• 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 stand (10), in particular for holding a medical-optical device (26), for example a surgical microscope, with a first stand part (12) and with a pivotably connected to the first stand part (12) by means of a swivel joint (16) second stand part (14), which can be moved about an axis of rotation (18) relative to the first stand part (12), with a drive unit (54) supported on the first stand part (12) and coupled to the second stand part (14) Drive member (56), and with a control device which has a controller assembly connected to the drive unit (54) for setting a drive torque provided by the drive member (56) of the drive unit (54). According to the invention, the control device contains a torque sensor (76) for detecting a torque acting on the second stand part (14) and a control signal module connected to the controller assembly, which generates a control signal fed to the controller assembly from the torque detected by the torque sensor (76) and a drive torque setpoint transmitted to the control signal assembly for setting the drive torque provided by the drive element (56) of the drive unit (54).
    公开号:CH712020B1
    申请号:CH01661/16
    申请日:2016-12-14
    公开日:2020-11-13
    发明作者:Voigt Christian；Hanel Christine；Litsch Dominik
    申请人:Zeiss Carl Meditec Ag；
    IPC主号:
    专利说明:

    The invention relates to a stand, in particular for receiving a medical device, for example a surgical microscope, with a first stand part and with a second stand part rotatably connected to the first stand part by means of a swivel joint, which are moved about an axis of rotation relative to the first stand part can, with a drive unit supported on the first stand part, which has a drive element coupled to the second stand part, and with a control device which has a controller assembly connected to the drive unit for setting a drive torque provided with the drive element of the drive unit. The invention also relates to a method for setting a state of equilibrium in such a tripod.
    Such a stand and such a method is known from DE 10 2004 008 381 B4. To compensate for load moments in a swivel joint of the stand, there are drive units in the form of electric motors that are controlled according to the rotational position of the swivel joints detected by sensors.
    The possibility of a largely force-free relocation of medical devices with a tripod is of particular interest for surgical operations in which a surgeon has to perform fine motor movements with his hands. With such tripods, counterweights and / or elastic energy stores are also widely used for setting states of equilibrium.
    In addition, tripods with multiple axes of rotation and servo drives for moving medical-optical equipment are known (DE 42 02 922 A1).
    The object of the invention is to provide a tripod with at least one swivel joint which can also be adjusted largely free of force by an operator by moving his hands, even if heavy devices are added to the tripod.
    [0006] This object is achieved by the stand specified in claim 1 and the method specified in claim 15. Advantageous embodiments of the invention are specified in the dependent claims.
    The invention is based on the idea that by setting suitable drive torques by means of a drive unit which is assigned to a swivel joint in a tripod, torques occurring around the axis of rotation of the swivel joint can be exactly compensated for by the drive unit precisely for the torque compensation the axis of rotation of the swivel joint provides the required drive torque.
    A swivel joint is understood to mean a joint in a tripod which connects a first tripod part to a second tripod part and which enables a rotary movement of the first tripod part relative to the second tripod part about an axis of rotation and a certain angle of rotation φ. This angle of rotation φ can be different from the value φ = 360 °. The axis of rotation of the swivel joint in a tripod according to the invention can in particular be a pivot axis or a tilt axis about which the first tripod part can be pivoted or tilted relative to the second tripod part in the swivel joint.
    According to the invention it is proposed that the control device in the tripod contains a torque sensor for detecting a moment MI acting on the second tripod part, d. H. of a moment that is introduced into the second stand part, and that the control device has a control signal module connected to the controller module, which is derived from the torque MI detected by the torque sensor and a drive torque setpoint MSein the controller module for setting the control signal MC supplied to the drive element of the drive unit generated drive torque provided. The control signal MC generated by the control signal module can be a difference signal MC = MS-MI formed from the torque MI detected by means of the torque sensor and the drive torque setpoint MS supplied to the control signal module.
    The control device preferably contains an assembly for the drive torque setpoint determination from the movement signal supplied to the assembly for a rotational movement of the second tripod part about the axis of rotation from the group of rotation angle φ and / or rotation angle change and / or rotation angle acceleration The assembly can in particular a computer unit with for the drive torque setpoint determination a computer program stored therein for calculating the drive torque setpoint MS from the movement signal. The drive unit can, for. B. be designed as an electric motor.
    Since the output of the drive unit and the second tripod part are coupled by means of a gear, it is possible to translate or reduce the torques provided by the drive unit. The transmission can in particular contain a transmission assembly with a coupling transmission connected to the second stand part. A coupling gear is understood to mean a gear that a rotary movement of a gear element that is rotatably coupled to the drive unit, by means of a coupling z. B. converts in the form of a drive rod or a connecting rod into a straight or oscillating movement transmitted to the second stand part.
