DE102021208337B4 - Microscope suspension for a surgical microscope - Google Patents

Abstract

Microscope suspension (1) for a surgical microscope (51), wherein the microscope suspension (1) is set up for arrangement on a guide arm (40) of a main stand and has three rotational degrees of freedom, comprising:one via a first axis of rotation (30) at an end close to the stand ( 6-1) rotatably mounted carrier arm (2), a nodding unit (7) mounted rotatably about a second axis of rotation (31) at an end (6-2) of the carrier arm (2) near the microscope, the nodding unit (7) being set up for this purpose, to form a mechanical connection with an operating microscope (51) that is rotatably mounted about a third axis of rotation (32), and a drive unit (3) for effecting a driven rotation about the second axis of rotation (31), the drive unit (3) being located in the region of the end ( 6-2) is arranged inside the support arm (2).

Description

The invention relates to a microscope suspension for a surgical microscope.

A microscope suspension for a surgical microscope, which is also referred to as a yoke, must enable the surgical microscope to be oriented in space in all three rotational degrees of freedom. For this purpose, there are usually three axes of rotation, which can be arranged in particular in the following kinematic chain: yaw axis, roll axis and pitch axis. The microscope suspension is placed at one end on a guide arm of a main stand. At the other end, the surgical microscope is arranged on the microscope suspension. The surgical microscope can then be rotated about all three axes and in this way brought into a desired orientation or angular position.

Microscope suspensions are known in which a rotation about a roll axis is brought about by means of a lever linkage arranged in a carrier arm of the microscope suspension.

From the DE 10 2010 010 131 A1 a microscope stand, in particular a surgical microscope stand, is known, with at least one pivoting support, a holder attached to a first end of the pivoting support for attaching the microscope to the microscope stand, and with a C slide adjustment at the second end of the pivoting support for balancing the microscope about a pivoting axis, which assigned to a tripod interface. The pivoting carrier is pivotable about a carrier axis which is held by the C-slide adjustment. The C slide adjustment can be pivoted about a pivot axis relative to the stand interface. All pivoting movements can be suppressed using braking force. The swivel mount is supported relative to the tripod interface by a parallel guide that allows circular movement of the swivel mount in a vertical plane. The parallel guide is formed by a cross lever mechanism, which can be pivoted via a cross lever axis arranged parallel and centrally between the support axis of the pivoting support and the pivoting axis of the C-slide adjustment and which is connected to both the stand interface and the pivoting support in such a way that it has its own pivoting state transmitted simultaneously and equally to the tripod interface and to the swivel mount.

From the DE 10 2014 001 784 A1 a control element for a positioning device of a medical device for operation with the mouth of an operator is known, with a base body and with a first sensor for receiving a first control signal, which can be exercised by the operator with the mouth. According to the invention, the operating element comprises a control unit which is set up to generate a first control signal for a first drive of the positioning device as a function of the first operating signal. Furthermore, a medical device with such an operating element is known.

From the JP 2004 - 255 202 A there is known a microscopic apparatus for an operation with an electric driving means that changes the position and/or the angle of a mirror body. The device includes an operation handle that changes the position and/or angle of the mirror body, a detection part that detects the operation force on the operation handle, a circuit that calculates an operation direction based on the detection results of the detection part, and a control circuit that detects the position and changes the angle of the mirror body by controlling the electric drive means according to the operation of the operation handle intending to change the position and/or the angle of the mirror body based on an output value of the circuit. Therefore, the device allows the operator to move the mirror body easily and reduces the operator's burden of moving the mirror body.

The object of the invention is to improve a microscope suspension for a surgical microscope.

The object is achieved according to the invention by a microscope suspension with the features of claim 1. Advantageous configurations of the invention result from the dependent claims.

