WO2020127751A1

WO2020127751A1 - Camera movement controller

Info

Publication number: WO2020127751A1
Application number: PCT/EP2019/086331
Authority: WO
Inventors: Ronald KEFURT
Original assignee: Kefurt Ronald
Priority date: 2018-12-19
Filing date: 2019-12-19
Publication date: 2020-06-25
Also published as: AT522029B1; AT522029A1

Abstract

The invention relates to a camera movement controller (1) for a camera (3) of an endoscope (10), comprising a camera control unit (21) which can be operated by camera control wheels (19, 20) for controlling the camera movements by means of an operator (15). An actuator unit (22, 22') is provided to drive the camera control wheels (19, 20) of the camera control unit (21), and the actuator unit (22, 22') can be brought into engagement with the camera control wheels (19, 20) at an operating end (4) of the endoscope (3) and can be removably secured thereto using a quick closure (81, 82, 107).

Description

Camera motion control

The invention relates to a camera movement control for a camera of an endoscope with a camera control unit which can be operated by camera control wheels for controlling the

Camera movements by an operator.

The field of application of the invention is in particular flexible endoscopes, primarily in medical but also in

military and civilian area.

In addition to medical endoscopy, other mechanical activities can thus also be carried out with the invention, so that all are subsequently for surgeons / operators

described activities no restriction of the

Represent generality of the description of the invention.

Endoscopes come in numerous areas of technology and

Use of medicine - whenever precision is required in a small space. To control professional, especially flexible endoscopes, two-hand technology has been used so far: one hand controls the one in use

Tool, the other hand controls the camera or its

Position. The camera is preferably a video camera eitbilder supplies moving to the operator _real-Z.

The endoscope is a tube system with a proximal end, which comprises a camera control unit, consisting of two wheels controlled by hand. This

Control unit enables movement of the distal end of the endoscope in two axes. In some models there is also a working channel at the proximal end, which is used to insert devices such as needles, scissors, etc. to manipulate at the distal end

perform.

One or more light sources and a camera are located at the distal end.

This analogue control of the camera position is still implemented today using cables (control cables) and a rotary wheel (steering wheel). Controlling endoscope cameras via data cable ("drive by wire") is not practical due to the spatial conditions, since an electric motor at the endoscope tip requires significantly more space than controlling the

Camera tip over a cable.

Professional endoscopes, for example in medical

Range, are usually operated via two control wheels at the operating end of the endoscope - this means that the surgeons use two hands to guide the endoscope, back and forth, and to operate the endoscope camera

Carry out camera movements.

There are already built-in motor controls from

Endoscope cameras are known, but they are very

cost-intensive and cause problems insofar as a malfunction can result in the camera movement being blocked, as a result of which the endoscope is no longer operational or

may also not be quickly removed from the patient's body. The object of the invention is to provide a camera movement control of the type mentioned above, which enables operation without a hand, so that in addition to the “leading” hand, a second hand is freely available.

Another task is to specify a camera control with which existing endoscopes can be retrofitted and which can be operated mechanically again very quickly if the camera control malfunctions.

According to the invention, this is achieved in that a

Actuator unit for driving the camera steering wheels of the

Camera control unit is provided, and that the actuator unit at one endoscope operating end of the endoscope can be brought into engagement with the camera control wheels and by one

Quick release fastener can be fixed.

The actuator unit provided according to the invention enables the surgeons to control the endoscope camera, e.g. over head movements or gestures, and to use the free hand for other activities.

In the event of malfunctions or in

In emergencies, the actuator unit can be removed, whereupon the manual, analog control wheels of the endoscope are again available. In the event of a system malfunction

manual controllability of the endoscope.

Analog / conventional endoscopes can be retrofitted.

Thanks to the quick access that can be achieved via the quick release

Applying as well as quickly removing the actuator unit is a Manual control operation can be restored immediately in the event of technical failure or malfunction of the electric drive. The quick application also enables a quick change of the actuator unit to other endoscopes.

In a further embodiment of the invention

Provided head movement detection unit, which is configured to detect and in head movements of the operator

Convert control signals for the actuator unit, so that the control of the movement of the endoscope camera by the

Head movements of the operator takes place.

The control of the camera is based on the head movements of the

Operators who e.g. are detected by sensors.

The control signals are then based on the invention

Endoscope attachable actuator unit added and in

Movements of the camera implemented.