    By the transmission comprises a connected to the output reduction gear which z. B. is designed as a harmonic drive transmission, it can be achieved that only small torques have to be generated with the drive unit for moving heavy assemblies.
    The inventors have found that, not least, the transmission friction in step-up and step-down gears is a reason why the moments provided by a drive unit for the compensation of a moment acting on a tripod part about an axis of rotation of a swivel joint do not allow precise torque compensation without the Gear friction is determined as a function of the load or a moment introduced into a stand part that needs to be compensated is measured.
    By using the torque MI detected by the torque sensor, which is introduced into the second stand part, in particular via the drive element, and a drive torque setpoint MSein the controller assembly supplied to the control signal MC for setting the drive torque provided by the drive element of the drive unit is generated With compensation of transmission friction, the force-free movement of the second stand part relative to the first stand part without an additional control device such as, for example reach a joystick. This measure also enables balancing and / or load weights to be changed on the first stand part and / or the second stand part without affecting the force-free adjustability of the first stand part relative to the second stand part due to the fact that the drive unit of the drive unit provides appropriate drive torque. In particular, in order to provide the appropriate drive torque for the torque compensation, it is not necessary that control cams for the drive unit have to be determined for force-free movement of the first stand part relative to the second stand part, as is described in DE 10 2004 008 381 B4.
    In order to determine the moment introduced into the second stand part, the torque sensor preferably determines the moment introduced into the output of the transmission connected to the second stand part.
    A tripod according to the invention can also have a tripod brake for optionally releasing and preventing a movement of the first tripod part relative to the second tripod part about the axis of rotation of the swivel joint. Since the stand has a counterweight and / or an elastically deformable energy store for at least partially balancing a load torque introduced into the second stand part about the axis of rotation, it is possible to use drive units in the stand whose power is low and which only generate small drive torques .
    A tripod according to the invention can also contain several swivel joints connecting a first tripod part to a second tripod part with a drive unit assigned to the respective swivel joint, which is supported on the first tripod part and which has an output coupled to the second tripod part. In the stand there is then a control device in which there is a control loop for each drive unit assigned to a swivel joint with a torque sensor for detecting a torque introduced into the second stand part and a control signal module connected to the controller module, which is derived from the torque detected by the torque sensor and a drive torque setpoint transmitted to the control signal assembly generates a control signal fed to the controller assembly for setting the drive torque provided by the drive element of the drive assembly. The control device for each drive unit assigned to a swivel joint then contains an assembly for determining the drive torque setpoint, which for determining the drive torque setpoint is a movement signal from the group of rotation angle <p and / or change in angle of rotation detected at least for the rotational movement of a second stand part about the axis of rotation of the swivel joint / or angle of rotation acceleration taken into account. By having at least one module for determining the drive torque setpoint in a control loop for determining the drive torque setpoint, here also a movement signal recorded for the rotational movement of a further second stand part about the axis of rotation of a further swivel joint or several movement signals recorded for the rotational movement of further second stand parts about the axis of rotation of further swivel joints from the Group angle of rotation φ and / or change in angle of rotation and / or angle of rotation acceleration, it is possible to use the drive units assigned to the swivel joints to set a state of equilibrium not only for individual axes of rotation of the tripod but also for the tripod as a whole, in which the tripod can be moved without force by an operator can.
    In particular, it is an idea of the invention that the first stand part is designed as a base that receives the second stand part. The second tripod part is then a holding arm. In this case, a pivotable support arm is preferably connected to the first stand part to accommodate the medical device. A link is provided which is hinged to the support arm and forms a parallel linkage with the support arm and a further link connected to the first stand part and pivotably displaceable about the first axis of rotation, as well as the holding arm. A further drive unit supported on the base can be provided here, which has an output coupled to the displaceable further link, and a further control device which has a controller assembly connected to the further drive unit for setting an output torque provided at the output of the drive unit. The control device then contains a torque sensor for detecting a torque MI acting on the further link and has a control signal module connected to the controller module, which uses the torque MI detected by the torque sensor and a drive torque setpoint MSein the controller module to set the control signal MC supplied to the drive of the Drive unit provided output torque generated.
    According to the method according to the invention for moving a medical device recorded on a tripod with a plurality of first and second tripod parts articulated to one another in pairs by a swivel joint with an axis of rotation, a moment acting on a second tripod part, d. H. a moment MIerfasst introduced into the second stand part, which is assigned to a swivel joint connecting the second stand part to a first stand part. A control signal MC for setting the drive torque provided by means of the drive element is then generated from the detected torque MI and a drive torque setpoint MS.
    [0020] Advantageous embodiments of the invention are shown schematically in the drawings and are described below.