In particular, a microscope suspension for a surgical microscope is created, wherein the microscope suspension is set up for arrangement on a guide arm of a main stand and has three rotational degrees of freedom, comprising a support arm rotatably mounted via a first axis of rotation at an end close to the stand, one on an end of the support arm close to the microscope by one second axis of rotation rotatably mounted nodding unit, wherein the nodding unit is set up to a third rotation axis to form a rotatably mounted mechanical connection with a surgical microscope, and a drive unit for effecting a driven rotation, in particular the pitching unit, about the second axis of rotation, the drive unit being arranged in the area of the end near the microscope inside the support arm.

An advantage of the disclosed microscope suspension is that due to the drive unit arranged at the end near the microscope inside the carrier arm, a lever linkage can be dispensed with. Since the lever mechanism of the lever linkage usually has to be designed without play, tight tolerances must be observed, which can only be achieved with great effort and high costs. If the lever linkage can be dispensed with, as is the case with the disclosed microscope suspension, then effort and costs can be reduced.

A kinematic chain of the microscope suspension is in particular: guide arm, first axis of rotation, second axis of rotation, third axis of rotation, surgical microscope. The microscope suspension can have further drive units for effecting driven rotations about the first axis of rotation and about the third axis of rotation. In particular, the pitching unit comprises a drive unit for effecting a rotation about the third axis of rotation. The drive unit or drive units each comprise an electric motor, for example. The axes of rotation are designed and/or implemented in particular as rotary joints.

In particular, the carrier arm comprises a housing. The housing can, for example, have been produced by means of an injection molding process, in particular by means of a metal injection molding process, such as aluminum or zinc die casting or investment casting (steel). The housing can have cross braces on the inside for mechanical reinforcement. In particular, the carrier arm has an angled shape, for example with an angle of approximately 90°.

In one embodiment, it is provided that when the microscope suspension is arranged on the guide arm, the first axis of rotation is a yaw axis with respect to a surgical microscope arranged on the microscope suspension, the second axis of rotation with respect to the surgical microscope is a roll axis and the third axis of rotation with respect to the surgical microscope is a pitch axis.

In one embodiment, it is provided that a gear is arranged inside the support arm at the end near the microscope, which is coupled to the drive unit and a mechanical shaft of the second axis of rotation, so that a torque generated by the drive unit can be transmitted to a shaft of the second axis of rotation. As a result, a desired transmission ratio between the drive unit, e.g. an electric motor, and the shaft of the second axis of rotation can be provided.

In a further-developing embodiment, it is provided that the gear is designed as a deflection gear, with which a deflection of a rotary movement by 90° is effected. In this way, a particularly advantageous arrangement of the drive unit inside the support arm can be achieved. In particular, a drive unit that is elongated along an axis of rotation, for example an elongated electric motor, can be used, with the second axis of rotation or an associated shaft being arranged at an angle of 90° to the axis of rotation of the elongated drive unit and protruding laterally from the support arm at the end near the microscope .

In one embodiment it is provided that the deflection gear has a crown wheel. A particularly good deflection can be achieved in this way.

In one embodiment it is provided that the transmission is multi-stage. As a result, a load moment can be reduced, so that a smaller electric motor can be used for the drive unit. This makes it possible to design the carrier arm to be slimmer overall, that is to say in particular with a smaller diameter or a smaller cross-sectional area.

In one embodiment it is provided that the transmission is at least partially helical. This allows a backlash-free translation. In addition, a ripple, that is, a torque fluctuation that can be felt by a user due to an uneven and non-continuous movement, can be reduced or even avoided in this way.

In one embodiment it is provided that the microscope suspension has at least one spring device, which is set up and arranged to support the drive unit. As a result, a second gear stage in particular can be dispensed with and still a basic load reduction (Grundba launching the load). In principle, however, the spring device can also be used in addition to a second (or a further) gear stage.

In one embodiment it is provided that a braking device is arranged inside the carrier arm, with which the second axis of rotation can be braked and/or locked. The braking device can also be designed as part of the drive unit.

