POSITIONING DEVICE

Abstract

An ophthalmological laser therapy positioning device which facilitates accurate positioning of the laser therapy system vis-à-vis the patient's eye. The positioning device includes a first and a second recording unit, which provide recording data from different recording directions, a displacement unit that displaces the relative position of the eye vis-à-vis an optical opening of the laser therapy system on the basis of control commands, and a control unit that generates control commands on the basis of the recording data. The positioning device furthermore may include a display unit for displaying the recording data and an input unit for inputting input data, the control unit in this case generates control commands on the basis of the recording data and/or on the basis of the input data and to provide the control commands to the displacement unit. Corresponding positioning methods are also included.

Claims

1.-16. (canceled)

17. A positioning device for an ophthalmological laser therapy system with an optical opening, for positioning a patient's eye vis-à-vis the optical opening, the positioning device comprising: a first recording unit configured to provide first recording data of the eye from a first recording direction, a second recording unit configured to provide second recording data of the eye from a second recording direction, the second recording direction differing from the first recording direction, a displacement unit designed to displace the relative position of the eye vis-à-vis the optical opening on the basis of control commands, and one of a first controller configured to receive the first recording data and the second recording data and to generate the control commands on the basis of the first recording data and the second recording data and to communicate the control commands to the displacement unit;  or an input interface configured to facilitate an input of input data, and a second controller configured to generate control commands on the basis of the recording data, on the basis of the input data or both and to provide the control commands to the displacement unit.

18. The positioning device according to claim 17, wherein the first recording unit comprises a first recording optical unit and the second recording unit comprises a second recording optical unit, at least one of the first recording optical unit and the second recording optical unit having on an object side a numerical aperture selected from a group consisting of less than 0.25, less than 0.1, and less than 0.05.

19. The positioning device according to claim 17, wherein the ophthalmological laser therapy system further comprises an optical unit, wherein the first recording unit comprises a first recording optical unit, a part of the optical unit of the ophthalmological laser therapy system and a part of the first recording optical unit being identical.

20. The positioning device according to claim 18, wherein the first recording optical unit is configured such that an image field of an observed area is imaged with a constant image field size or a larger image field size with increasing distance from the first recording optical unit.

21. The positioning device according to claim 19, wherein the first recording optical unit is configured such that an image field of an observed area is imaged with a constant image field size or a larger image field size with increasing distance from the first recording optical unit.

22. The positioning device according to claim 17, wherein a recording unit has an image field size selected from a group consisting of at least 30 mm×30 mm, at least 40 mm×40 mm, and at least 50 mm×50 mm in a focal plane.

23. The positioning device according to claim 17, wherein the first recording direction and the second recording direction include an angle with respect to one another selected from a group consisting of 90°±30°, 90°±10°, and 90°±5°.

24. The positioning device according to claim 17, wherein the positioning device comprises a third recording unit configured to provide third recording data from a third recording direction, the third recording direction differing from the first and the second recording direction.

25. The positioning device according to claim 24, wherein the third recording direction and the first recording direction include an angle with respect to one another selected from a group consisting of between 10° and 90°, between 20° and 70°, and between 30° and 60°.

26. The positioning device according to claim 17, wherein the first controller or the second controller comprises a computing unit configured to combine recording data from a recording unit with a target mark by calculation to form display data, and wherein the first controller or the second controller provides the display data.

27. The positioning device according to claim 17, wherein the positioning device comprises an illumination unit configured to impinge the eye with illumination light.

28. The positioning device according to claim 17, wherein the first controller or the second controller comprises a computing unit designed to carry out at least one of the following calculations using the recording data: facial recognition of the patient, recognition of a patient's right or left eye, reading of a barcode, detection of movements of the patient.

29. The positioning device according to claim 17, wherein the first controller or the second controller comprises a data interface and wherein the first controller or the second controller is configured to create a data stream which comprises the recording data, the display data or both and to provide the data stream via the data interface.

30. An ophthalmological laser therapy system with an optical opening and comprising a positioning device according to claim 17.