    [0021] The figures show: FIG. 1 a first stand for holding a medical device in the form of a surgical microscope; 2 shows a drive unit with a drive unit in the stand; 3 shows an assembly diagram for the drive unit; 4 shows a control device for the drive unit; 5 shows an assembly diagram for an alternative drive unit; 6 shows an assembly diagram for a further, alternative drive unit; 7 shows a second stand for receiving a medical device; 8 shows a third stand for holding a medical device in the form of a surgical microscope; and FIG. 9 shows a fourth stand for holding a medical device.
    The stand 10 shown in FIG. 1 has a first stand part 12 in the form of a base on which a second stand part 14, designed as a holding arm, is pivotably mounted in a swivel joint 16 with a horizontal axis of rotation 18. On the second stand part 14, which is designed as a holding arm, a support arm 22 is fastened in a swivel joint 20 such that it can pivot and can be pivoted about a horizontal axis of rotation 24 there. The support arm 22 carries a medical-optical device 26 on a front link 28. The support arm 22 of the stand 10 is articulated to a vertical link 30 which is parallel to the second stand part 14, which is designed as a holding arm and to which a further link 32 is articulated is rotatably mounted on the first stand part 12 about the horizontal axis of rotation 18. The further link 32 can therefore be moved about the horizontal axis of rotation 18 of the swivel joint 16 for the second stand part 14 on the first stand part 12. The second stand part 14, the support arm 22, the link 30 parallel to the second stand part 14 and the further link 32 form a parallel linkage 34 which contains a swivel joint with the axis of rotation 36 and a swivel joint with the axis of rotation 38.
    The first stand part 12 of the stand 10 is arranged in a swivel joint 40, which has a vertical axis of rotation 42, on a transport unit 44 which has transport rollers 46. On the transport unit 44, the first stand part 12 with the parallel linkage 34 and the medical-optical device 26 received thereon, for. B. be moved in an operating room in a hospital.
    The stand 10 contains a first drive unit 48 with a drive unit supported on the first stand part 12 in the form of an electric motor, which has an output coupled to the second stand part 14. In the stand 10 there is a further drive unit 48 ′ with a drive unit likewise supported on the first stand part 12. This drive unit is also an electric motor and has an output coupled to the further link 32. The first drive unit 48 and the further drive unit 48 'each contain a stand brake. The stand brake of the drive unit 48 serves to selectively release and prevent a rotary movement of the further stand part 14 relative to the first stand part 12 about the axis of rotation 18. With the stand brake of the drive unit 48 ', it is possible to selectively release and block a rotary movement of the further link 32 relative to the first stand part 12 about the axis of rotation 18.
    The drive units 48, 48 'of the stand 10 allow force-free movement of the support arm 22 with the medical-optical device 26 received thereon around the horizontal axis of rotation 24 and the horizontal axis of rotation 18. For controlling the stand brakes in the drive units 48, 48 There are two handles 50 with operating elements 52 on the medical-optical device 26.
    Fig. 2 shows the drive unit 48 as a section. 3 is an assembly diagram of the drive unit 48. The drive unit 54, designed as an electric motor, has a rotor 58 connected in a rotationally fixed manner to a drive element 56 designed as a drive shaft, and contains a stator 62 fixed to the first stand part 12 via the housing 60 of the drive unit 48 The drive member 56 is rotatably supported in the drive unit 48 in a first pivot bearing 64 and a further pivot bearing 66. The drive unit 48 has an output 68 which is connected to the second stand part 14 in a rotationally fixed manner and which is coupled to the drive member 56 by means of a reduction gear 70 designed as a harmonic drive gear. The drive unit 48 contains a tripod brake 72 supported on the housing 60, with which a rotary movement of the drive member 56 about the axis of rotation 74 can optionally be released and blocked. In the drive unit 48 there is a torque sensor 76 integrated in the housing 60 of the drive unit 48, which is connected to the reduction gear 70 and the housing 60 of the drive unit 48 in order to in particular transmit the torque from the drive member 56 through the reduction gear 70 and the output 68 in to detect the second stand part 14 with respect to the axis of rotation 18 introduced moment in the form of a torque. The further drive unit 48 ′ has a structure corresponding to the design of the drive unit 48. With the torque sensor of the drive unit 48, it is possible to determine a torque introduced into the further link 32 in relation to the axis of rotation 18, which torque is applied to the output of the reduction gear 70.
    4 shows the control device 78 for controlling the drive unit 48 in the stand 10. For controlling the drive unit 48 'there is a further control device in the stand which has a structure corresponding to the design of the control device 78.