A surgical microscope arrangement is also provided, comprising a surgical microscope and a microscope suspension according to one of the embodiments described in this disclosure. The surgical microscope arrangement can also include a main stand with a guide arm.

• 1 eine schematische Darstellung zur Verdeutlichung von Achsen einer Mikroskopaufhängung;
• 2 eine schematische Darstellung einer Mikroskopaufhängung aus dem Stand der Technik;
• 3 eine schematische Darstellung einer Ausführungsform der Mikroskopaufhängung;
• 4 eine schematische Darstellung eines Getriebes in einer Ausführungsform der Mikroskopaufhängung;
• 5 eine schematische perspektivische Schnittdarstellung eines mikroskopnahen Endes des Trägerarms einer Ausführungsform der Mikroskopaufhängung;
• 6 eine schematische perspektivische Darstellung der in 5 gezeigten Ausführungsform der Mikroskopaufhängung 1 mit geöffnetem Trägerarm;
• 7 einen Ausschnitt aus der schematischen perspektivischen Darstellung der 5, mit zusätzlich dargestellter Verkabelung;
• 8 schematische perspektivische Darstellungen einer Ausführungsform der Mikroskopaufhängung aus verschiedenen Betrachtungsrichtungen;
• 9 eine schematische Darstellung einer Ausführungsform der Operationsmikroskopanordnung aus zwei Betrachtungsrichtungen.

The invention is explained in more detail below on the basis of preferred exemplary embodiments with reference to the figures. Here show:

• 1 a schematic representation to clarify axes of a microscope suspension;
• 2 a schematic representation of a microscope suspension from the prior art;
• 3 a schematic representation of an embodiment of the microscope suspension;
• 4 a schematic representation of a gear in an embodiment of the microscope suspension;
• 5 a schematic perspective sectional view of an end of the support arm close to the microscope of an embodiment of the microscope suspension;
• 6 a schematic perspective view of in 5 shown embodiment of the microscope suspension 1 with the support arm open;
• 7 a section of the schematic perspective view of 5 , with additional wiring shown;
• 8th schematic perspective representations of an embodiment of the microscope suspension from different viewing directions;
• 9 a schematic representation of an embodiment of the surgical microscope arrangement from two viewing directions.

In 1 is a schematic representation to clarify axes 30, 31, 32 of a microscope suspension 1 is shown. The microscope suspension 1 is arranged on a guide arm 40 of a main stand (not shown). A first axis 30 is a yaw axis, a second axis 31 is a roll axis, and a third axis 32 is a pitch axis. An operating microscope (not shown) is arranged at the lower end, a kinematic chain here being: guide arm 40, first axis 30, second axis 31, third axis 32, operating microscope. During use, the surgical microscope can be rotated about all three axes 30, 31, 32, in which case an angular range can be different in each case. Typically, the following angular ranges are provided: - first axis of rotation 30: +/- 270° - second axis of rotation 31: +/- 45° - third axis of rotation 32: -130°...+30° (or -135°...+25°)

In 2 a schematic representation of a microscope suspension 1 from the prior art is shown. The microscope suspension 1 has a support arm 2 . A drive unit 3 for effecting a rotational movement of a second axis 31 is arranged on an upper segment 4 of the microscope suspension 1 in an outer area, with a torque generated by the drive unit 3 being transmitted via a lever linkage 5 inside the support arm 2 to an end 6-2 close to the microscope and there is converted into a rotational movement about the second axis 31 (roll axis).

In 3 a schematic representation of an embodiment of the microscope suspension 1 is shown. The microscope suspension 1 comprises a (angled) support arm 2, which is rotatably mounted via a first axis of rotation 30 at an end 6-1 near the stand, and a nodding unit 7, which is mounted so as to be rotatable about a second axis of rotation 31 at an end 6-2 of the carrier arm 2 near the microscope, the nodding unit 7 is set up to form a mechanical connection with a surgical microscope (not shown) that is rotatably mounted about a third axis of rotation 32 . Furthermore, the microscope suspension 1 comprises a drive unit 3 for effecting a driven rotation about the second axis of rotation 31 , the drive unit 3 being arranged in the area of the end 6 - 2 close to the microscope inside the support arm 2 . In particular, the drive unit 3 is arranged inside a housing of the support arm.