Since the motion control according to the invention is analog

If the operator's head movement is mechanically converted to the endoscope, it can be used to perform significantly more complex movements. The number of movement axes operated in the endoscope is not subject to any restrictions. In the case of a motion control of more than two axes, the number of control _Z ahnräder increased in each case by a

Control gear per axis of movement.

In a further embodiment of the invention

Head movement detection unit can be coupled with a mixed reality (MR) glasses, and the head movement detection unit configured to be directional and output from the MR glasses Convert position data into control signals for the actuator unit. Any commercially available MR glasses that have the required directional and

Can deliver position data.

The movement control of the camera tip of the endoscope is thus carried out by the movement of the MR glasses on the head of the

Operator / operator performed. To do this, the

Head movements of the operator are taken over or recorded by MR glasses, which in turn are recorded by an actuator unit that can be placed on analog endoscopes and in

Movements of the camera implemented.

A further embodiment of the invention can consist in that image signals output by the endoscope camera are displayed by the display unit of the MR glasses as an image, preferably (but not necessarily) as a 3D image. In this way, the movement control of the camera can be combined with the display of a moving 3D image of the camera from the direction in which the camera is controlled by the head movement with the aid of the operator's head movements. This creates a natural perspective for the operator, e.g. during the surgical procedure with the MR glasses looks exactly in the direction in which the camera is to be pivoted, which enables intuitive camera control.

With the help of the MR glasses, control by gestures of the operator can also be carried out. For example, closing the hand into a fist can be used for calibration, e.g. as the starting point of the movement. The further movement of the hand in the room leads to the control of the motors in direct relation to the axes. Furthermore, through live image recognition Points, areas, objects etc. are recognized and marked in the output stream of the endoscope. After marking the desired object, the change in position of the camera at the distal end of the flexible endoscope is determined by the electrical drive system of the actuator unit using a directly inversely proportional one

Movement of the distal end of the flexible endoscope

compensated.

Furthermore, the detection of accelerations in the head or hand movement is possible, whereby when

predetermined threshold values, a corresponding reduction in camera movement can be made to jerky

Avoid controls.

Furthermore, the actuator may comprise at least an electric motor having a drive shaft, via which control _Z ahnräder or timing-belt pulleys are driven which are coupled to the camera control wheels.

To achieve a reliable and smooth

Torque transmission to the camera control wheels may control the _Z ahnräder each have a central hole, whose contours in a further embodiment of the invention

Outer contours of the steering wheels is adjusted so that when

Attaching the actuator unit to the endoscope-operating end of the control wheels are pushed through the control ahnräder _Z and in this way can be brought coaxially engaged with each other.

The movement control of the actuator can be advantageously carried out according to a further embodiment of the invention by the control ahnräder with _Z

Translation gears are in meshing engagement that on Drive shafts of the first and second motors are attached.

To make it easy to remove the actuator unit

allow operating end of the endoscope, according to one development of the invention the actuator unit to be placed and be connected by the quick release fastener to the endoscope-operating-end, said ahnräder by the fitting operation, the actuator provided in the control with the _Z

Steering wheels can be brought into engagement.

According to a further exemplary embodiment of the invention, in the control pulleys for driving the camera control wheels

are provided, the control pulleys can each have a central hole, the contours of which are adapted to the outer contours of the camera control wheels, so that when the actuator unit is placed on the endoscope operating end

Control pulleys are pushed over the camera control wheels and can be brought into engagement with each other coaxially.

Taking into account the different forms of camera control wheels, the central hole of the control ahnräder _Z and the timing-belt pulleys of the respective design is adapted to the fullest possible frictional connection between control ahnrädern _Z or to produce timing pulleys and camera control wheels.

According to a further exemplary embodiment of the invention, the control belt pulleys can each be coupled to drive pulleys of a first and a second electric motor via a V-belt and can be driven via these. In order to enable a faster change of the control according to the invention between different endoscopes, according to a further embodiment of the invention, the

Control pulleys can each be formed from an inner part and an outer part, the outer circumference of the inner part and the inner circumference of the outer part being matched to one another and, when brought into engagement, form a form-fitting connection. The inner part can be designed according to the contours of the different camera control wheels, while the outer part can be left unchanged. Then only the outer part of the control pulley always has to be placed on the respective adapted inner part and not the entire control pulley.

