further tripod elements arranged thereon as a whole about the axis of rotation 8. The second actuator 15 is disposed within the parallelogram construction of the second support arm 4 so that actuation of the second actuator causes displacement within the parallelogram construction whereby the third support arm 5 is tilted about the fifth hinge 11. Without limiting the generality, other actuators may be provided alternatively or in addition to other joints of the tripod.
    Based on the connection between the first holding arm 3 and the second holding arm 4 shown in Fig. 2, the structure of a swivel joint connection for a medical device according to the invention will be explained in more detail below. Between the holding arms 3, 4, the first actuator 14 is arranged, which is designed in this embodiment as an electric motor. The electric motor 14 comprises a stator 20, which is supported on the first holding arm 3, and a rotor 19 with a shaft 16, which is connected to the second holding arm 4. By means of the electric motor 16, a torque can be generated between the first holding arm 3 and the second holding arm 4.
    The shaft 16 is supported via a first bearing unit 17 and a second bearing unit 18 on the first support arm 3. Shaft 16, first bearing unit 17 and second bearing unit 18 together form the first pivot 8 between the two holding arms. The second support arm 4 is rotatable relative to the first support arm 3 about the longitudinal axis of the shaft 16, so that the first pivot 8 has a rotational degree of freedom of movement.
    The medical device further includes a control unit, which comprises means for measuring a kinematic state in the form of an angle sensor 21, a first controller 22, a second controller 23 and an actuator 24.
    The angle sensor 21 is disposed between the first support arm 3 and the shaft 16 and thus adapted to measure an angle between the first support arm 3 and the second support arm 4. The measured angle can be fed to the first controller 22 and / or the second controller 23 via a signal line 25.
    Optionally, the control unit may comprise means for determining a force generated by the first actuator 14 or a torque generated by the first actuator 14, which are configured in this embodiment as a torque sensor 28. The output signal of the torque sensor 28 can be fed to the first controller 22 and / or to the second controller 23 via a third signal line 29. so that it can be used as an input variable for the control algorithms of the first controller 22 and / or the second controller 23.
    The first controller 22 is designed as a position control. The terms "position control" or "position-controlled" in this context mean that the controller is set up for this purpose. to generate an output signal by comparing one or more measured kinematic variables or quantities derived therefrom with a setpoint value using a control algorithm known from the prior art, which is converted in the actuator into a manipulated variable for the actuator (usually a current) , so that the actuator at least largely maintains a defined position or performs a defined movement, even under the action of external or internal forces.
    Preferably, the first controller 22 includes a control algorithm for active vibration damping, more preferably, the control algorithm of the first controller comprises adjustable parameters with which an attenuation and / or rigidity in the controlled system is adjustable. In a supplementary embodiment, the medical device comprises a tracking system for determining and tracking a kinematic state of the medical-optical device and / or the holding device in space. The determined kinematic state is supplied via a control line to the control unit and serves as a further input variable for the control algorithms of the first controller 22 and / or the second controller 23. The use of a further input variable makes it possible to use control algorithms with improved control accuracy and / or speed ,
    The second controller 23 includes a force control. The terms "force control" or "force-controlled" in this context mean that the controller is set up for this purpose. by comparing one or more measured forces or torques or quantities derived therefrom with a setpoint value using a control algorithm known from the prior art to generate an output signal which is converted in the actuator to a manipulated variable for the actuator (usually a current) is, so that the actuator a defined force or a defined moment on the components between which it is arranged exercises. Alternatively, the output signal can also be determined from stored control curves as a function of a measured kinematic state (for example, translational or rotational position, speed and / or acceleration), similar to that disclosed in DE 10 2004 063 606.
    The controller 22, 23 can in a conventional manner as a classic linear controller, for example as a PID controller, or as a state controller, fuzzy controller, adaptive controller, self-learning controller or otherwise with a central, decentralized or cascaded Controller architecture be constructed.
