DE102011050101A1 - Surgical motor control and/or regulation device for use in surgical drive system for controlling surgical drive unit, has stop unit stopping motor such that rotor holds rotational position relative to housing, which defines resting position - Google Patents

Abstract

The device has a sensorless electromotor (68) that comprises a motor housing and a rotor, and a motor stop unit (140) for stopping the electromotor up to rotational speed of zero revolutions per unit time such that the rotor holds a rotational position relative to the motor housing, which defines a resting position. A rotational direction requirement storage unit stores rotation direction requirement before deceleration of the electromotor at the rotational speed of zero revolutions per time unit. The rotor is maintained to be active in the rest position in a holding mode. An independent claim is also included for a method for controlling and/or regulating a surgical drive unit.

Description

The present invention relates to a surgical motor control and / or regulating device for controlling and / or regulating a surgical drive unit with a sensorless electric motor, which comprises a motor housing, a rotor and at least two motor windings, which motor control and / or regulating device is designed for Controlling and / or regulating the drive unit by means of a method for controlling and / or regulating the drive unit.

Furthermore, the present invention comprises a method for controlling and / or regulating a surgical drive unit with a sensorless electric motor comprising a motor housing, a rotor and at least two motor windings.

Furthermore, the present invention relates to a surgical drive system comprising at least one control and / or regulating device and at least one with this connectable and controllable surgical drive unit and / or at least one surgical drive unit comprehensive surgical instrument, wherein the at least one drive unit comprises a sensorless electric motor with a Rotor and at least two motor windings, wherein the control and / or regulating device is designed for controlling and / or regulating the drive unit by means of a method for controlling and / or regulating the drive unit.

A surgical motor control and / or regulating device for controlling and / or regulating a surgical drive unit is known from e.g. DE 10 2009 018 143 A1 known. It is designed for controlling and / or regulating sensorless motors, in particular electronically commutated DC motors. Sensorless here means that no speed sensor is provided on the engine to determine its speed. In the case of sensorless electric motors, this is usually determined by the determination of the back EMF (electric motor force), that is to say via the determination of the induced voltage in a non-energized motor winding.

Without a speed sensor, however, the rotor position of the sensorless electric motor can not be determined directly. Rather, this requires at least one revolution of the rotor. However, since the position, that is, the rotational position of the rotor relative to the motor housing is not known, it may be that at the beginning of the engine does not start in the requested direction of rotation.

It is therefore an object of the present invention to improve a surgical motor control and / or regulating device and a method and a surgical drive system of the type described above so that the electric motor always starts immediately from standstill with the desired direction of rotation.

This object is achieved in a surgical engine control and / or regulating device of the type described above according to the invention that a motor stopping device is provided for stopping the electric motor to a speed of zero revolutions per unit time such that the rotor assumes a rotational position relative to the motor housing which defines a rest position.

To provide the proposed engine stop means makes it possible to bring the rotor of the electric motor in a defined rotational position relative to the motor housing, namely in the rest position. The knowledge of this position then makes it possible in particular to energize the stationary and de-energized electric motor so that it can be set in rotation immediately with the desired direction of rotation. Thus, the electric motor is ready for use faster and does not have to be decelerated once again, if it rotates in the wrong direction when starting, and then restarted in the opposite direction of rotation.

The starting of the electric motor can in particular be further improved if the motor control and / or regulating device comprises a direction of rotation request memory for storing the last direction of rotation request before the braking of the electric motor to the speed of zero revolutions per unit time. If, in addition to the rest position of the rotor, the last direction of rotation request is known, the starting of the electric motor can be effected even more reliably with the desired direction of rotation.

Preferably, the surgical motor control and / or regulating device comprises a home position memory for storing the rest position of the rotor. In particular, the rest position can always be the same rotational position of the rotor relative to the motor housing. However, it can also be a different rotational position of the rotor relative to the motor housing each time. In particular, by providing a rest position memory, it is possible to simply store only that position or rotational position of the rotor, which it occupies immediately after standstill.

It may be favorable if the motor stopping device is designed such that it always stops the rotor in the same rest position. Such a motor stopping device makes it possible to always bring the rotor always in the same rotational position, which then defines the rest position. Just one provide only rest position has the advantage that the start of the electric motor in a particular direction of rotation can always be performed the same.

It is advantageous if the motor control and / or regulating device comprises a holding mode in which the rotor is actively held in the rest position. Providing such a mode has the particular advantage that an inadvertent rotation of the rotor, for example when changing the surgical machining tool that can be coupled to the surgical drive, can be avoided. The motor control and / or regulating device can, for example, hold the rotor by appropriate energization in the rest position. It can also be said that the rotor is parked in the rest position, so that the rest position virtually defines a parking position of the rotor. For example, a mechanical holding or braking device may be provided which engages in the holding mode with the rotor or passes to hold it in the rest position.

Particularly easy, the rotor can be kept in the rest position, when the motor control and / or regulating device comprises a Haltemodusbestromungseinrichtung for energizing the electric motor in the holding mode to keep the rotor, without twisting it, actively in the rest position. With the Haltemodusbestromungseinrichtung so the electric motor can be energized in particular such that an increased torque is required to turn it out of the rest position, which can happen, for example unintentionally in a tool change.

It is advantageous if the motor control and / or regulating device comprises a holding time setting device for specifying a holding time t _Halt , during which the electric motor is energized constantly to keep the rotor in the rest position without twisting it. The holding time setting device has the particular advantage that the electric motor must be energized only for the _hold time t _stop to keep it in the rest position. In this way, an energy requirement for holding the rotor in the rest position, ie for parking the same, can be minimized, as well as engine heating as a result of the energization. The holding time setting device can in particular be designed such that an operator can set the holding time or that the holding time is preset, for example, at the factory.

It is favorable if the holding time setting device can be preset to a _hold time t _hold of a maximum of 20 minutes. Typically, pauses in the operation of a surgical drive, such as during a surgical procedure, are less than 20 minutes, so that the electric motor does not need to be energized for too long at standstill.

According to a further preferred embodiment of the invention, a motor current limiting means for limiting a motor current may be provided to keep the rotor, without twisting it, actively in the rest position, to a maximum of 20% of the nominal value of the electric motor. Preferably, the motor current limiting device limits a motor current to a maximum of 10% of the nominal value of the electric motor. By such a motor current limiting device, the engine heat can be kept as small as possible, so that it is practically not noticeable. Since heating is proportional to the square of the flowing current, for example, with a reduction of the flowing current to 10%, heating can be limited to only 1%.

Furthermore, it may be advantageous if the engine control and / or regulating device comprises a standby mode in which the electric motor is energized at a speed request of zero revolutions per unit time after a rest time t _rest defined as long as the rotor after at least one full revolution to return to the rest position. For example, so the rotor of the electric motor cyclically repeatedly be brought into the rest position. Compared to a permanent current in the hold mode, the engine is less heated. Nevertheless, even after a tool change, it is in a defined position to enable the motor to start up safely and in a defined manner from standstill.

It is advantageous if the motor control and / or regulating device is designed in such a way that in the standby mode the rotor is always transferred again to the rest position. It is thus possible, in particular, to return the rotor cyclically, that is to say regularly or irregularly, to the rest position or its parking position. In other words, this can be done as long as the engine control and / or regulating device is in the standby mode.

Preferably, the engine control and / or regulating device comprises a rotational speed limiting device for limiting a maximum rotational speed of the rotor in the standby mode. In particular, the maximum speed of the rotor in the standby mode can be limited to a maximum of 5 revolutions per minute. Thus, it can be ensured that the rotor rotates or rotates only very slowly, when in standby mode, despite a speed request of zero revolutions per unit time again in the rest position or in this is transferred back. Thus, in particular, it can be avoided that someone can injure himself on a tool coupled to the drive while the rotor is being moved into the rest position.

It is favorable if the engine control and / or regulation device comprises a standby timer for prescribing a standby time t _standby mode. For example, as explained above in connection with the hold mode, the standby time t _standby in which the engine control and / or regulation device is in the standby mode can also be specified.