31. A method for a positioning device of an ophthalmological laser therapy system with an optical opening, for positioning a patient's eye vis-à-vis the optical opening, the positioning device comprising a first recording unit configured to provide first recording data of the eye from a first recording direction, a second recording unit configured to provide second recording data of the eye from a second recording direction, the second recording direction differing from the first recording direction, a displacement unit configured to displace the relative position of the eye vis-à-vis the optical opening on the basis of control commands, and a controller, wherein the method comprises the following steps: receiving first recording data and second recording data, combining the first recording data and second recording data by calculation to form control commands and transmitting the control commands to the displacement unit.

32. A method for a positioning device of an ophthalmological laser therapy system with an optical opening, for positioning a patient's eye vis-à-vis the optical opening, the positioning device comprising a first recording unit configured to provide first recording data of the eye from a first recording direction, a second recording unit configured to provide second recording data of the eye from a second recording direction, the second recording direction differing from the first recording direction, a display unit that displays the first and second recording data of the eye, a displacement unit configured to displace the relative position of the eye vis-à-vis the optical opening on the basis of control commands, an input unit configured to facilitate an input of input data, and a controller, wherein the method comprises: receiving first recording data and second recording data, displaying the first recording data and the second recording data on the display unit, receiving input data, combining the input data by calculation to form control commands and transmitting the control commands to the displacement unit.

Description

[0088] The invention is explained in greater detail below for example with reference to the accompanying drawings, which also disclose features essential to the invention. In detail:

[0089] FIG. 1 shows a schematic illustration of an exemplary ophthalmological laser therapy system with a positioning device;

[0090] FIG. 2 shows a schematic illustration of the presentation of recording data on a display unit;

[0091] FIG. 3a, 3b, 3c show sectional images of an exemplary embodiment of the recording optical unit of a recording unit;

[0092] FIG. 4 shows a schematic illustration of an exemplary embodiment of a positioning device.

[0093] FIG. 1 shows a schematic illustration of an exemplary ophthalmological laser therapy system 50.

[0094] The example of the ophthalmological laser therapy system 50 is composed of an appliance base 2 and an appliance head 1 that is adjustable on this appliance base 2 in terms of its height above a ground plane, that is to say the z-direction, and in terms of its position in the plane, that is to say in the x- and y-directions. The appliance head 1 contains a first part of the laser optical unit required for performing the laser therapy. In the example shown, the appliance head 1 also contains the laser source, in this case a femtosecond laser source, required to produce a corresponding pulsed laser beam.

[0095] The second part of the laser optical unit is situated in a laser pivot arm 3. The latter can be pivoted about a horizontal axis (not shown) from a rest position, in which it projects upward in approximately perpendicular fashion, to a work position, in which it is arranged approximately horizontally on the appliance head 1, that is to say approximately parallel to the ground plane, and back again. Thus, for laser therapy on the patient's eye, the laser pivot arm 3 can be pivoted over the patient. However, in steps in which the laser pivot arm 3 is not required, it can be brought back into a rest position so that the space above the work position can be used for different things. An optical opening, specifically the laser exit opening from where a therapy laser beam is guided to the therapy location in the patient's eye (when the laser pivot arm 3—as illustrated in FIG. 1—is in the work position), is located on the laser pivot arm 3. The laser exit opening is movably arranged within the laser pivot arm 3.