In a further embodiment, the actuator unit can be accommodated in an attachment, which is attached to the

Endoscope operating end is detachably fixable. This enables the actuator unit to be installed in a manageable manner

Unit that can be attached to and removed from the endoscope very quickly.

A further embodiment of the invention can consist in that the quick-release fastener is elastic or not

elastic belt that is around the endoscope operating end

can be guided around and by a quick opening device, e.g. Buckle, Velcro fastener, press stud, is closable. The quick-release fastener can thus be formed by any suitable, common fastener system.

The fast application and rapid removal of the actuator unit or the drive attachment that is made possible in the In the event of a technical failure or malfunction of the electric drive, manual control operation can be restored immediately. The quick application also enables a quick change of the actuator unit to other endoscopes. This means that several endoscopes with only one actuator unit or only one drive attachment can be closed

operated at different times.

A further embodiment of the invention can consist in the fact that the attachment is designed as an open housing on its underside and in this the motors and the

Control gears or timing pulleys are included. The control gears or control pulleys are interchangeable in order to be able to adapt the camera control wheels to different designs, which can vary from manufacturer to manufacturer.

Via the open underside of the housing, the attachment with the control gears or arranged in it

Control pulleys are easily placed on the endoscope operating end and these are brought into engagement with the camera control wheels.

A further embodiment of the invention can consist in that the motors are coupled to a torque sensor which detects and outputs the torque currently applied by the motor. In this context, it can further be provided that an increase in the detected torque is detected and one when a presettable threshold value is exceeded

The engine is switched off. Furthermore, the limitation of the torque is intended to prevent an undesirably high pressure of the distal end endoscope on its surroundings. Furthermore, the motor can be switched off if the operator's head and / or hand moves too quickly, which can be detected by acceleration sensors.

This emergency decoupling mechanism is said to be unwanted

Tax movements in the event of an unusual response from the

Operator, e.g. Prevent stumbling, falling, etc.

The invention is explained in detail below on the basis of the exemplary embodiments illustrated in the drawings. It shows

Fig.l and 2 is a schematic representation of an embodiment of the camera movement control according to the invention in one

side oblique view and in a plan view;

3 shows an overview diagram of the invention

Camera motion control according to Figures 1 and 2.

4 and 5 an exploded view and an oblique view of an embodiment of a half-open actuator unit of the camera movement control according to the invention according to FIGS. 1, 2 and 3;

6 and 7 are an enlarged view from behind and one

Top view of the actuator unit according to FIGS. 4 and 5 in

closed state of the housing;

8 and 9 show a side view and a rear view of the half-open actuator unit according to FIGS. 4 and 5; 10 shows an endoscope with an attached actuator unit according to FIGS. 4 to 9;

Fig.ll is a schematic plan view of another

Embodiment of an actuator unit and

12 shows a schematic front view of the actuator unit according to FIG.

Fig.l and Fig.2 show an endoscope 10 with a

Endoscope tube 2, which has a camera 3 at its distal end, which is preferably formed by a video camera, and a camera movement controller 1 at its proximal operating end 4. The distal end of the endoscope tube 2 can be controlled via inner cable pulls (not shown) and, as indicated by the arrows, can be pivoted up and down as well as to the left and to the right. The number and location of the

provided pivot axes can be within the scope of the invention

vary. A mechanism is provided in the operating end 4 of the endoscope tube 2, which acts on the cable pulls via camera control wheels 19, 20 (FIG. 3) and controls the movement of the camera 3 by an operator 15, e.g. an operator, by turning the camera control wheels 19, 20 by hand in a manner known per se. In Fig.l and 2 are the arrows

Movement angle ranges indicated for the camera, namely up and down and right-left each + -180 °. This one too

The movement angle range can be designed differently as required.

3 shows the schematic structure of the

Camera movement control 1 for the endoscope camera 3 with a control unit 21 arranged at the operating end 4 for controlling the camera movements by the operator. In order to control the camera movements without using a hand, the invention provides that one

Actuator unit 22 is provided for driving the camera control wheels 19, 20 of the camera control unit 21, which is shown in FIG. 3 in a side view, an exploded view and a view from below, in a state in which the

Actuator unit 22 is separated from the camera control unit 21.

According to the invention, the actuator unit 22 can be brought into engagement with the camera control wheels 19, 20 at the endoscope operating end 4 of the endoscope 3 and can be detachably fixed by a quick-release fastener 81, 82 (FIGS. 4, 5). The invention thus comprises an electrically operated attachment to the existing one

Control system that is put on very quickly and again

can be removed.