Preferably, with the standby time setting device, a standby time t _standby of a maximum of 20 minutes can be predetermined. With such a readiness time specification, it is possible to keep a surgical drive, as far as it is required during a surgical procedure, in readiness such that the rotational position of the rotor, ie its rest position or parking position, is very likely known at the time of a speed request to the electric motor is.

It is advantageous if the engine control and / or regulating device comprises a switching device for switching at least once after expiry of the standby time t _readiness from the standby mode to the hold mode. This makes it possible, for example, to automatically switch from the standby mode to the hold mode.

It is advantageous if the switching device is designed to switch over at least once after the holding time t has _stopped from the holding mode into the standby mode. For example, it is possible to automatically switch from the hold mode to the standby mode after the hold time has elapsed. For example, the hold time may be 5 minutes and the standby time 15 minutes. This means that the electric motor is kept active for 5 minutes at standstill by appropriate energization in the park position and then cyclically, for example, the rotor in standby mode can always be returned to the parking position.

The object stated in the introduction is further achieved according to the invention in a method of the type described above, that the electric motor is stopped during braking of the electric motor to a speed of zero revolutions per unit time such that the rotor assumes a rotational position relative to the motor housing, which a rest position Are defined.

This method makes it possible in particular to bring the electric motor in a defined rest position. The rotor then occupies a parking position, as it were. From this he can then easily and safely be set in rotation again, and immediately in the desired direction.

So that the motor can easily start safely with the desired direction of rotation, it is advantageous if the last direction of rotation request is stored before the deceleration of the electric motor to the speed of zero revolutions per unit of time. In this way, the position of the rotor is known, so that it can be energized immediately in the desired manner to start up in the correct direction of rotation.

Preferably, the rest position of the rotor is stored. If this is known, the electric motor can be easily and safely energized to make it in the desired manner in rotation.

In order to make a control of the electric motor as simple as possible, it is advantageous if the rotor always occupies the same rotational position relative to the motor housing in the rest position. This also means that it automatically assumes always the same rotational position relative to the stator of the electric motor.

In order to avoid that the rotor can get into an undefined position after interruption of energization, for example in a instrument or tool change, it is advantageous if the rotor is actively held in the rest position in a holding mode of the electric motor. For example, this can be achieved by braking the rotor shaft, in particular mechanically and / or electrically.

Preferably, the electric motor is energized in the hold mode to keep the rotor, without twisting it, actively in the rest position. For example, this can be achieved by energizing a single winding of the electric motor, so that align the rotor in a position relative to the housing or to the stator and so can take a defined rest position or parking position.

It is advantageous if the electric motor is energized during a holding time t _stop constantly to keep the rotor, without twisting it, in the rest position. So it can be ensured that the rotor remains in the rest position during the holding time and its position is known at a next speed request.

Preferably, the _hold time t _{hold is} a maximum of 20 minutes. This way a can Excessive heating of the engine is avoided and an energy requirement is minimized.

To further minimize energy demand in the hold mode, it is advantageous if a motor current to actively hold the rotor in the rest position without twisting it is not more than 20% of the rated value of the electric motor. It is preferably not more than 10%. This makes it possible to minimize heating of the motor and nevertheless to ensure that a torque required for a rotation of the rotor out of the rest position is sufficiently large to prevent an inadvertent rotational movement, for example during a tool change.

It is advantageous if in a standby mode of the electric motor at a speed request of zero revolutions per unit time after a rest t _{rest of} the electric motor is energized defined so long to convict the rotor after at least one full turn back to the rest position. In other words, the rotor of the electric motor is moved automatically, namely without a speed request, into the rest position.

Preferably, in the standby mode, the rotor is always transferred again to the rest position. This means that after a certain time the motor is energized again to bring the rotor back into the defined rest position. It may be the stored rest position or even a new rest position. The repeated transfer of the rotor to the rest position can be cyclic, at regular intervals or even irregular.

In order to avoid the risk of injury to persons and objects, it is advantageous if a maximum speed in standby mode is not more than 5 revolutions of the rotor per minute. Such a low speed is virtually imperceptible to an operator and makes it possible to bring the rotor almost unnoticed in the rest position.

Conveniently, the electric motor assumes the standby mode for a standby time t _standby . In this way, it can be avoided that the electric motor is kept in the standby mode for an excessively long time, that is, significantly longer than required.

Preferably, the standby time t _{standby is} a maximum of 20 minutes. After expiration of the standby time then the electric motor without speed request can simply stand still.

Preferably, the electric motor changes after the standby time t _standby from standby mode at least once in the hold mode. This variant makes it possible to combine the advantages of the standby mode and the hold mode.

It may also be favorable if the electric motor changes into standby mode at least once after the _hold time t _{stop has} elapsed from the hold mode. This variant is favorable, since the electric motor can be kept actively defined in the rest position for the holding time t _stop . Only after the holding time t _{stop he} can then be placed in the standby mode, in which at a minimum energy requirement and thus a minimum heating of the electric motor still very likely the rotor occupies a defined parking position or rest position, if then again a speed request received.

The object initially posed is further achieved according to the invention in a surgical drive system of the type described above, that a motor stopping device which controls the stopping of the electric motor to a speed of zero revolutions per unit time such that the rotor assumes a rotational position relative to the motor housing, which defines a rest position.

Such a motor stopping device makes it possible to bring the rotor of the electric motor in a defined position, namely the rest position, so as to allow a start of the electric motor from the rest position in a simple and secure manner. In particular, such a start of the electric motor against the desired direction of rotation can be avoided.

Advantageously, the control and / or regulating device is designed in the form of one of the motor control and / or regulating devices described above. The surgical drive system will then also have the advantages described above in connection with preferred embodiments of engine control and / or regulation devices.

Furthermore, it is favorable if the control and / or regulating device is designed to control and / or regulate the drive unit by means of a method for controlling and / or regulating the drive unit as described above. The drive system then also has the advantages described above in connection with preferred variants of the method.