    The control device 78 contains a controller assembly 80 connected to the drive unit 54 for setting the motor current on the basis of a control signal MC supplied to the controller assembly 80 at an input. In the control device 78 there is a control signal module 82 and a module for determining the drive torque setpoint value 84. To this end, the control signal module 82 forms a drive torque setpoint value MS supplied to the control signal module 82 and detected by the torque sensor 76 and one of the control signal module 82 from the module for determining the drive torque setpoint value 84 Control signal MC. The control signal MC is a difference signal from the sensor signal MI and the drive torque setpoint MS. The controller assembly 80 is connected to a drive unit controller 86, which contains power electronics assemblies for controlling the drive unit 54. The control device 78 comprises an acceleration sensor 88 which, as a movement signal, determines the angular acceleration of the second stand part 14 with respect to the axis of rotation 18. The assembly for determining the drive torque setpoint 84 has a computer unit 90 and contains a data memory 92. From the signal from the acceleration sensor 88, an angular position of the second tripod part 14 in relation to the first tripod part 12 is obtained in the assembly for the drive torque setpoint determination 84 by means of integration over a defined time interval certainly. Using a table stored in the data memory 92 with empirical data on drive torque setpoints MS for a defined position of the second tripod part 14 in relation to the first tripod part 12 about the axis of rotation 18, a drive torque setpoint MS is then determined using this table and the movement signal with a computer program in the computer unit 90 and output to the control signal assembly 82.
    In the control device 78, the control signal assembly 82, the controller assembly 80, the drive unit control 86, the drive unit 54 and the torque sensor 76 form a control circuit 94, to which a drive torque target value MS is supplied from the assembly for the drive torque target value determination 84 and which is supplied to the drive member 56 of the Drive unit 54 provides a drive torque MI introduced into the second stand part 14.
    The control device 78 for controlling the drive unit 48 in the stand 10 and the corresponding control device for controlling the further drive unit enables the medical-optical device 26 to be moved essentially free of force when the stand brakes 72 are open by adjusting the parallel linkage 34 because the drive units 48, 48 ′ compensate for the load torques occurring in the axes of rotation of the stand 10. It should be noted that an angle sensor can also be provided for determining the angular position of the second stand part 14 in relation to the first stand part 12 in the stand 10, or a sensor for detecting the angular speed of the movement of the second stand part 14 about the axis of rotation 18 the first tripod part 12.
    5 is an assembly diagram of a drive unit 48 "functionally corresponding to the drive unit 48 and having an alternative structure. Corresponding assemblies of the drive unit 48 and the drive unit 48" have the same reference numerals in FIG. 3 and in FIG . The torque sensor 76 is connected to the first stand part 12 and the drive unit 54 in order to use the torque MI introduced by the drive member 56 through the reduction gear 70 and the output 68 into the second stand part 14 with respect to the axis of rotation 18 and another, the second stand part 14 to capture acting moments.
    6 is an assembly diagram of a further drive unit 48 '"functionally corresponding to the drive unit 48 and having an alternative structure. Corresponding assemblies of the drive unit 48 and the drive unit 48'" have in FIG. 3 and in FIG 6 have the same reference numerals. The torque sensor 76 is arranged here between the reduction gear 70 and the output 68 in order to detect a torque MI introduced into the second stand part 14 with respect to the axis of rotation 18.
    7 shows a second stand 10 'with a medical-optical device 26 received thereon and with several swivel joints 16 <(n)>, 16 <(n-1)>, ..., 16 <(1 )> with axes of rotation 18 <(n)>, 18 <(n-1)>, ..., 18 <(1)>, each of which has a first stand part 12 <(n)>, 12 <(n-1) >, ..., 12 <(1)> with a second stand part 14 <(n)>, 14 <(n-1)>, ..., 14 <(1)>. Each of the swivel joints 16 <(n)>, 16 <(n-1)>, ..., 16 <(1)> is here a drive unit 48 <(n)>, 48 <(n-1)> , ..., 48 <(1)> and in each case a control loop 94 <(n)>, 94 <(n-1)>, ..., 94 <(1)> with a moment sensor 76 for detecting the in the second stand part 14 <(n)>, 14 <(n-1)>, ..., 14 <(1)>, in particular the moment introduced via the respective drive element 56, each of which is assigned to a control loop 94 shown in FIG has the appropriate structure. In the stand 10 ', each of the swivel joints 16 <(n)>, 16 <(n-1)>, ..., 16 <(1)> has a position transmitter or encoder which determines the current angular position φ <(n )>, φ <(n-1)>, ..., φ <(1)> of the swivel joint 16 <(n)>, 16 <(n-1)>, ..., 16 <(1)> indicates. The stand 10 'contains a control device 78 with an assembly for the drive torque setpoint determination 84, which based the drive torque setpoint for each drive unit 48 <(n)>, 48 <(n-1)>, ..., 48 <(1)> the position of the swivel joints 16 <(n)>, 16 <(n-1)>, ..., 16 <(1)> and their arrangement from one or more corresponding angular positions φ <(n)>, φ <(n -1)>, ..., φ <(1)> of the swivel joints 16 <(n)>, 16 <(n-1)>, ..., 16 <(1)>.