    In the present embodiment, the first controller 22 and the second controller 23 are connected via a further signal line 26 to a release unit 27, via which a user as explained in more detail below, optionally a relative movement between the first arm 3 and the second arm 4 can release or suppress. The release unit can be designed, for example, as a hand switch, mouth switch, foot switch, touch screen, voice control or gesture control.
    The actuator 24 includes power electronics, with the aid of which the output signals of the first controller 22 are converted into a first manipulated variable and the output signals of the second controller 23 in a second manipulated variable, in this embodiment, streams for the first actuator 14. The manipulated variables are supplied to the first actuator 14 via a power line 29. Without limiting the generality, the actuator 24 may also include different power electronics for the first controller 22 and the second controller 23.
    A method for operating the medical device will be described below with reference to FIG. 3. In operation, it is continuously checked whether the release unit 27 has been activated by a user. When the enable unit 27 is activated, the second controller 23 is used for force-controlled actuation of the actuator. In this mode of operation, the surgical microscope 2 can be moved in space by a user by applying a defined force. The second controller 23 may be designed such that load moments at standstill in some, several or all positions of the holding device 1 in the working space are at least approximately completely compensated by the actuator 14, 15 or the actuators of the holding device. In this way, the surgical microscope 2 can be spent by a user almost free of force from one position to another position in the working space. Here, the working space is to be understood as meaning the sum of the positions that the surgical microscope 2 can assume taking into account the kinematic constraints imposed by the holding device 1.
    When the release unit 27 is deactivated, however, the first controller 22 for position-controlled activation of the actuator 14, 15 is used. In this mode of operation, the surgical microscope 2 is held by the actuator 14, 15 at least almost constant at a position and / or in alignment in the working space, even under the action of an external or internal force. External or internal forces may arise in operation, for example, when a user (unintentionally) pushes against the device or is supported on the device, or through transmission of ground vibrations or vibrations of mounted auxiliary equipment (pumps, fans or the like).
    Particularly preferably, the first controller 22 and the second controller 23 are adapted to one another such that a force generated by the first actuator 14 or a moment is maintained at least almost without jump in a change between the two controllers. In other words, a force generated by the first actuator 14 immediately before the change as a result of activation with one of the two regulators should be less than 10%, preferably less than 5%, more preferably less than 1% of that of the first Actuator 14 immediately after the change as a result of the control with the other controller generated force distinguish. This ensures that there is no unwanted, sudden movement of the holding device 1 and the operating microscope 2 arranged thereon during a change.
    FIG. 4 shows a variation of the method for operating the medical device. The method differs from that shown in FIG. 3 essentially in that when changing from a force control to a position control, a transitional control is activated. The transitional control is particularly important if the release unit 27 is deactivated during a movement of the surgical microscope 2, that is, when deactivated during the movement of the second controller 23 and the first controller 22 is activated and so switched from a force control to a position control. In this case, the transitional regulation regulates the deceleration of the holding device 1 until it comes to a standstill. In one embodiment, the transitional control for this purpose is designed so that the holding device 1 and attached surgical microscope 2 comes to a standstill as quickly as possible without overshoot. As a result, the system does not stop at the position where the release unit 27 has been deactivated, but also little or no vibration occurs during the decelerating operation. In an alternative or supplementary embodiment, the transitional control is designed so that the holding device 1 and / or the surgical microscope 2 are moved to the position in which they were in the deactivation of the release unit 27. An overshoot of the position is accepted in this embodiment. After the change to a position control, the release unit 27 is subsequently continuously monitored and switched over again to a force-controlled activation of the first actuator 14 upon renewed activation.