• 1. Chirurgische Motorsteuerungs- und/oder -regelungsvorrichtung (12) zum Steuern und/oder Regeln einer chirurgischen Antriebseinheit (14) mit einem sensorlosen Elektromotor (68), welcher ein Motorgehäuse (144), einen Rotor (142) und mindestens zwei Motorwicklungen (72a, 72b, 72c) umfasst, welche Motorsteuerungs- und/oder -regelungsvorrichtung (12) ausgebildet ist zum Steuern und/oder Regeln der Antriebseinheit (14) mittels eines Verfahrens zum Steuern und/oder Regeln der Antriebseinheit (14), gekennzeichnet durch eine Motoranhalteeinrichtung (140) zum Anhalten des Elektromotors (68) bis auf eine Drehzahl von Null Umdrehungen pro Zeiteinheit derart, dass der Rotor (142) eine Drehstellung relativ zum Motorgehäuse (144) einnimmt, welche eine Ruhestellung definiert.
• 2. Chirurgische Motorsteuerungs- und/oder -regelungsvorrichtung nach Satz 1, gekennzeichnet durch einen Drehrichtungsanforderungsspreicher (154) zum Speichern der letzten Drehrichtungsanforderung vor dem Abbremsen des Elektromotors (68) auf die Drehzahl von Null Umdrehungen pro Zeiteinheit.
• 3. Chirurgische Motorsteuerungs- und/oder -regelungsvorrichtung nach Satz 1 oder 2, gekennzeichnet durch einen Ruhestellungsspeicher (156) zum Speichern der Ruhestellung des Rotors (142).
• 4. Chirurgische Motorsteuerungs- und/oder -regelungsvorrichtung nach einem der voranstehenden Sätze, dadurch gekennzeichnet, dass die Motoranhalteeinrichtung (140) derart ausgebildet ist, dass sie den Rotor (142) immer in derselben Ruhestellung anhält.
• 5. Chirurgische Motorsteuerungs- und/oder -regelungsvorrichtung nach einem der voranstehenden Sätze, gekennzeichnet durch einen Haltemodus, in welchem der Rotor (142) aktiv in der Ruhestellung gehalten wird.
• 6. Chirurgische Motorsteuerungs- und/oder -regelungsvorrichtung nach Satz 5, gekennzeichnet durch eine Haltemodusbestromungseinrichtung (160) zum Bestromen des Elektromotors (68) im Haltemodus, um den Rotor (142), ohne ihn zu verdrehen, aktiv in der Ruhestellung zu halten.
• 7. Chirurgische Motorsteuerungs- und/oder -regelungsvorrichtung nach Satz 5 oder 6, gekennzeichnet durch eine Haltezeitvorgabeeinrichtung (162) zum Vorgeben einer Haltezeit t_Halt, während der der Elektromotor (68) ständig bestromt wird, um den Rotor (142), ohne ihn zu verdrehen, in der Ruhestellung zu halten.
• 8. Chirurgische Motorsteuerungs- und/oder -regelungsvorrichtung nach Satz 7, dadurch gekennzeichnet, dass mit der Haltezeitvorgabeeinrichtung (162) eine Haltezeit t_Halt von maximal 20 Minuten vorgebbar ist.
• 9. Chirurgische Motorsteuerungs- und/oder -regelungsvorrichtung nach einem der Sätze 5 bis 8, gekennzeichnet durch eine Motorstrombegrenzungseinrichtung (166) zum Begrenzen eines Motorstroms, um den Rotor (142), ohne ihn zu verdrehen, aktiv in der Ruhestellung zu halten, auf maximal 20 % des Nennwertes des Elektromotors (68).
• 10. Chirurgische Motorsteuerungs- und/oder -regelungsvorrichtung nach einem der voranstehenden Sätze, gekennzeichnet durch einen Bereitschaftsmodus, in welchem der Elektromotor (68) bei einer Drehzahlanforderung von Null Umdrehungen pro Zeiteinheit nach einer Ruhezeit t_Ruhe so lange definiert bestromt wird, um den Rotor (142) nach mindestens einer vollen Umdrehung wieder in die Ruhestellung zu überführen.
• 11. Chirurgische Motorsteuerungs- und/oder -regelungsvorrichtung nach Satz 10, dadurch gekennzeichnet, dass sie derart ausgebildet ist, dass im Bereitschaftsmodus der Rotor (142) immer wieder neu in die Ruhestellung überführt wird.
• 12. Chirurgische Motorsteuerungs- und/oder -regelungsvorrichtung nach Satz 10 oder 11, gekennzeichnet durch eine Drehzahlbegrenzungseinrichtung (168) zum Begrenzen einer Maximaldrehzahl des Rotors (142) im Bereitschaftsmodus auf maximal 5 Umdrehungen pro Minute.
• 13. Chirurgische Motorsteuerungs- und/oder -regelungsvorrichtung nach einem der Sätze 10 bis 12, gekennzeichnet durch eine Bereitschaftszeitvorgabeeinrichtung (170) zum Vorgeben einer Bereitschaftszeit t_Bereitschaft des Bereitschaftsmodus.
• 14. Chirurgische Motorsteuerungs- und/oder -regelungsvorrichtung nach Satz 13, dadurch gekennzeichnet, dass mit der Bereitschaftszeitvorgabeeinrichtung (170) eine Bereitschaftszeit t_Bereitschaft von maximal 20 Minuten vorgebbar ist.
• 15. Chirurgische Motorsteuerungs- und/oder -regelungsvorrichtung nach einem der Sätze 10 bis 14, gekennzeichnet durch eine Umschalteinrichtung (174) zum mindestens einmaligen Umschalten nach Ablauf der Bereitschaftszeit t_Bereitschaft vom Bereitschaftsmodus in den Haltemodus.
• 16. Chirurgische Motorsteuerungs- und/oder -regelungsvorrichtung nach Satz 15, dadurch gekennzeichnet, dass die Umschalteinrichtung (174) ausgebildet ist zum mindestens einmaligen Umschalten nach Ablauf der Haltezeit t_Halt vom Haltemodus in den Bereitschaftsmodus.
• 17. Verfahren zum Steuern und/oder Regeln einer chirurgischen Antriebseinheit (14) mit einem sensorlosen Elektromotor (68), welcher ein Motorgehäuse (144), einen Rotor (142) und mindestens zwei Motorwicklungen (72a, 72b, 72c) umfasst, dadurch gekennzeichnet, dass beim Abbremsen des Elektromotors (68) bis auf eine Drehzahl von Null Umdrehungen pro Zeiteinheit der Elektromotor (68) derart angehalten wird, dass der Rotor (142) eine Drehstellung relativ zum Motorgehäuse (144) einnimmt, welche eine Ruhestellung definiert.
• 18. Verfahren nach Satz 17, dadurch gekennzeichnet, dass die letzte Drehrichtungsanforderung vor dem Abbremsen des Elektromotors (68) auf die Drehzahl von Null Umdrehungen pro Zeiteinheit gespeichert wird.
• 19. Verfahren nach Satz 17 oder 18, dadurch gekennzeichnet, dass die Ruhestellung des Rotors (142) gespeichert wird.
• 20. Verfahren nach einem der Sätze 17 bis 19, dadurch gekennzeichnet, dass der Rotor (142) in der Ruhestellung immer dieselbe Drehstellung relativ zum Motorgehäuse (144) einnimmt.
• 21. Verfahren nach einem der Sätze 17 bis 20, dadurch gekennzeichnet, dass in einem Haltemodus des Elektromotors (68) der Rotor (142) aktiv in der Ruhestellung gehalten wird.
• 22. Verfahren nach Satz 21, dadurch gekennzeichnet, dass der Elektromotor (68) im Haltemodus bestromt wird, um den Rotor (142), ohne ihn zu verdrehen, aktiv in der Ruhestellung zu halten.
• 23. Verfahren nach Satz 21 oder 22, dadurch gekennzeichnet, dass der Elektromotor (68) während einer Haltezeit t_Halt ständig bestromt wird, um den Rotor (142), ohne ihn zu verdrehen, in der Ruhestellung zu halten.
• 24. Verfahren nach Satz 23, dadurch gekennzeichnet, dass die Haltezeit t_Halt maximal 20 Minuten beträgt.
• 25. Verfahren nach einem der Sätze 21 bis 24, dadurch gekennzeichnet, dass ein Motorstrom, um den Rotor (142), ohne ihn zu verdrehen, aktiv in der Ruhestellung zu halten, nicht mehr als 20 % des Nennwertes des Elektromotors (68) beträgt.
• 26. Verfahren nach einem der Sätze 17 bis 25, dadurch gekennzeichnet, dass in einem Bereitschaftsmodus des Elektromotors (68) bei einer Drehzahlanforderung von Null Umdrehungen pro Zeiteinheit nach einer Ruhezeit t_Ruhe der Elektromotor (68) so lange definiert bestromt wird, um den Rotor (142) nach mindestens einer vollen Umdrehung wieder in die Ruhestellung zu überführen.
• 27. Verfahren nach Satz 26, dadurch gekennzeichnet, dass im Bereitschaftsmodus der Rotor (142) immer wieder neu in die Ruhestellung überführt wird.
• 28. Verfahren nach Satz 26 oder 27, dadurch gekennzeichnet, dass eine Maximaldrehzahl im Bereitschaftsmodus nicht mehr als 5 Umdrehungen des Rotors (142) pro Minute beträgt.
• 29. Verfahren nach einem der Sätze 26 bis 29, dadurch gekennzeichnet, dass der Elektromotor (68) für eine Bereitschaftszeit t_Bereitschaft den Bereitschaftsmodus einnimmt.
• 30. Verfahren nach Satz 29, dadurch gekennzeichnet, dass die Bereitschaftszeit t_Bereitschaft maximal 20 Minuten beträgt.
• 31. Verfahren nach Satz 29 oder 30, dadurch gekennzeichnet, dass der Elektromotor (68) nach Ablauf der Bereitschaftszeit t_Bereitschaft vom Bereitschaftsmodus mindestens einmal in den Haltmodus wechselt.
• 32. Verfahren nach einem der Sätze 26 bis 31, dadurch gekennzeichnet, dass der Elektromotor (68) nach Ablauf der Haltezeit t_Halt vom Haltemodus mindestens einmal in den Bereitschaftsmodus wechselt.
• 33. Chirurgisches Antriebssystem umfassend mindestens eine Steuer- und/ oder Regelungsvorrichtung (12) und mindestens eine mit dieser verbindbare und ansteuerbare chirurgische Antriebseinheit (14) und/oder mindestens ein eine chirurgische Antriebseinheit (14) umfassendes chirurgisches Instrument (176), wobei die mindestens eine Antriebseinheit (14) einen sensorlosen Elektromotor (68) mit einem Rotor (142) und mindestens zwei Motorwicklungen (72a, 72b, 72c) umfasst, wobei die Steuerund/oder Regelungsvorrichtung (12) ausgebildet ist zum Steuern und/ oder Regeln der Antriebseinheit (14) mittels eines Verfahrens zum Steuern und/oder Regeln der Antriebseinheit (14), gekennzeichnet durch eine Motoranhalteeinrichtung (140), welche das Anhalten des Elektromotors (68) bis auf eine Drehzahl von Null Umdrehungen pro Zeiteinheit derart steuert, dass der Rotor (142) eine Drehstellung relativ zum Motorgehäuse (144) einnimmt, welche eine Ruhestellung definiert.
• 34. Chirurgisches Antriebssystem nach Satz 33, dadurch gekennzeichnet, dass die Steuer- und/oder Regelungsvorrichtung (12) in Form einer Motorsteuerungs- und/oder -regelungsvorrichtung (12) nach einem der Sätze 1 bis 16 ausgebildet ist.
• 35. Chirurgisches Antriebssystem nach Satz 33 oder 34, dadurch gekennzeichnet, dass die Steuer- und/oder Regelungsvorrichtung (12) ausgebildet ist zum Steuern und/oder Regeln der Antriebseinheit (14) mittels eines Verfahrens zum Steuern und/oder Regeln der Antriebseinheit (14) nach einem der Sätze 17 bis 32.