    8 shows a third stand 10 "for receiving a medical device 120 designed as a surgical microscope. As far as the assemblies of the stand shown in FIG. 1 correspond to the assemblies of the stand 10", these are given the same numbers as Reference signs identified. The tripod 10 ″ has a first tripod part 12 designed as a base, to which a holding arm with a swivel joint 16 is connected as a second tripod part 14. The second tripod part 14, designed as a holding arm, can be moved in the swivel joint 16 about a horizontal axis of rotation 18 On the second stand part 14, designed as a holding arm, a support arm 22 is pivotably attached in a swivel joint 20 and can there be pivoted about a horizontal axis of rotation 24. The support arm 22 carries the medical-optical device 26 on a front link 28. The front link 28 is Connected via a compensating arm 96 to a crank arm 98 which is rotatably mounted on the second stand part 14 in a swivel joint with the axis of rotation 24. This crank arm 98 is in a swivel joint by means of a further arm 100 articulated to the crank arm 98 on the first stand part 12 102. Torques introduced into the front link 28 are in this way e transferred to the crank arm 98 and introduced into the first stand part 12.
    The support arm 22 of the stand 10 ″ is articulated to a vertical link 30 parallel to the second stand part 14, which is designed as a holding arm, and to which a further link 32 is articulated, which is rotatable on the first stand part 12 about the horizontal axis of rotation 18 The further link 32 can thus be moved about the horizontal axis of rotation 18 of the swivel joint 16 for the second stand part 14 on the first stand part 12. The second stand part 14, the support arm 22, the handlebar 30 parallel to the second stand part 14 and the further links 32 form a parallel linkage 34 which contains a further swivel joint with the axis of rotation 36 and a further swivel joint with the axis of rotation 38. For at least partial compensation of the load torque DL, DL 'generated by the load of the medical-optical device 26 and the mass of the parallel linkage 34 and the links 28, 96, 98, 100 is caused about the axis of rotation 18, there is a holder in the stand 10 ″ on the one hand gan 104 and a further holding member 104 'with an elastically deformable energy store 140 and on the other hand a drive unit 48 and a further drive unit 48'.
    The holding member 104 and the further holding member 104 'each have a first holding member 106 and a second holding member 108 that is linearly movable relative to the first holding member 106. The first holding member 106 of the holding member 104 and the further holding member 104' is each on a holding part 110 of the first stand part 12 is received in a pivot bearing 112, 112 ′ and can be moved there about a horizontal axis of rotation 114, 114 ′ relative to the first stand part 12. The second holding element 108 is connected to a connection part 116 firmly connected to the second stand part or to a connection part 116 ′ firmly connected to the further link 32 and held there in a pivot bearing with a pivot axis 118, 118 ′. The second holding element 108 is designed as a rod body. It has a section 136 facing the respective connection part 116, 116 'and a section 138 facing away from the respective connection part 116, 116'. The holding member 104, 104 'each contains an elastically deformable energy store 140. The elastically deformable energy store 140 is preferably one as one Compression spring formed spring.
    The second holding member 108 of the holding member 104 has a connection point 142 for connection to the connection part 116 of the second stand part 14, which when the second stand part 14 is pivoted about the first axis of rotation 18, on an imaginary circular line 144 about the axis of rotation 18 describes lying trajectory 146. The imaginary circular line 144 has, with a straight line 148 perpendicularly intersecting the first axis of rotation 18 and the further axis of rotation 114, an intersection point 150 which lies between the first axis of rotation 118 and the further axis of rotation 114. The second holding member 108 of the further holding member 104 'has a connection point 142' for connection to the connection part 116 'of the further link 32, which when the further link 32 is pivoted about the first axis of rotation 18 on an imaginary circular line 144' around the Rotation axis 18 lying trajectory 146 'describes. The imaginary circular line 144 'has, with a straight line 148' perpendicularly intersecting the first axis of rotation 18 and the further axis of rotation 114 ', a common point of intersection 150' which lies between the first axis of rotation 118 and the further axis of rotation 114 '.