    FIG. 5 shows a further exemplary embodiment of a medical device according to the invention. Equivalent components are provided with the same reference numerals as in Fig. 1. Of the embodiment according to FIG. 1, the embodiment according to FIG. 5 differs in that means for compensating a static load torque are provided on the holding device 1, which in this embodiment as counterweights 30 from
    权利要求:
    Claims (9)
    [1]
    are guided. With the counterweights it is possible to compensate for any or all of the static load moments that occur, so that a balance of the holding device at standstill is supported. As a result, the first actuator 14 and the second actuator 15 are relieved, since at most only a portion of the required torques for holding the holding device must be applied in an equilibrium position of the actuators. The actuators 14,15 can therefore be made smaller. In an alternative or additional embodiment, the means for balancing a static load torque may also comprise force elements, for example springs, pneumatic devices or other actuators, with which forces or moments can be exerted between the support arms, so that a state of equilibrium of the medical device is supported. Optionally, as shown in FIG. 2, the medical device may include a brake 31 disposed between the shaft 16 and the first support arm 3. The brake 31 is connected via a drifte control line 32 to the control unit. Limit values for forces or moments applied by the actuator or the actuators 14, 15 or for measured forces or moments are stored in a memory of the control unit. If a limit value is exceeded, the brake 31 is activated, so that a relative movement between the first holding arm 3 and the second holding arm 4 is at least braked, preferably even suppressed. This is a safety mechanism available through which the risk of overloading the actuators 14, 15, the support arms 3, 4 or other parts of the medical device due to, for example, unusually strong acting external forces. Operating errors or control errors is reduced. The brake 31 is preferably dimensioned so that a relative movement between the support arms 3, 4, even with concern of the maximum torque, which can be generated by the first actuator 14, can be effectively suppressed. The invention has been described in the embodiments essentially based on the first actuator 14 between the first support arm 3 and the second support arm 4. Without limitation of generality, other actuators may be provided between other support arms and / or between the driver 6 and the surgical microscope 2, with which forces or moments can be generated in the direction of one or more of the given by the corresponding articulation movement degrees of freedom, and the corresponding Control units can be controlled. The invention is not limited to the illustrated configurations of the holding devices but also applicable to differently constructed holding devices with different numbers of degrees of freedom of movement. Retaining devices of a medical device according to the invention may generally comprise both translational and rotational single or multi-valued articulated connections between the holding arms, on which adapted actuators for generating a longitudinal force and / or a torque are arranged. Actuators can be designed, for example, electrically as DC motors, DCBL motors, stepper motors, piezo actuators or traveling wave motors. Alternatively, actuators may also be pneumatic cylinder drives, diaphragm drives or so-called pneumatic muscles. Again alternatively or additionally, it is also conceivable to use hydraulic cylinder drives, gear machines, wing machines or piston machines as actuators. The medical device according to the invention and the method according to the invention for operation are characterized by the fact that it is possible, on the one hand, to spend a medical-optical device, by applying a defined force or almost without force, from one position in the working space to another position in the working space and, on the other hand, to keep the medical-optic device safe and controlled in a given position and / or orientation in space as needed. The equipment of the control unit with a position controller and a force regulator also makes it possible to dispense with the use of brakes during operation of the medical device. The use of brakes to fix the medical-optical device has a number of disadvantages. Brakes, which are sufficiently large to hold the holding device in different positions in the workspace safely, are usually large, heavy and expensive. The brake pad and / or the connection of the brake to the holding device often has a certain flexibility, are favored by the vibrations of the tripod, which may need to be attenuated by additional dampers. In addition, friction brakes can occur during braking of the holding device from a movement, which can reduce the braking effect and can lead to contamination of the system and in the worst case of the surgical field. All of these disadvantages can be overcome with the medical device according to the invention. claims
    1. A medical device, comprising - a medical-optical device (2), - a holding device (1) with at least two holding arms (3, 4, 5, 6) via a joint (8, 9, 10, 11, 12 ) are movably connected to each other with at least one degree of freedom of movement, and with an actuator (14, 15). which is connected to the two holding arms (3, 4, 5, 6) such that a force between the two holding arms (3, 4, 5, 6) can be exerted in the direction of freedom of movement via the actuator (14, 15), and a control unit which comprises a first controller (22) for outputting a first control signal to the actuator (14, 15) via an actuator (24), the medical-optical apparatus (2) being mounted on the holding device (1), characterized in that the control unit comprises means (21) for measuring a kinematic state at the joint and a second controller (23) for outputting a second control signal via the actuator (24) to the actuator (14, 15), and in that the control unit is set to be in a first operating state and in a second operating state displaceable, wherein in the first operating state, the actuator (14, 15) via the first controller (22) and the actuator (24) in dependence on the at the joint (8 , 9, 10, 11, 12) measured kinemat is controlled such a position-controlled state. a relative position between the two retaining arms (3, 4, 5, 6) is maintained at least largely independently of external or internal influences on the holding device (1) or the medical-optical device (2), and wherein in the second operating state the actuator (14, 15) via the second controller (23) and the actuator (24) is controlled in such a controlled manner that a relative movement between the two holding arms (3, 4, 5, 6) is possible.