The above description thus includes in particular the embodiments defined in the following numbered sentences a surgical motor control and / or regulating device, a surgical drive system and a method for controlling and / or regulating a surgical drive unit:

• 1. Surgical motor control and / or regulating device ( 12 ) for controlling and / or regulating a surgical drive unit ( 14 ) with a sensorless electric motor ( 68 ), which a motor housing ( 144 ), a rotor ( 142 ) and at least two motor windings ( 72a . 72b . 72c ), which engine control and / or regulation device ( 12 ) is designed for controlling and / or regulating the drive unit ( 14 ) by means of a method for controlling and / or regulating the drive unit ( 14 ), characterized by a motor stopping device ( 140 ) for stopping the electric motor ( 68 ) to a speed of zero revolutions per unit time such that the rotor ( 142 ) a rotational position relative to the motor housing ( 144 ), which defines a rest position.
• 2. Surgical motor control and / or regulating device according to sentence 1, characterized by a direction of rotation request ( 154 ) for storing the last direction of rotation request before the braking of the electric motor ( 68 ) to the speed of zero revolutions per unit time.
• 3. A surgical motor control and / or regulating device according to sentence 1 or 2, characterized by a rest position memory ( 156 ) for storing the rest position of the rotor ( 142 ).
• 4. A surgical motor control and / or regulating device according to one of the preceding sentences, characterized in that the motor stopping device ( 140 ) is designed such that it rotates the rotor ( 142 ) always stops in the same position of rest.
• 5. Surgical motor control and / or regulating device according to one of the preceding sentences, characterized by a holding mode in which the rotor ( 142 ) is actively kept at rest.
• Surgical motor control and / or regulating device according to sentence 5, characterized by a holding mode energizing device ( 160 ) for energizing the electric motor ( 68 ) in the hold mode to the rotor ( 142 ), without twisting it, actively keep at rest.
• 7. A surgical motor control and / or regulating device according to sentence 5 or 6, characterized by a holding time setting device ( 162 ) for specifying a holding time t _stop during which the electric motor ( 68 ) is constantly energized to the rotor ( 142 ), without twisting it, to keep at rest.
• Surgical motor control and / or regulating device according to sentence 7, characterized in that the holding time setting device ( 162 ) a holding time t _stop of a maximum of 20 minutes can be specified.
• 9. A surgical motor control and / or regulating device according to any one of sentences 5 to 8, characterized by a motor current limiting device ( 166 ) for limiting a motor current to the rotor ( 142 ), without twisting it, to keep actively at rest, to a maximum of 20% of the rated value of the electric motor ( 68 ).
• 10. A surgical motor control and / or regulating device according to one of the preceding sentences, characterized by a standby mode in which the electric motor ( 68 ) is energized at a speed request of zero revolutions per unit of time after a rest period t _rest defined as long as the rotor ( 142 ) after at least one full turn to return to the rest position.
• 11. A surgical motor control and / or regulating device according to sentence 10, characterized in that it is designed such that in the standby mode, the rotor ( 142 ) is transferred again and again to the resting position.
• 12. A surgical motor control and / or regulating device according to sentence 10 or 11, characterized by a speed limiting device ( 168 ) for limiting a maximum rotational speed of the rotor ( 142 ) in standby mode to a maximum of 5 revolutions per minute.
• 13. A surgical motor control and / or regulating device according to any one of sentences 10 to 12, characterized by a standby time setting device ( 170 for setting a standby time t _standby mode standby mode.
• 14. A surgical motor control and / or regulating device according to sentence 13, characterized in that with the standby time setting device ( 170 ) a standby time t _readiness of a maximum of 20 minutes can be specified.
• 15. A surgical motor control and / or regulating device according to one of the sentences 10 to 14, characterized by a switching device ( 174 ) to switch at least once after the standby time t _standby from standby mode to the hold mode.
• 16. A surgical motor control and / or regulating device according to sentence 15, characterized in that the switching device ( 174 ) is formed for at least one switching after the holding time t _stop from the hold mode in the standby mode.
• 17. Method for controlling and / or regulating a surgical drive unit ( 14 ) with a sensorless electric motor ( 68 ), which a motor housing ( 144 ), a rotor ( 142 ) and at least two motor windings ( 72a . 72b . 72c ), characterized in that during braking of the electric motor ( 68 ) up to a speed of zero revolutions per unit time Electric motor ( 68 ) is stopped such that the rotor ( 142 ) a rotational position relative to the motor housing ( 144 ), which defines a rest position.
• 18. Method according to sentence 17, characterized in that the last direction of rotation request before the braking of the electric motor ( 68 ) is stored at the speed of zero revolutions per unit time.
• 19. Method according to sentence 17 or 18, characterized in that the rest position of the rotor ( 142 ) is stored.
• 20. Method according to one of the sentences 17 to 19, characterized in that the rotor ( 142 ) in the rest position always the same rotational position relative to the motor housing ( 144 ) occupies.
• 21. Method according to one of the sentences 17 to 20, characterized in that in a holding mode of the electric motor ( 68 ) the rotor ( 142 ) is actively kept at rest.
• 22. Method according to sentence 21, characterized in that the electric motor ( 68 ) is energized in the hold mode to the rotor ( 142 ), without twisting it, actively keep at rest.
• 23. Method according to sentence 21 or 22, characterized in that the electric motor ( 68 ) during a holding time t _{stop is} constantly energized to the rotor ( 142 ), without twisting it, to keep at rest.
• 24. The method according to sentence 23, characterized in that the holding time t _{stop is} a maximum of 20 minutes.
• 25. The method according to any one of sentences 21 to 24, characterized in that a motor current to the rotor ( 142 ), without twisting it, to keep actively at rest, not more than 20% of the nominal value of the electric motor ( 68 ) is.
• 26. Method according to one of the sentences 17 to 25, characterized in that in a standby mode of the electric motor ( 68 ) at a speed request of zero revolutions per unit of time after a rest period t _{rest of} the electric motor ( 68 ) as long as it is energized to the rotor ( 142 ) after at least one full turn to return to the rest position.
• 27. Method according to sentence 26, characterized in that in standby mode the rotor ( 142 ) is transferred again and again to the resting position.
• 28. The method according to sentence 26 or 27, characterized in that a maximum speed in the standby mode not more than 5 revolutions of the rotor ( 142 ) per minute.
• 29. Method according to one of the sentences 26 to 29, characterized in that the electric motor ( 68 ) for a standby time t _standby mode is in standby mode.
• 30. The method according to sentence 29, characterized in that the standby time t _{readiness is} a maximum of 20 minutes.
• 31. Method according to sentence 29 or 30, characterized in that the electric motor ( 68 ) after the standby time has elapsed t _standby mode changes from standby mode to hold mode at least once.
• 32. Method according to one of the sentences 26 to 31, characterized in that the electric motor ( 68 ) after the holding time has elapsed t _Stop from holding mode at least once in standby mode.
• 33. A surgical drive system comprising at least one control and / or regulating device ( 12 ) and at least one with this connectable and controllable surgical drive unit ( 14 ) and / or at least one surgical drive unit ( 14 ) comprehensive surgical instrument ( 176 ), wherein the at least one drive unit ( 14 ) a sensorless electric motor ( 68 ) with a rotor ( 142 ) and at least two motor windings ( 72a . 72b . 72c ), wherein the control and / or regulating device ( 12 ) is designed for controlling and / or regulating the drive unit ( 14 ) by means of a method for controlling and / or regulating the drive unit ( 14 ), characterized by a motor stopping device ( 140 ), which stops the electric motor ( 68 ) is controlled to a speed of zero revolutions per unit of time such that the rotor ( 142 ) a rotational position relative to the motor housing ( 144 ), which defines a rest position.
• 34. A surgical drive system according to sentence 33, characterized in that the control and / or regulating device ( 12 ) in the form of a motor control and / or regulating device ( 12 ) is formed according to one of the sentences 1 to 16.
• 35. A surgical drive system according to sentence 33 or 34, characterized in that the control and / or regulating device ( 12 ) is designed for controlling and / or regulating the drive unit ( 14 ) by means of a method for controlling and / or regulating the drive unit ( 14 ) according to one of the sentences 17 to 32.