Furthermore, a head movement detection unit 23 is provided, which is configured to detect head movements of the operator 15 and to convert them into control signals for the actuator unit 22, so that the control of the movement of the

Endoscope camera 3 by the head movements of the operator 15.

The head movement detection unit 23 is coupled to a mixed reality (MR) glasses 11, wherein the

Head movement detection unit 23 is configured, direction and position data output from the MR glasses 11 in

Convert control signals for the actuator unit 22. The MR glasses 11 thus record head movements and deliver

platform-specific MR parameters. The communication links for all components used can be wired or wireless

take place, corresponding coupling methods are to be used, which are known to the person skilled in the art.

In FIG. 3, two arithmetic units 30, 31 are exemplary of the conversion into control signals for the actuator unit 22, e.g. are realized by microcontrollers, shown in which software level 1 and software level 2 are located. The software parameters 1 translate the MR parameters to universal ones

Direction and position data. In software level 2, the direction and position data are converted into servo position data for the actuator unit 22. The actuator unit 22 picks up the servo position data from software level 2 and drives the control unit 21 accordingly, by means of the

To generate head movements to achieve camera movements.

However, the conversion of the head movements into control signals for the actuator unit 22 can also be carried out in other ways known to the person skilled in the art.

The movement control of the camera 3 of the endoscope 10 is thus carried out by the movement of the MR glasses 11 on the head of the operator 15. For this purpose, the head movements of the operator 15 are recorded by MR glasses 11, and these in turn are converted by the actuator unit 22 into a movement of the control wheels 19, 20 of the camera control unit 21 in order to achieve the desired one

To achieve camera movement.

As shown in Fig.l and 2 are shown in the

Embodiment realized two axes of movement of the endoscope camera 3, but only one or more than two can Movement axes can be provided. In the present case there is a pitching movement of the operator's head about an imaginary axis, that in the operator's neck transversely to the spine

is converted into an up-down movement of the camera 3 of the endoscope and a head rotation essentially around the spine into a left / right movement of the camera 3. The way in which this conversion of the head movements into camera movements takes place, the angular extent, the angular speed, etc. can be determined as required.

4 to 6 show the removable according to the invention

Actuator unit 22, the two electric motors 41, 42 with

associated drive shafts 44, 45, via which

Control _Z ahnräder 51, 52 are driven, the camera 3 of the endoscope can be coupled with the steering wheels 19, 20 which are provided to control the camera position.

Furthermore, an attachment housing part 70 is shown, which

Components of the actuator unit 22 are stored or to which they are attached.

The diameters of the control wheels 19, 20 can vary depending on the type. The attachable actuator unit 22 can

interchangeable control ahnräder _Z 51, each of the 52

Steering wheel sizes can be adjustable. The electric motors 41, 42 can be controlled continuously and smoothly.

The actuator unit 22 can be placed on the endoscope operating end 4 and can be fastened with a quick-release fastener 81, 82

Endoscope operating end 4 connectable, with the

Landing _V organg provided for in the actuator Control _Z ahnräder 51, 52 with the two steering wheels 19, 20 in

Intervention can be brought.

In the illustrated embodiment, the actuator unit 22 is detachably attached to the endoscope 10.

The housing 70 has a receiving device 80 for the band-shaped quick-release fastener 81, 82 with which the

Actuator unit 22 can be clamped to the operating end 4. The quick fastener 81, 82 is necessary in the case of a

Malfunction to take over the manual control of the endoscope 10 immediately.

If the actuator unit 22 at the operating end 4 on the

Be mounted control unit 21, the control wheels 19, 20 with the control _Z ahnrädern 51, 52 coupled, said control gear

51 are driven by a first motor 41 and the control gear 52 by a second motor 42.

The control _Z ahnräder 51, 52, 58 each have a central hole 57, on whose contours to the outer contours of the control wheels 51,

52 are adapted so that the operating end of the endoscope 4 in this manner are when mounting the actuator 22 to which the controller _Z ahnräder 51, 52 are pushed with their holes over the control wheels 19, 20 and coaxially engageable with each other.

Through the form-fitting connection between the control wheels 19, 20 and control _Z ahnrädern 51, 52 that can by the motors

applied torque can be transmitted to the control wheels 19, 20 without jerking. The control _Z ahnräder 19, 20 are on the outer circumference with

Gear wheels 54, 55 in meshing engagement on drive shafts 43, 44 of the first and second motors

are attached. Depending on the diameter chosen

Control _Z ahnräder 19, 20 and the transmission gears 54, 55, the ratio can be adjusted accordingly.