    The drive unit 48 in the stand 10 "contains a supported on the first stand part 12 and rotatably coupled to the second stand part 14 drive unit for moving the second stand part 14 about the axis of rotation 18 of the swivel 16. The drive unit 48 'has a first stand part 12 supported drive unit, which is rotatably coupled via a coupling gear 154 with the links 156, 158 forming a link chain with the further link 32. The drive unit 48 and the drive unit 48 'each have a above with reference to FIGS For controlling the drive units 48, 48 ', the stand 10 ″ each contains a control device which has a structure described above with reference to FIG. The drive units 48, 48 'make it possible that a load torque about the axis of rotation 36, 38 that is only partially balanced by the holding members 104, 104' with the elastically deformable energy store 140 can be fully compensated by means of motor power. The tripod 10 ″ can then be moved by the operator with the tripod brakes on the handles 50 free of force, since the operator only has to overcome inertial forces.
    9 shows a fourth stand 10 "'for receiving a medical-optical device 26 designed as a surgical microscope. As far as the assemblies of the stand shown in FIG. 1 correspond to the assemblies of the stand 10"', these are with the same numbers are identified as reference symbols. In the stand 10 '' 'there are balancing weights 152, 152' which partially compensate for a load torque produced by the medical-optical device 26 in the axes of rotation 18, 24. In this way, the drive units in the drive units 48, 48 'Can build comparatively small, since then only correspondingly reduced residual load torques in the axes of rotation 18, 24, 38, 36 of the parallel linkage 34 have to be compensated.
    It should be noted that, as an alternative or in addition to the balancing weights in the tripod, cables and / or chain hoists with balancing weights and torsion springs can be provided in order to generate torques that counteract a load torque in the rotating axes of the tripod.
    In summary, the following preferred features of the invention are to be noted in particular: A stand 10, in particular for receiving a medical-optical device 26, for example a surgical microscope, has a first stand part 12 and contains a pivotably connected to the first stand part 12 by means of a swivel joint 16 second stand part 14, which can be moved about an axis of rotation 18 relative to the first stand part 12. The stand 10 has a drive unit 54 which is supported on the first stand part 12 and which has a drive element 56 coupled to the second stand part 14. The stand 10 contains a control device 78 with a controller assembly 80 connected to the drive unit 54 for setting a drive torque provided by the drive element 56 of the drive unit 54. In the control device 78 there is a moment sensor 76 for detecting a moment MI introduced into the second stand part 14, i. H. a torque MI acting on the second stand part 14 and a control signal assembly 82 connected to the controller assembly 80, which from the torque MI detected by means of the torque sensor 76 and a drive torque setpoint MSin transmitted to the controller assembly 80 for setting the control signal MC supplied to the drive element 56 of the drive assembly 54 Drive torque generated.
    List of reference symbols
    10, 10 ', 10 ", 10"' stand 12 first stand part 12 <(n)>, 12 <(n-1)>, ..., 12 <(1)> first stand part 14 second stand part 14 <(n)>, 14 <(n-1)>, ..., 14 <(1)> second stand part 16, 16 <(n)>, 16 <(n-1)>, ..., 16 <(1)> swivel 18, 18 <(n)>, 18 <(n-1)>, ..., 18 <(1)> axis of rotation 20 swivel joint 22 support arm 24 horizontal axis of rotation 26 medical-optical device 28 front control arm 30; 32 control arm 34 parallel linkage 36, 38 axis of rotation 40 swivel joint 42. axis of rotation 44 transport unit 46 transport roller 48, 48 ', 48 ", 48'" drive unit 48 <(n)>, 48 <(n-1)>, ... , 48 <(1)> Drive unit 50 Handle 52 Control element 54 Drive unit 56 Drive unit 58 Rotor 60 Housing 62 Stator 64, 66 Pivot bearing 68 Output 70 Reduction gear 72 Stand brake 74 Rotary axis 76 Torque sensor 78 Control device 80 Controller assembly 82 Control signal assembly 84 Assembly for determining the drive torque setpoint 86 Drive assembly control 88 Acceleration sensor 90th computer unit 92 data memory 94 control circuit 94 <( n)>, 94 <(n-1)>, .... 94 <(1)> control circuit 96 compensating link 98 crank arm 100 further control arm 102 swivel joint 104 holding element 104 'further holding element 106, 108 holding element 110 holding part 112, 112' pivot bearing 114, 114 'further horizontal axis of rotation 116, 116' connection part 118, 118 'first axis of rotation 120 medical device 136 facing section 138 facing away section 140 energy storage 142, 142' connection point 144, 144 'circular line 146, 146' trajectory 148, 148 'straight line 150 , 150 'Intersection 152, 152' Balance mass / counterweight 154 Coupling gear 156, 158 Link
    权利要求:
    Claims (15)
    [1]
    1. Stand (10), in particular for holding a medical-optical device (26), for example a surgical microscope,with a first stand part (12) and with a second stand part (1,4) rotatably connected to the first stand part (12) by means of a swivel joint (16), which are moved about an axis of rotation (18) relative to the first stand part (12) can,with a drive unit (54) supported on the first stand part (12) and having a drive element (56) coupled to the second stand part (14), andwith a control device (78) which has a controller assembly (80) connected to the drive unit (54) for setting a drive torque provided by the drive element (56) of the drive unit (54),characterized in thatthe control device (78) contains a moment sensor (76) for detecting a moment (MI) acting on the second stand part (14) and a control signal module (82) connected to the controller module (80), which is derived from the moment detected by means of the moment sensor (76) (MI) and a drive torque setpoint (MS) transmitted to the control signal assembly (82) generates a control signal (MC) fed to the controller assembly (80) for setting the drive torque provided by the drive element (56) of the drive assembly (54), the drive torque provided by the control signal assembly ( 82) generated control signal (Mc) is a difference signal (MS-MI) formed from the torque (MI) detected by means of the torque sensor (76) and the drive torque setpoint (MS) fed to the control signal assembly (82).