The following description of preferred embodiments of the invention is used in conjunction with the drawings for further explanation. Show it:

1 : a schematic overview of a surgical drive system;

2 a schematic representation of a surgical instrument and a control and / or regulating device of a surgical drive system;

3 a partial block diagram representation of a motor control and / or regulating device for driving a motor;

4 a schematic representation of the superposition of subphase winding voltages to winding voltages at three different pulse widths;

5 : a representation of ideal sinusoidal voltage or current curves of the motor windings;

5a an enlarged view of area A in FIG 5 ;

6 a schematic representation of a multi-phase transmission device for a motor winding;

7 : a schematic representation of a current supply of the electric motor in a defined rest position or parking position;

8th a simplified schematic representation of the engine control and / or regulating device for driving the electric motor connected thereto;

9 a schematic representation of the structure of the engine control and / or regulating device comprising a motor stopping device; and

10 : A schematic fragmentary sectional view of a surgical drive unit with electric motor with rotor and coupled surgical tool in the rest position or Parkpositon of the rotor.

In 1 is schematically a total with the reference numeral 10 provided surgical drive system shown comprising a control and / or regulating device in the form of a control device 12 , five drive units 14a to 14e , two, also drive units forming Shaverhandstücke 16a and 16b , a handpiece forming a further drive unit 18 , two connection cables 20 and 22 as well as a foot control 24 ,

The control unit 12 includes one in a housing 26 arranged flat screen 28 in the form of a touchscreen. On both sides of the screen 28 are each three controls 30a to 30c respectively 30d to 30f arranged.

Two switches 32a and 32b are below the screen 28 arranged in a line with a connection socket 34 to connect the foot control 24 via an optional connection cable 25 and with two connection sockets 36a and 36b for connecting the connection cables 20 and 22 with which the drive units with the control unit 12 can be connected. Optionally, also a connection 38 be provided for a fluid system for the supply and removal of fluids from an operating area, for example, for the supply of rinsing or suction channels with the drive units 14 , the shaver hand pieces 16 or the pistol hand piece 18 connectable, handpieces or tools, not shown, with which together the drive units surgical instruments of the drive system 10 form.

The drive units 14a to 14e each include a cable coupling 40a to 40e that with a coupling piece 44 of the connection cable 20 or a coupling piece 46 of the connection cable 22 can be connected as desired. The same applies to the two shaver handpieces 16a and 16b as well as the pistol hand piece 18 one cable coupling each 40f . 40g respectively 40h on, with one of the two coupling pieces 44 or 46 are connectable.

At their other end are the drive units 14a to 14e with handpiece or tool couplings 42a to 42e equipped, coupled to the handpieces, not shown, for example, drill handpieces, Sägehandstücke or the like and by the drive units 14a to 14e can be driven. Depending on the configuration, the drive units 14a to 14e also directly with tools, not shown, such as drills or saw blades, are equipped to train surgical instruments.

The drive units are preferably sensorless, that is, they have no sensors to determine a rotational speed of the drive unit during operation. The drive units of the drive system 10 do not just differ, as in 1 shown schematically, externally, but also in terms of their internal structure. This means that the motors installed in the drive units can be of different types and can differ, for example, in terms of their characteristics, such as minimum speed, maximum speed, maximum current and maximum torque. In addition, as with the two Shaverhandstücken 16a and 16b , Gear can be integrated, which optionally also in the drive units 14 as well as the pistol handpiece 18 can be integrated dockable handpieces. Depending on the design, the handpieces can themselves be additionally equipped with different instrument tips in the form of surgical tools.

Furthermore, the shaver handpieces include 16a and 16b one shaver coupling each 48a respectively 48b for connecting a shaver, for example for use in arthroscopy.

The connection cables 20 and 22 are for connecting to the controller with couplings 21 and 23 over which they connect with the sockets 36a and 36b are connectable.

The foot control 24 is via a wireless data transmission device with the control unit 12 in connection, for example via an infrared or radio transmission system. Optional is also a connection of the foot control 24 via one with the connection socket 34 connectable coupling piece 50 of the connection cable 25 possible. On a housing 52 the foot control 24 are two foot-operated switches 54a and 54b arranged over which in particular a left or right rotation of the drive units can be controlled.

The pistol hand piece 18 is with two donors 56 equipped, the dealer 56a For example, to activate a motor right run, the encoder 56b can be provided to activate a motor left rotation.

The connection cables 20 and 22 differ in that on the connection cable 22 , unlike the connection cable 20 , an operating lever 58 is provided, with which an operator motor operation of a drive unit 14 , a shaver handpiece 16 or the pistol hand piece 18 can activate.

In 2 is schematically the structure of a surgical instrument 60 shown. It includes a drive unit 14 , For example, a drive unit 14a to 14e , as well as one with a distal-side coupling 62 same connectable tool 64 , for example in the form of an in 2 illustrated drill.

In a housing 66 the drive unit 14 is an engine 68 arranged, which three connection contacts 70a . 70b and 70c each having two of the three motor windings 72a . 72b and 72c are connected. The connection contact 70a is with the motor windings 72b and 72c connected, the connection contact 70b with the motor windings 72a and 72b and the connection contact 70c with the motor windings 72a and 72c , The connection contacts 70a . 70b and 70c are by means of connecting lines 74a . 74b and 74c with a coupling element arranged on the proximal side 76 connected, with its connection contacts 78a . 78b and 78c , The coupling element 76 is for connecting to the coupling piece 44 of the connection cable 20 formed corresponding to this.

The connection cable 20 itself is a three-wire connection cable with three individual conductors 20a . 20b and 20c , At the in 2 illustrated embodiment are no control or data lines on the connection cable 20 or on the drive unit 40 intended.

In the engine 68 is optionally also a motor identification device 80 integrated, such as from the DE 20 2008 006 868 U1 known.

The control unit 12 includes one in the housing 26 arranged engine control and / or regulating device 82 , hereinafter referred to as control means for simplicity 82 referred to as. With her, the engine can 68 which generally M motor windings, also referred to as R _{MW_1} , ..., R _{MW_M} , are controlled. In the embodiment described below, the number M of motor windings is three and the motor windings are with 72a . 72b and 72c designated.