The microscope suspension 1 includes, in particular, further drive units for effecting rotational movements about the first axis 30 and the third axis 32, which, however, are not identified with a reference number for the sake of clarity.

It is provided in particular that when the microscope suspension 1 is arranged on a guide arm of a main stand, the first axis of rotation 30 is a yaw axis in relation to a surgical microscope arranged on the microscope suspension 1, the second axis of rotation 31 is a roll axis in relation to the surgical microscope and the third axis of rotation 32 is a pitch axis with respect to the operating microscope.

Provision can be made for a gear 8 to be arranged inside the support arm 2 at the end 6-2 near the microscope, which is coupled to the drive unit and a mechanical shaft of the second axis of rotation 31, so that a torque generated by the drive unit 3 is applied to a shaft of the second axis of rotation 31 can be transmitted.

this is in 4 schematically illustrated in detail. Shown is the gear 8, which is in the end 6-2 near the microscope ( 3 ) of the support arm 2 is arranged. In particular, it is provided that the transmission 8 is multi-stage with a first gear stage 9-1 and a second gear stage 9-2. A pinion 10 of the first gear stage 9-1, which is connected to the drive unit 3 ( 3 ) is connected, engages in a crown wheel 11, which is connected to a shaft 12 of the second gear stage 9-2. The shaft 12 drives the shaft 14 of the second axis of rotation 31 via toothed segments 13 . The shaft 14 of the second axis of rotation 31 is connected to the pitching unit 7 ( 3 ) tied together.

The transmission 8 can have a potentiometer 15 coupled to the mechanical shaft 14 for detecting a rotation angle by sensors. As an alternative to the potentiometer 15, other angle measuring sensors can also be used, such as optical encoders.

As in 4 shown, it is provided in particular that the gear 8 is designed as a deflection gear, with which a deflection of a rotary movement by 90° is effected.

It can be provided that the gear 8 is at least partially helical.

As an alternative or in addition to the second gear stage 9-2, a spring device (not shown) can be provided which supports the drive unit 3 ( 3 ) is set up and arranged.

In 5 a schematic perspective sectional view of an end 6-2 of the support arm 2 close to the microscope of an embodiment of the microscope suspension is shown. The embodiment corresponds to that in FIGS 3 and 4 embodiment shown. The same reference symbols designate the same features and terms. In particular, the drive unit 3 and its mechanical connection to the transmission 8 are shown. The drive unit 3 includes an electric motor 3-1. An axis 3 - 2 of the electric motor 3 - 1 is connected to the pinion 10 of the gear 8 . The drive unit 3 and the gear 8 are arranged entirely inside the carrier arm 2 .

The 5 also shows the pitching unit 7 arranged on the mechanical shaft 14 of the second axis of rotation 31, which includes a further drive unit 15 for effecting a rotary motion about the third axis 32. In particular, the nodding unit 7 has coupling means 16 for forming a mechanical connection with a surgical microscope (not shown).

Provision can be made for a braking device 17 to be arranged inside the carrier arm 2, with which the second axis of rotation 31 can be (controlled) braked and/or locked.

In 6 is a schematic perspective view of FIG 5 shown embodiment of the microscope suspension 1 with open housing of the support arm 2 is shown. Same reference numbers denote the same terms and characteristics. A control circuit board 18 for controlling the drive unit 3 is arranged inside the support arm 2 .

In 7 is a detail from the schematic perspective view of the clarification 5 , but with wiring 19 additionally shown. The cabling 19 runs along the inside of the support arm 2 and serves in particular to supply the surgical microscope with electrical energy and for data communication, for example between a surgical microscope and a control console and/or a display device (e.g. a monitor for displaying captured microscope images). Provision is made here for the cabling 19 to be led out of the carrier arm 2 at the level of the gear mechanism 8 through an opening 20 in the carrier arm 2 .