    [2]
    2. Stand according to claim 1, characterized in that the control device (78) a module (84) for the drive torque setpoint determination from a movement signal detected with an acceleration sensor (88) for a rotational movement of the second stand part (14) about the axis of rotation (18) of the group rotation angle (φ) and / or rotation angle change () and / or rotation angle acceleration (-).
    [3]
    3. Stand according to claim 2, characterized in that the assembly for the drive torque setpoint determination (84) contains a computer unit (90) with a computer program stored therein for calculating the drive torque setpoint (MS) from the movement signal.
    [4]
    4. Stand according to one of claims 1 to 3, characterized in that the drive unit (54) is designed as an electric motor.
    [5]
    5. Stand according to one of claims 1 to 4, characterized in that the output (68) of the drive unit (54) and the second stand part (14) are coupled by means of a gear (70).
    [6]
    6. Stand according to claim 5, characterized in that the gear comprises a reduction gear (70) connected to the output (68).
    [7]
    7. Stand according to claim 6, characterized in that the reduction gear (70) is designed as a voltage wave gear.
    [8]
    8. Stand according to one of claims 4 to 7, characterized in that the transmission contains a transmission assembly with a coupling mechanism (154) connected to the second stand part (14).
    [9]
    9. Stand according to one of claims 4 to 8, characterized in that the torque sensor (76) determines the torque introduced in an output of the transmission (70) connected to the second stand part (14).
    [10]
    10. Stand according to one of claims 1 to 9, characterized by a stand brake (72) for optionally releasing and preventing movement of the first stand part (12) relative to the second stand part (14) about the axis of rotation (18) of the swivel joint (16) and / or a counterweight (152, 152 ') and / or an elastically deformable energy store (140) for at least partially balancing a load moment (ML) introduced into the second stand part (14) about the axis of rotation (18).
    [11]
    11. Stand according to one of claims 1 to 10, characterized byseveral a first tripod part (12 <(n)>, 12 <(n-1)>, ..., 12 <(1)> with a second tripod part (14 <(n)>, 14 <(n-1) >, ..., 14 <(1)>) connecting swivel joints (16 <(n)>, 16 <(n-1)>, ..., 16 <(1)> with a swivel joint (16 < (n)>, 16 <(n-1)>, ..., 16 <(1)>) associated drive unit (54), which is attached to the first stand part (12 <(n)>, 12 <(n-1 )>, ..., 12 <(1)>) and one with the second tripod part (14 <(n)>, 14 <(n-1)>, ..., 14 <(1)> ) has coupled output (68), anda control device (78) which has a control circuit (94 <(n)>, 94 <(n-1)>, ..., 94 <(1)>) for each drive unit (54) assigned to a swivel joint (16) with a moment sensor (76) for detecting a moment acting on the second stand part (14 <(n)>, 14 <(n-1)>, ..., 14 <(1)>) and a moment with the controller assembly (80) The control signal module (82) connected to it contains a control signal supplied to the controller module (80) for setting the control signal provided by the drive element (56) of the drive unit (54) from the torque detected by means of the torque sensor (76) and a drive torque setpoint transmitted to the control signal module (82) Drive torque generated.
    [12]
    12. Stand according to claim 11, characterized in that the control device (78) is assigned to a swivel joint (16 <(n)>, 16 <(n-1)>, ..., 16 <(1)>) for each The drive unit (54) contains an assembly (84 <(n)>, 84 <(n-1)>, ..., 84 <(1)>) for determining the drive torque setpoint, which for determining the drive torque setpoint is at least one for the rotary movement a second stand part (14 <(n)>, 14 <(n-1)>, ..., 14 <(1)>) about the axis of rotation (18 <(n)>, 18 <(n-1)> , ..., 18 <(1)>) of the swivel joint (16 <(n)>, 16 <(n-1)>, ..., 16 <(1)>) detected movement signal from the group rotation angle (φ ) and / or change in angle of rotation () and / or angle of rotation acceleration () taken into account.