The control device comprises a controller 84 , which with a digital signal processor 86 is interconnected. The digital signal processor 86 is in turn with a freely programmable integrated circuit ( 88 ) in the form of an FPGA. This serves to drive three FET driver circuits 90a . 90b and 90c , The FET driver circuits 90a . 90b and 90c each with an output stage power circuit 92a . 92b and 92c interconnected, each having three identical amplifier circuits 94a . 94b and 94c include. For power supply of the control device 82 or the drive system 10 is a power supply 96 provided, which for all circuits and elements of the control device 82 provides corresponding required supply voltages.

Each power amp circuit 92a . 92b and 92c is with a multi-phase transmission device assigned to it 98a . 98b and 98c interconnected in the form of a multi-phase transformer 100a . 100b respectively 100c is trained. The multiphase transformers 100a . 100b and 100c are all identical and are used in conjunction with 6 explained in more detail below with reference to the multi-phase transformer 100a ,

The multiphase transformer 100a includes three individual transformers 102x . 102y and 102z , These are formed by two inductively coupled coils, namely one primary coil each 104x . 104y and 104z as well as one secondary coil 106x . 106y and 106z , Each primary coil 104x . 104y and 104z includes a primary input 108x . 108y and 108z as well as a primary exit 110x . 110y and 110z , Furthermore, each secondary coil includes 106x . 106y and 106z a secondary input 112x . 112y and 112z as well as a secondary exit 114x . 114y and 114z ,

Each of the primary inputs 108x . 108y . 108z is each with an output of one of the three amplifier circuits 94a electrically connected. The three secondary inputs 112x . 112y and 112z are electrically conductive with each other and with a connection contact 116a the connection socket 36a connected, which also has two more connection contacts 116b and 116c includes that with the multiphase transformers 100b and 100c are connected in an analogous manner. The primary exit 110x is with the secondary exit 114y electrically connected, the primary output 110y with the secondary exit 114z and the primary output 110z with the secondary exit 114x , In this way, the single-phase transfer devices 118x . 118y and 118z defining individual transformers 102x . 102y and 102z star-connected so that the primary coil 104x . 104y . 104z , also referred to as a primary circuit, each single-phase transmission device 118x . 118y and 118z each with the secondary coil 106x . 106y . 106z , also referred to as a secondary circuit, the next single phase transmission device 118y . 118z and 118x connected in series.

The individual transformers 102x . 102y and 102z are thus switched so that for their output voltages UxA, UyA and UzA depending on the three input signals U1A, U2A and U3A, at the primary inputs 108x . 108y and 108z concerns, applies: U_A = 1 / 3U1A + 1 / 3U2A + 1 / 3U3A

This superimposition of the input signals U1A, U2A, U3A, U1B, U2B, U3B, U1C, U2C and U3C, ie the subphase winding voltages, generally represented as U _{MW_1_1} ,..., U _{MW_1_N} ,..., U _{MW_M_1,.} U _{MW_M_N} , is exemplary in 4 shown for three different pulse widths of the input signals. In the 4 shown period duration t _{x is} calculated from a clock frequency f _{PWM of} the executed PWM method to t _x = 1 / f _PWM .

A total with the reference numeral 132 designated clock means of the control device 82 is used to specify the PWM clock frequency f _PWM for performing the PWM method. The clock device comprises the controller 84 as well as the digital signal processor 86 , The clock device 132 and the signal generating means 120 act on the control device 82 such that the subphase signals, generally referred to as S _{PWM_1_1} , ..., S _{PWM_1_N} ; ...; S _{PWM_M_1} , ..., S _{PWM_M_N} , with the PWM clock frequency f _{PWM can be} generated. The clock device 132 preferably generates a PWM clock frequency of 100 kHz.

The digital signal processor 86 forms a signal generating device 120 with which a PWM signal S _{PWM_1} ,..., S _{PWM_M can be} generated for each of the M = 3 motor windings R _{MW_1} ,..., R _{MW_M} and with which each of the PWM signals S _{PWM_1} ,..., S _{PWM_M} in N subphase signals S _{PWM_1_1} , ..., S _{PWM_1_N} , ..., S _{PWM_M_1} , ..., S _{PWM_M_N is} subdivided, which in their phase _relation relative to each other by 360 ° / N, in the described embodiment with N = 3 are therefore offset by 120 ° relative to each other. The signal generating device 120 further includes the circuit 88 , which offset the phase position of the individual subphase signals by 120 ° relative to each other, as well as the FET driver circuits 90a . 90b and 90c ,

The control device 82 further comprises a converter means 122 , with which each of the M = 3 motor windings 72a . 72b and 72c N subphase signals assigned to N subphase winding voltages U _{MW_1_1} , ..., U _{MW_1_N} ; ...; U _{MW_M_1} , ..., U _{MW_M_N be} implemented, which are in their phase _relation relative to each other by 360 ° / N, at N = 3, that is offset by 120 °, with which for generating a current flow I _{MW_1} , ..., I _{MW_M} through each of the M = 3 motor windings R _{MW_1} , ..., R _{MW_M} a winding _voltage U _{MW_1} , ..., U _{MW_M} , in 3 represented as U_A, U_B and U_C, can be applied and with which each of the M = 3 motor windings N subphase winding voltages for each of the M motor windings are separately superimposed to the respective winding voltage which is applied to the respective motor winding to generate the winding current I _{MW_1} , ..., I _{MW_M} , presented in 3 as I_A, I_B and I_C. The converter device 122 includes the power stage power circuits 92a . 92b and 92c as well as the multi-phase transmission devices 98a . 98b and 98c , Due to this structure and the interconnection are preferably at the three primary inputs 108x . 108y and 108z PWM signals of equal amplitude or strength applied, but which are offset in the manner described in their phase position by 120 °. These signals are now in multiphase transformer 100a Divided and added according to the above formula.

The calculation of the applied voltages gives an example of the multiphase transformer 100a following: U_A = 1 / 3U1A + 1 / 3U2A + 1 / 3U3A

At the individual transformers 102x . 102y and 102z the following relationships for the applied voltages result U1A + UxA - UyA = U_A (1) U2A + UyA - UzA = U_A (2) U3A + UzA - UxA = U_A (3)

Where UxA is the one on the primary coil 104x as well as on the secondary coil 106x declining voltage, UyA the at the primary coil 104y as well as on the secondary coil 106y decreasing voltage and UzA at the primary coil 104z and the secondary coil 106z falling voltage. By adding the equations (1) and (3) one obtains U1A + U3A + UzA - UyA = 2U_A and from this by simple transformation: UyA - UzA = U1A + U3A - 2U_A

This used in equation (2) provides: U2A + U1A + U3A - 2U_A = U_A from which one receives: U1A + U2A + U3A = 3U_A

If U1A = 1 and U2A = U3A = 0 then:
U_A = 1/3. This results in equations (1), (2) and (3): 2/3 + UxA - UyA = 0 (1) UyA - UzA = 1/3 (2) UzA - UxA = 1/3. (3)

The voltage relationships at the individual transformers 102x . 102y and 102z applied voltages are for three different pulse widths in 4 by way of example, in the form of the input voltages U1A, U2A and U3A applied to the primary inputs, in general the subphase winding voltages U _{MW_1_1} ,..., U _{MW_1_N} ; ...; U _{MW_M_1} , ..., U _{MW_M_N} and the output voltage U_A formed by superposition.

The voltage jump U_A at the motor winding 72a is only one third of the supply voltage U _S , but at the triple frequency f = 3 · f _PWM . This corresponds to a period T = 1/3 t _x , where tx is the period of the PWM signal with the clock frequency f _PWM and is calculated to t _x = 1 / f _PWM . For every motor winding 72a . 72b and 72c Also referred to as motor line, the three multi-phase transmission devices 98a . 98b and 98c controlled in a corresponding manner.

To a sinusoidal course of the motor voltages U_A, U_B and U_C, as in 5 shown, to generate, the pulse width of the corresponding PWM signals is changed accordingly, that is modulated accordingly. By controlling the PWM, for example, at 100 kHz, an envelope, namely the desired sinusoidal Bestromungskurve, for driving the motor 68 generated. A frequency of 1 kHz of the total generated by superposition sine signal corresponds to 60,000 revolutions per minute of the engine 68 ,

The control device 82 thus forms a total of a lighting device 124 with which each of the M motor windings can be supplied sinusoidally or substantially sinusoidally, as in FIG 5 shown.