    [2]
    2. A medical device according to claim 1, characterized in that the control unit is adapted, in the second operating state, the actuator (14, 15) via the second controller (23) in dependence on a at the joint (8, 9, 10, 11 , 12) to control the measured kinematic state.
    [3]
    3. A medical device according to one of claims 1 or 2, characterized in that the control unit comprises means (28) for detecting a force generated by the actuator (14,15), and that the control unit is arranged such that in the second operating state the actuator (14, 15) is controlled via the second controller (23) as a function of the measured force.
    [4]
    A medical device according to any one of the preceding claims, characterized in that the medical device comprises a user-operable release unit (27) arranged to actuate the release unit (27) to change the control unit from the first operating state causes the second operating state or vice versa.
    [5]
    A medical device according to claim 3 or claim 4 when dependent on claim 3, characterized in that the medical device comprises means (31) for blocking relative movement between the two retaining arms (3, 4, 5, 6), and in that Control unit is set up. when a limit value for the force generated by the actuator (14, 15) is exceeded, to cause a blocking of the relative movement.
    [6]
    6. A method for operating a medical device according to one of claims 1 to 3, comprising the steps of: - placing the control unit in the first operating state, in which a kinematic state is measured at the joint and the actuator (14, 15) via the first controller (22) and the actuator (24) is controlled position-controlled as a function of the measured kinematic state, so that a relative position between the two holding arms (3, 4, 5, 6) is at least largely maintained; and -switching the operating state of the control unit in the second operating state, in which the actuator (14,15) via the second controller (23) and the actuator (24) is controlled by force, so that a relative movement between the two support arms (3, 4, 5, 6) is possible.
    [7]
    7. The method according to claim 6, characterized in that the change between the operating states by actuation of a release unit (27) is initiated.
    [8]
    8. The method according to any one of claims 6 or 7, characterized in that the first controller (22) and the second controller (23) are adapted to each other, that without the action of external forces in the second operating state immediately after the change one of the actuator ( 14, 15) is differentiated by less than 10% from a force delivered in the first operating state immediately before the change from the actuator (14, 15).
    [9]
    9. Method according to one of claims 6 to 8, characterized in that a force generated by the actuator (14, 15) is measured, and when a limit value is exceeded, means (31) for blocking a relative movement between the two holding arms (3, 4 , 5, 6) are activated, by which the relative movement is braked and / or suppressed.
    类似技术:
    公开号 | 公开日 | 专利标题
    DE102004063606B4|2015-10-22|Holding device, in particular for a medical-optical instrument, with a device for active vibration damping
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    同族专利:
    公开号 | 公开日
    CH711874B1|2020-06-30|
    US10092368B2|2018-10-09|
    US20170165026A1|2017-06-15|
    DE102015225183A1|2017-06-22|
    JP2017109303A|2017-06-22|
    JP6789790B2|2020-11-25|
    引用文献:
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    法律状态:
    优先权:
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