    [13]
    13. Stand according to claim 11, characterized in that at least one assembly (84 <(n-1)>, ..., 84 <(1)>) for the drive torque setpoint determination in the control device (78) for determining the drive torque setpoint also one to the rotary movement of a further second tripod part (14 <(n)>, 14 <(n-1)>, ..., 14 <(1)>) about the axis of rotation (18 <(n)>, 18 <( n-1)>, ..., 18 <(1)>) of a further swivel joint (16 <(n)>, 16 <(n-1)>, ..., 16 <(1)>) detected movement signal or several additional tripod parts (14 <(n)>, 14 <(n-1)>, ..., 14 <(1)>) around the axis of rotation (18 <(n)>, 18 <( n-1)>, ..., 18 <(1)>) further swivel joints (16 <(n)>, 16 <(n-1)>, ..., 16 <(1)>) from detected motion signals of the group rotation angle (φ) and / or rotation angle change () and / or rotation angle acceleration () are taken into account.
    [14]
    14. Stand according to one of claims 1 to 13, characterized in that the first stand part (12) is designed as a second stand part (14) receiving base, wherein the second stand part (14) is a holding arm to which one for receiving of the medical-optical device (26) formed support arm (22) is pivotably connected and a handlebar (30) rotatably connected to the support arm (22) is provided, which is connected to the support arm (22) and one to the first stand part (12) and which forms a parallel linkage (34) with the further link (32), which can be pivotably displaced about the first axis of rotation (18) and with the second stand part (14), whereina further drive unit (54) supported on the first stand part (12) is provided which has a drive element (56) coupled to the displaceable further link (32),and a further control device (78) is provided which has a controller assembly (80) connected to the further drive unit (54) for setting a drive torque provided by the drive element (56) of the drive unit (54), the control device (78) having a torque sensor (76) for detecting a torque acting on the further link (32) and a control signal module (82) connected to the controller module (80), which consists of the torque (MI) detected by means of the torque sensor (76) and one of the control signal modules (82) transmitted drive torque setpoint (MS) generates a control signal (MC) fed to the controller assembly (80) for setting the drive torque provided by the drive element (56) of the drive unit (54).
    [15]
    15. A method for moving a medical-optical device (26), for example a surgical microscope, which is mounted on a stand (10) with a plurality of stand parts (12, 14) which are articulated to one another in pairs by a swivel joint (16) with an axis of rotation (18),wherein in the stand (10) a swivel joint (16), which connects a first and a second stand part (12, 14), is assigned a drive unit (54), which is supported on the first stand part (12) and the one with the drive member (56) coupled to the second stand part (14),characterized in thata torque (MI) acting on the second stand part (14) is detected and a control signal (MC) for setting the drive torque provided by means of the drive element (56) is generated from the detected torque (MI) and a drive torque setpoint (MS), wherein the control signal (MC) is a difference signal (MS-MI) formed from the detected torque (MI) and the drive torque setpoint (MS).
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    同族专利:
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    DE102016200214B4|2021-06-10|
    US20170198856A1|2017-07-13|
    JP2021118912A|2021-08-12|
    US10386010B2|2019-08-20|
    JP2017136363A|2017-08-10|
    JP6881983B2|2021-06-02|
    CH712020A2|2017-07-14|
    DE102016200214A1|2017-07-13|
    引用文献:
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    AT315762T|2000-04-25|2006-02-15|Moeller Wedel Gmbh|TRIPOD WITH OPERATING MICROSCOPE|
    DE102004008381B4|2003-06-30|2014-09-25|Carl Zeiss Meditec Ag|Holding device, in particular for a medical-optical instrument, with means for compensating a load torque and a method for setting a state of equilibrium in a holding device|US20200054411A1|2018-08-20|2020-02-20|Mitaka Kohki Co., Ltd.|Surgical microscope apparatus|
    DE102019208287A1|2019-06-06|2020-12-10|Carl Zeiss Meditec Ag|Method for operating a surgical microscopy system and a surgical microscope system|
    US11199289B2|2019-09-18|2021-12-14|Carl Zeiss Meditec Ag|Apparatus, surgical microscopy system, and method for compensating a balancing error in a stand for a surgical microscope|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    DE102016200214.7A|DE102016200214B4|2016-01-11|2016-01-11|Stand and procedure for torque compensation|
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