For optimal energization of the motor 68 it is favorable if a rotor position of the rotor relative to the motor windings 72a . 72b and 72c is known. Therefore, the control device comprises 82 a rotor position determining device 126 for determining a rotor position of the electric motor 68 for controlling and / or regulating the M motor windings.

The rotor position determining device 126 comprises a current interruption device 128 , which with the energizing device 124 interacts. Thus, for determining a position of the rotor of the electric motor 68 at least one of the M motor windings for a time interval t _interruption from a power supply of the control device 82 be separated. With the rotor position determination device 126 is during the time interval t _interruption the back EMF, so the voltage induced in the currentless motor winding voltage, measurable and with one of the rotor position determination device 126 included computing unit 130 For example, an actual position of the rotor can be calculated from the measured back EMF in a conventional manner. In particular, with the Bestromungsunterbrechungseinrichtung 128 the energization of all motor windings are _interrupted simultaneously for the time interval t _interruption by disconnecting the motor 68 from the power supply. The time interval t _interruption may preferably be constant or in dependence on a rotational speed of the engine 68 be specified. The power interruption device 126 is designed such that after measurement of the back EMF all this unpowered motor cables or motor windings 72a . 72b and 72c be electrically connected again to the power supply.

In order to obtain the smallest possible voltage jumps when the energization of the motor windings is interrupted, the rotor position determining device 126 designed such that the back EMF is measurable only when the respective motor current I_A, I_B or I_C or the motor voltage U_A, U_B or U_C one of the M motor windings has dropped to zero. This is preferably the Time interval t _interruption specified by t _interruption = 2Δt, wherein the measurement of the back EMF is performed on one of the M motor windings in the time interval t _interruption such that at time t _M with continuous energization the motor voltage applied to the motor winding would be zero.

The shutdown of the winding voltage to a motor winding is exemplary in 5A shown, in which the voltage drops to zero at time t _M - .DELTA.t and only turned on again at time t _M + .DELTA.t. In this way, therefore, in the zero crossing of the sinusoidal signal generated, the energization of the power amplifier circuits in particular 92a . 92b and 92c be interrupted and connected via corresponding with the motor windings, not shown measuring branches of the rotor position determining device 126 the measured back EMF are evaluated and further processed for control purposes, in particular in cooperation with the controller 84 and the digital signal processor 66 ,

The control unit 12 That is, the surgical motor control and / or regulating device is designed to control and / or regulate the drive unit 14 and further includes a motor stopping device 140 to stop the engine 68 to a speed of zero revolutions per unit time, for example, per minute, in such a way that a rotor 142 of the motor 68 a rotational position relative to a motor housing 144 the same occupies which rotational position defines a rest position.

In 10 is a schematic sectional view of the engine 68 based on two markings 146 and 148 the rest position or parking position of the rotor 142 exemplified, with the mark 146 at the stator 150 of the motor 68 attached, the mark 148 on the rotor 142 , The marks 146 and 148 need not necessarily be provided on the engine, they serve in 10 merely the illustration of what is meant in the context of this application under rotational position and rest position. Thus, a rotational position can be any orientation of the rotor 142 and thus the mark 148 relative to a longitudinal axis 152 of the rotor 142 be, which at the same time a rotation axis or a drive axis of the motor 68 Are defined. In principle, any rotational position can also define a rest position. By way of illustration is in 10 for identifying a defined rest position of the rotor 142 the mark 146 intended. Assign the facing tips of the triangular markings 146 and 148 a minimum distance apart, is the rotor 142 in the defined rest position. Starting from this rest position can then by appropriate energization, as described above, the engine 68 run virtually smoothly, and precisely in the direction of rotation, which is selected by the user, so either a left or a clockwise rotation of the engine 68 ,

The control unit 12 further comprises a direction of rotation request memory 154 for storing the last direction of rotation request before braking and stopping the engine 68 to the speed of zero revolutions per minute. In the direction of rotation request memory 154 Thus, either a value for a reverse run or a value for a clockwise run can be stored. The direction of rotation request memory 154 especially in direct connection to the controller 84 stand. Next, the controller 112 a home storage 156 which also with the controller 84 is coupled. Coupled means in particular electrically conductively connected and in this way in operative connection, for example, to exchange data. At rest storage 156 In particular, the defined or any rest position of the rotor 142 stored, for example in the form of an angle value.

The one with the controller 84 coupled engine stop device 140 is formed so that it the rotor 142 preferably always keeps in the same defined rest position.

The control unit 12 further includes a mode selector switch 158 , which with the motor stopping device 140 is coupled and the selection between two modes of operation of the motor stopping device 140 allows. First, this is a holding mode in which the rotor 142 is actively kept at rest. This can for example be like in 7 shown schematically below, that two of the motor windings, namely the motor windings 72b and 72c switched to circuit ground when the engine 68 is driven or held in the rest position or in the parking position. The motor winding 72a remains energized and thereby defines a rotational position of the rotor 142 relative to the motor housing 144 , For this purpose, the control unit comprises 12 a Haltemodusbestromungseinrichtung 160 which, for example, in the control unit 12 existing components used to the engine 68 and its windings 72a . 72b and 72c to energize in the desired manner. With the Haltemodusbestromungseinrichtung 160 is it possible to use the rotor 142 without twisting it, actively keeping at rest. This is called a hold mode.

With the Haltemodusbestromungseinrichtung 160 coupled is a holding time setting device 162 to specify a holding time t _stop while the motor 68 Constantly energized to the rotor 142 without twisting it, at rest to keep. For example, with the hold timing device 162 a holding time t _{stop can be} specified in a range of 0 minutes to 20 minutes. The holding time t _Halt can be set at the factory or by a corresponding selector switch 164 from a user of the drive system 10 be specified.

The Haltemodusbestromungseinrichtung 160 preferably comprises a motor current limiting device 166 for limiting a motor current to the rotor 142 without twisting it, actively keeping at rest. For example, with the motor current limiting device 166 a motor current in the hold mode to a maximum of 20% of a nominal value of the motor 68 be limited. Preferably, however, the motor current becomes 15%, more preferably only 10% of the rated value of the motor 68 limited.

With the mode selector switch 158 Alternatively, a standby mode of the engine stopping device may also be provided 140 to be selected. In standby mode, the engine becomes 68 at a speed request of 0 revolutions per unit of time after a rest period t _rest for a time t _Stell as long defines energized to the rotor 42 to return to the rest position. This can be done within a full turn of the rotor 142 around the longitudinal axis 152 respectively. But it can also be a maximum of two or a maximum of three or more revolutions, which is the rotor 142 to return to the example in 10 to be brought to rest shown schematically.

The engine stop device 140 may in particular be formed as shown schematically in FIG 7 shown is that the motor winding 72a cyclically repeatedly for a positioning time t _Stell energized to the electric motor 68 to return to the rest position. Between each adjustment phase then remain all motor windings 72a . 72b and 72c for the rest time t _calm without power.

With the engine stop device 140 coupled is a speed limiting device 168 for limiting a maximum speed of the rotor 142 in standby mode. The maximum speed can be, for example, five revolutions per minute. The rotor 142 then turns very slowly around the longitudinal axis 152 while being transferred to the rest position during the positioning time t _Stell . In this way, injury to persons can be avoided.

With a standby timer 170 of the control unit 112 connected to the engine stop device 140 is coupled, a standby time t _{readiness of} the standby mode can be specified. The standby time t _standby may include, for example, four positioning cycles, as shown schematically in FIG 7 is shown. The standby time t _standby can be set at the factory or via a corresponding selector switch 172 from a user of the drive system 10 be chosen freely. Preferably, the standby time t _{standby can be set} in a range of 0 minutes to 20 minutes.

With the mode selector switch 158 can be selected manually by a user of the respective desired operating mode. That is, a user may optionally switch particularly between the standby mode and the hold mode.