In 8th Schematic perspective representations of an embodiment of the microscope suspension 1 are shown from different horizontal viewing directions. The microscope suspension in this case includes a support arm 2 according to the 3 until 7 embodiments shown. The same reference symbols designate the same features and terms.

In 9 a schematic representation of an embodiment of the surgical microscope arrangement 50 is shown from two viewing directions. The surgical microscope arrangement 50 comprises a surgical microscope 51 and a microscope suspension 1 according to one of the embodiments described in this disclosure. The microscope suspension 1 allows the surgical microscope 51 to be moved about three axes of rotation and therefore provides three degrees of freedom for positioning the surgical microscope 51 in a desired orientation.

reference list

1

microscope suspension

2

carrier arm

3

drive unit

3-1

electric motor

3-2

axis

4

upper segment

5

lever linkage

6-1

near the tripod end

6-2

microscopic end

7

pitch unit

8th

transmission

9-1

first gear stage

9-2

second gear stage

10

pinion

11

crown wheel

12

Wave

13

gear segments

14

shaft (second axis of rotation)

15

potentiometer

16

couplant

17

braking device

18

control board

19

cabling

20

opening

30

first axis

31

second axis

32

third axis

40

Guide arm (main tripod)

50

surgical microscope arrangement

51

surgical microscope

Claims (10)

Microscope suspension (1) for a surgical microscope (51), wherein the microscope suspension (1) is set up for arrangement on a guide arm (40) of a main stand and has three rotational degrees of freedom, comprising: a support arm (2) rotatably mounted via a first axis of rotation (30) at an end (6-1) close to the stand, a nodding unit (7) mounted rotatably about a second axis of rotation (31) on an end (6-2) of the carrier arm (2) close to the microscope, wherein the nodding unit (7) is set up to be a mechanical unit rotatably mounted about a third axis of rotation (32). form a connection with a surgical microscope (51), and a drive unit (3) for effecting a driven rotation about the second axis of rotation (31), the drive unit (3) being arranged in the area of the end (6-2) close to the microscope inside the carrier arm (2). Microscope suspension (1) according to claim 1 , characterized in that when the microscope suspension (1) is arranged on the guide arm (40), the first axis of rotation (30) with respect to a surgical microscope (51) arranged on the microscope suspension (1) is a yaw axis, the second axis of rotation (31) with With respect to the surgical microscope (51) is a roll axis and the third axis of rotation (32) with respect to the surgical microscope (51) is a pitch axis. Microscope suspension (1) according to claim 1 or 2 , characterized in that inside the support arm (2) at the end (6-2) close to the microscope there is a gear (8) which is coupled to the drive unit (3) and a mechanical shaft (14) of the second axis of rotation (31). , so that a torque generated by the drive unit (3) can be transmitted to a shaft (14) of the second axis of rotation (31). Microscope suspension (1) according to claim 3 , characterized in that the gear (8) is designed as a deflection gear, with which a deflection of a rotary movement by 90 ° is effected. Microscope suspension (1) according to claim 4 , characterized in that the deflection gear has a crown wheel (11). Microscope suspension (1) according to one of claims 3 until 5 , characterized in that the gear (8) is multi-stage. Microscope suspension (1) according to one of claims 3 until 6 , characterized in that the gear (8) is at least partially helical. Microscope suspension (1) according to one of the preceding claims, characterized by at least one spring device which is set up and arranged to support the drive unit (3). Microscope suspension (1) according to one of the preceding claims, characterized in that a braking device (17) is arranged inside the carrier arm (2), with which the second axis of rotation (31) can be braked and/or locked. Surgical microscope arrangement (50), comprising a surgical microscope (51) and a microscope suspension (1) according to one of the preceding claims.

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