The actuator unit 22 can be designed such that the

Control _Z ahnräder 19, 20 interchangeable and thus to common

Steering wheel sizes are customizable.

From Fig. 4, 5, 6, 7 and 8 it can be seen that in the attached

State of the actuator unit 22, the control gear 52 is coupled to the control wheel 20 and that the control gear 51 is brought into engagement with the control wheel 19 on the level above.

The controlled camera 3 of the endoscope carries out an image / video transmission to the MR glasses 11 in order to provide the operator with a visual representation of those recorded by the camera 3

To give environment inside a body.

To control the endoscope camera 3 by the actuator unit 22, there is an image on an MR device

helpful. This return channel is made using standard data transmission protocols and standard connections

manufactured, whereby a latency of no more than l / 10s (= 100ms) should be guaranteed.

MR glasses project onto 2 transparent monitors, in

The glasses are essentially left and right, each a visual signal (image signal from the endoscope camera 3). This Representation is perceived by the operator as a 2D or 3D image in front of the real room. The glasses are oriented in space by sensors and can therefore digitally output any axis movements of their own. The transparency of the monitors enables the real environment to be captured as usual and enriched or supplemented by digital signals (images).

The movement of the operator's head is recorded and translated into movement parameters.

For example, the control parameters of the actuator unit 22 can be selected via a user interface:

- Possibility of setting the translation ratios for motors 41, 42: six positions between 0.5: 1 and 1: 5 available. Due to the small number of positions

simple "buttons" as a possible implementation.

- Reset: Zero position of the endoscope tip must be set automatically when (suddenly) exiting.

- Exit: exit the user interface

A hardware-related controller translates the position data of the hololens of the MR glasses 11 into control positions of the

Actuator unit 22. Output signals are therefore control pulses for the electric motors 41, 42 of the actuator unit 22. The central ones

Control impulses are converted into control movements based on the position data supplied from the mixed reality application.

The functionality of the is of great importance

Axis control and corresponding exit conditions for

Control of unwanted rapid movements. This can be programmed as follows: Function input glasses (X_axis_ movement, Y_axis_ movement,

Z_axis_ motion)

If X_Axis_Acceleration <Maximum_permitted_speed Output_X_Axis = X_Axis_Motion * Ratio

Else exit

If Y_Axis_Acceleration <Maximum_permitted_speed Output_Y_Axis = Y_Axis_Motion * Ratio.

Else exit

If Z_Axis_Acceleration <Maximum_permitted_speed

Output_Z_Achse = Z_achse_Bewendung * Ratio

Else exit

11 and 12 show a further embodiment of the invention, in which an actuator unit 22 ^{″ has} two electric motors 101, 102

Has drive shafts 199 and drive pulleys 200, control pulleys 104, 114 being provided, each of which is coupled via a V-belt 103, 113 to the drive pulleys 200 of the first and second electric motors 101, 102 and can be driven by these.

The control pulleys 104, 114 each have a central one

Hole 124, 125 on, the contours of the outer contours of the

Camera control wheels 19, 20 are adapted so that when the actuator unit 22 ^{'is placed} on the endoscope operating end 4 the

Control pulleys 104, 114 are pushed over the camera control wheels 19, 20 and can be brought into engagement with one another coaxially thereon.

The timing pulleys 104, 114 are further formed each from an inner part 210 and an outer part 211, the outer periphery 270 of the inner part 210 and the inner periphery 271 of the outer part 211 are adapted to one another and, when brought into engagement with one another, form a positive connection. The outer circumference of the inner part 210 and the inner circumference of the outer part 211 are wavy in Fig.ll, but can also be formed by other geometric figures.

The actuator unit 22 ^″ is accommodated in an attachment 209, which can be detachably fastened to the endoscope operating end 4 by the quick fastener 107, the quick fastener 107 being an elastic belt which can be guided around the endoscope operating end 4 and through a quick release device, for example a buckle or Velcro fastener, push button, can be closed.

The attachment 209 is designed as an open housing on its underside and in this are the motors 101, 102 and

Timing pulleys 104, 114 added.