The engine stop device 140 can also have a switching device 174 comprise, which is designed to switch at least once after the expiration of the holding time t _stop from the hold mode in the standby mode. This can happen automatically. This switching can also be done several times, for example, whenever the holding time t _{stop has} expired. Conversely, the switching device 170 Also be designed for at least one, automatic switching after the standby time t _readiness from the operating mode in the hold mode.

As schematically in 8th shown, is used to determine the rest position of the rotor 142 a measurement of single currents and voltages in the motor windings 72a . 72b and 72c made to determine that rotational position, in particular to calculate the rotor 142 takes when he stands still. This can always be the same rotational position, which is then defined as the rest position, or in each case by another, which then individually defined as a rest position and in the resting position memory 156 is deposited.

The engine stop device 140 can also be used in particular to one with the drive unit 14 coupled tool 176 , for example in the form of a shaver 178 to transfer to a defined rest position. For example, the Shaver points 178 an elongated tubular shaft 180 in, in which a non-illustrated power transmission member, which of the drive unit 14 is rotated, rotatably mounted. At a distal end of the shaft 180 is a substantially sideways opening 182 provided, from which in dependence of a rotational position of the power transmission member, a tool element 184 like a shaver, for example 178 in the form of a cutting edge 186 is formed, partially protruding to cut tissue. With knowledge of a position of the rotor 142 and optionally a reduction of an optional between the drive unit 14 and the tool 176 trained gear can thus also the tool element 184 in a defined position relative to the opening 182 to be moved. For example, with the motor stopping device 140 be specified whether the opening 182 through the tool 176 is released or not. In other words, the tool element 184 either defined or parked so that the opening 182 remains free or closed.

With the control unit 12 of the drive system 10 Thus, a method for controlling and / or regulating the drive unit can be achieved 14 perform when braking the engine 68 up to a speed of zero revolutions per minute of the electric motor 68 is stopped such that the rotor 142 a rotational position relative to the motor housing 144 or to the stator 150 occupies, which defines a rest position.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102009018143 A1 [0004]
• DE 202008006868 U1 [0072]

Claims (25)

Surgical motor control and / or regulating device ( 12 ) for controlling and / or regulating a surgical drive unit ( 14 ) with a sensorless electric motor ( 68 ), which a motor housing ( 144 ), a rotor ( 142 ) and at least two motor windings ( 72a . 72b . 72c ), which engine control and / or regulation device ( 12 ) is designed for controlling and / or regulating the drive unit ( 14 ) by means of a method for controlling and / or regulating the drive unit ( 14 ), characterized by a motor stopping device ( 140 ) for stopping the electric motor ( 68 ) to a speed of zero revolutions per unit time such that the rotor ( 142 ) a rotational position relative to the motor housing ( 144 ), which defines a rest position. Surgical motor control and / or regulating device according to claim 1, characterized by a direction of rotation request ( 154 ) for storing the last direction of rotation request before the braking of the electric motor ( 68 ) to the speed of zero revolutions per unit time. Surgical motor control and / or regulating device according to one of the preceding claims, characterized in that the motor stopping device ( 140 ) is designed such that it rotates the rotor ( 142 ) always stops in the same position of rest. Surgical motor control and / or regulating device according to one of the preceding claims, characterized by a holding mode in which the rotor ( 142 ) is actively kept at rest. Surgical motor control and / or regulating device according to claim 4, characterized by a holding mode energizing device ( 160 ) for energizing the electric motor ( 68 ) in the hold mode to the rotor ( 142 ), without twisting it, actively keep at rest. Surgical motor control and / or regulating device according to claim 4 or 5, characterized by a holding time setting device ( 162 ) for specifying a holding time t _stop during which the electric motor ( 68 ) is constantly energized to the rotor ( 142 ), without twisting it, to keep at rest. Surgical motor control and / or regulating device according to one of Claims 4 to 6, characterized by a motor current limiting device ( 166 ) for limiting a motor current to the rotor ( 142 ), without twisting it, to keep actively at rest, to a maximum of 20% of the rated value of the electric motor ( 68 ). Surgical motor control and / or regulating device according to one of the preceding claims, characterized by a standby mode, in which the electric motor ( 68 ) is energized at a speed request of zero revolutions per unit of time after a rest period t _rest defined as long as the rotor ( 142 ) after at least one full turn to return to the rest position. Surgical motor control and / or regulating device according to claim 8, characterized in that it is designed such that in the standby mode the rotor ( 142 ) is transferred again and again to the resting position. Surgical motor control and / or regulating device according to one of Claims 8 or 9, characterized by a stand-by time setting device ( 170 for setting a standby time t _standby mode standby mode. Surgical motor control and / or regulating device according to claim 10, characterized by a switching device ( 174 ) to switch at least once after the standby time t _standby from standby mode to the hold mode. Method for controlling and / or regulating a surgical drive unit ( 14 ) with a sensorless electric motor ( 68 ), which a motor housing ( 144 ), a rotor ( 142 ) and at least two motor windings ( 72a . 72b . 72c ), characterized in that during braking of the electric motor ( 68 ) up to a speed of zero revolutions per unit time of the electric motor ( 68 ) is stopped such that the rotor ( 142 ) a rotational position relative to the motor housing ( 144 ), which defines a rest position. A method according to claim 12, characterized in that the last direction of rotation request before the deceleration of the electric motor ( 68 ) is stored at the speed of zero revolutions per unit time. Method according to one of claims 12 or 13, characterized in that the rotor ( 142 ) in the rest position always the same rotational position relative to the motor housing ( 144 ) occupies. Method according to one of claims 12 to 14, characterized in that in a holding mode of the electric motor ( 68 ) the rotor ( 142 ) is actively kept at rest. Method according to claim 15, characterized in that the electric motor ( 68 ) is energized in the hold mode to the rotor ( 142 ), without twisting it, actively keep at rest. Method according to claim 15 or 16, characterized in that the electric motor ( 68 ) during a holding time t _{stop is} constantly energized to the rotor ( 142 ), without twisting it, to keep at rest. Method according to one of claims 15 to 17, characterized in that a motor current to the rotor ( 142 ), without twisting it, to keep actively at rest, not more than 20% of the nominal value of the electric motor ( 68 ) is. Method according to one of claims 12 to 18, characterized in that in a standby mode of the electric motor ( 68 ) at a speed request of zero revolutions per unit of time after a rest period t _{rest of} the electric motor ( 68 ) as long as it is energized to the rotor ( 142 ) after at least one full turn to return to the rest position. A method according to claim 19, characterized in that in standby mode the rotor ( 142 ) is transferred again and again to the resting position. Method according to one of claims 19 or 20, characterized in that the electric motor ( 68 ) for a standby time t _standby mode is in standby mode. A method according to claim 21, characterized in that the electric motor ( 68 ) after the standby time has elapsed t _standby mode changes from standby mode to hold mode at least once. Surgical drive system comprising at least one control and / or regulating device ( 12 ) and at least one with this connectable and controllable surgical drive unit ( 14 ) and / or at least one surgical drive unit ( 14 ) comprehensive surgical instrument ( 176 ), wherein the at least one drive unit ( 14 ) a sensorless electric motor ( 68 ) with a rotor ( 142 ) and at least two motor windings ( 72a . 72b . 72c ), wherein the control and / or regulating device ( 12 ) is designed for controlling and / or regulating the drive unit ( 14 ) by means of a method for controlling and / or regulating the drive unit ( 14 ), characterized by a motor stopping device ( 140 ), which stops the electric motor ( 68 ) is controlled to a speed of zero revolutions per unit of time such that the rotor ( 142 ) a rotational position relative to the motor housing ( 144 ), which defines a rest position. Surgical drive system according to claim 23, characterized in that the control and / or regulating device ( 12 ) in the form of a motor control and / or regulating device ( 12 ) is designed according to one of claims 1 to 11. Surgical drive system according to claim 23 or 24, characterized in that the control and / or regulating device ( 12 ) is designed for controlling and / or regulating the drive unit ( 14 ) by means of a method for controlling and / or regulating the drive unit ( 14 ) according to any one of claims 12 to 22.

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