It is also envisaged that the motors with a

Torque sensor are coupled, which detects and outputs the torque currently applied by the engine. An increase in the detected torque is detected and when a preset threshold value is exceeded, the

Motors.

Claims

PATENT CLAIMS

1. Camera motion control (1) for a camera (3) one

Endoscope (10) with a camera control unit (21) that can be operated by camera control wheels (19, 20) for controlling the camera movements by an operator (15), characterized in that an actuator unit (22, 22 ^" ) for driving the camera control wheels ( 19, 20) of

Camera control unit (21) is provided, and that the

Actuator unit (22, 22 ^" ) at one endoscope operating end (4) of the endoscope (3) can be brought into engagement with the camera control wheels (19, 20) and by a quick release (81,

82, 107) can be detachably fixed.

2. Camera movement control according to claim 1, characterized

characterized in that a head movement detection unit (23) is provided which is configured to detect head movements of the operator and to convert them into control signals for the actuator unit (22, 22 "), so that the movement of the endoscope camera (3) is controlled by the

Head movements of the operator (15) takes place.

3. camera movement control according to claim 2, characterized

characterized in that the head movement detection unit (23) is coupled to a mixed reality (MR) glasses (11), and that the head movement detection unit (23) is configured to be output from the MR glasses (11) To convert direction and position data into control signals for the actuator unit (22, 22 ").

4. camera movement control according to claim 2 or 3, characterized in that from the endoscope camera (3) output image signals are displayed by the display unit of the MR glasses as a 3D image.

5. Camera movement control according to one of claims 1 to 4, characterized in that the actuator unit (22, 22 ^" ) at least one electric motor (41, 42; 101, 102) with one

Drive shaft (44,45; 199) comprises, via which

Control _Z ahnräder (51, 52) or timing belt pulleys (104,

114) can be driven, which can be coupled to the camera control wheels (19, 20).

6. camera movement control according to claim 5, characterized

in that the control _Z ahnräder (51, 52) can be driven via a first and a second motor (42, 42).

7. camera movement controller according to claim 5, 6 or 7, characterized in that the control _Z ahnräder (51, 52) each having a central hole (57, 58), whose contours adapted to the outer contours of the camera control wheels (19, 20) are, so that when placing the actuator unit (22) on the endoscope-operating end of the control _Z ahnräder (51, 52) are pushed over the control wheels (19, 20) and in this way can be brought coaxially engaged with each other.

8. Camera Motion control according to one of claims 5 to 7, characterized in that the control _Z ahnräder (51, 52) with ratio gears (54, 55) in meshing engagement which are mounted on drive shafts (43, 44) of the first and second motors (41, 42).

9. camera movement control according to claim 5, characterized

characterized in that the control pulleys (104, 114) each have a central hole (124, 125), the

Contours are adapted to the outer contours of the camera control wheels (19, 20) so that when the

Actuator unit (22 ^" ) on the endoscope operating end of the control pulleys (104, 114) via the camera control wheels

(19, 20) are pushed and can be brought into engagement with each other coaxially.

10. camera movement control according to claim 9, characterized

characterized in that the timing belt pulleys (104, 114) each have a V-belt (103, 113)

Drive disks (200) of a first and a second

Electric motor (101, 102) coupled and via this

are drivable.

11. Camera movement control according to claim 9, characterized

characterized in that the control pulleys (104, 114) are each formed from an inner part and an outer part, the outer circumference of the inner part and the inner circumference of the outer part being matched to one another and, when brought into engagement, form a form-fitting connection.

12. Camera movement control according to one of the preceding

Claims, characterized in that the actuator unit (22, 22 ") is accommodated in an attachment (70, 209) which is attached to the endoscope by the quick-release fastener (81, 82; 107).

Operating end (4) can be detachably fixed.

13. Camera movement control according to claim 12, characterized in that the quick-release fastener is an elastic or non-elastic belt which can be guided around the endoscope operating end and by a

Quick opening device, e.g. Buckle, Velcro fastener, press stud, is closable.

14. Camera movement control according to claim 13, characterized

characterized that the essay as one at its

Lower open housing is formed and ahnräder in that the motors and the _Z control or

Timing pulleys are included.

15. Camera motion control according to one of claims 5 to 14, characterized in that the motors are coupled to a torque sensor which detects and outputs the torque currently applied by the motor.

16. Camera movement control according to claim 15, characterized

characterized in that an increase in the detected torque is detected and the motor is switched off when a presettable threshold value is exceeded.