[0096] A first recording unit of the positioning device is designed as a camera 11 which is situated on the laser pivot arm 3. It comprises an optical beam path to the patient's eye which, in sections, is identical to the beam path for the therapy radiation. That is to say, a portion of the laser optical unit in the laser pivot arm 3 is identical to a portion of the optical unit of the recording optical unit of camera 11. The contact glass (not plotted here) is part of this jointly used optical unit. The camera 11 allows recording data of the patient's eye to be recorded in a “transmitted view”. The positioning device comprises further cameras 9, 19 (second and third recording unit). These are designed to generate recording data of the patient, that is to say of the patient's eye and of parts of the head surrounding the eye, from recording directions that deviate from the recording direction of camera 11. Additionally, the recording directions of cameras 9 and 19 also differ. Camera 9 facilitates a “side view” of the patient's eye; the recording directions between cameras 11 and 9 include an angle of approximately 90° with respect to one another (vis-à-vis the target position of the eye). Camera 19 facilitates a “plan view” of the patient and the patient's eye. The angle between the recording directions of the second recording unit (camera 9) and the third recording unit (camera 19) is likewise approximately 90°. The angle between the recording directions of the first recording unit (camera 11) and the third recording unit (camera 19) is approximately 55°. The cameras 11, 9 and 19 span a coordinate system with which the head and the patient's eye can be detected in three dimensions. The three-dimensional position of the eye can already be captured by way of camera 11 and camera 9 on account of the arrangements of these two cameras; the determination of the position of the eye will be more accurate or more intuitive for a user wishing to undertake a manual positioning when the recording data of camera 19 are used.

[0097] The displacement unit (in this case a part of the patient couch 40) is designed to control a displacement of the appliance head 1 vis-à-vis the appliance base 2. Furthermore, it allows a displacement of the laser exit opening on the laser pivot arm 3. In this way, the laser exit opening can be displaced vis-à-vis the patient's eye in all three spatial dimensions.

[0098] The input unit 20 is designed as a joystick. It is located on the laser pivot arm 3. The operator can generate input data by way of the joystick (by moving the joystick or triggering switches or controllers located thereon). The input data are transmitted to a control unit (not illustrated) and are converted into control commands thereby (in a computing unit, likewise not illustrated). In turn, the control commands are transmitted to the displacement unit. In this example, the control unit (with computing unit) is situated in the appliance head 1.

[0099] The display unit of the positioning device is designed as a monitor 12 and is likewise fastened to the laser pivot arm 3. It is connected to the laser pivot arm 3 via a rotational pivot (not plotted) in order to ensure a horizontal alignment of the monitor 12 both in the rest position and in the work position. The monitor 12 is designed as a touch screen; consequently, the input unit 20 could also be integrated in the display unit.

[0100] Additionally, the positioning device comprises a further display unit 22 which is fastened laterally to the appliance head 1. While the monitor 12 is in a position that is ergonomic for the surgeon (operator), the monitor 22 is placed such that it provides a good view for further observers of the therapy.

[0101] The display units 12, 22 show the recording data of the cameras 11, 9 and 19 for the transmitted view 30, the side view 32 and the plan view 34 of the patient's eye.

[0102] Furthermore, the laser therapy system 50 comprises an independent examination pivot arm 14, which may be moved about a pivot axis (not plotted). The examination pivot arm 14 can likewise be pivoted back and forth between a rest position and a work position. A surgical microscope 15 is connected to the examination pivot arm 14 about a rotatable axis (not plotted). The pivot axis and the rotatable axis are configured such that the work location of the surgical microscope 15 in the work position coincides with the therapy location. As an alternative or in addition to placement of the first recording unit 11 on the laser pivot arm 3, it is possible to fasten a recording unit to the examination pivot arm 14. By way of example, it may be designed such that it has an optical beam path to the patient's eye which, in sections, is identical to the beam path for examination radiation. That is to say, a portion of the examination optical unit in the examination pivot arm 14 is identical to a portion of the optical unit of the recording optical unit of the camera. Following the change from the laser pivot arm 3 above the patient's eye to the examination pivot arm 14 above the patient's eye (examination pivot arm 14 is in the work position; laser pivot arm 3 is in the rest position), the recording data of this camera may likewise be displayed on the display unit 12, 22 and/or may be stored in a storage unit for documentation purposes. The stored data of the documentation may also include audio signals, microphone data or patient and treatment data. The recording data displayed on the display units 12, 22 may be chosen according to which pivot arm is in its work position. For example, only the recording data of the recording unit linked to the respective pivot arm currently in its work position are shown in transmitted view.

[0103] Attention should be drawn to the fact that the positioning device according to the invention is not restricted to use in an ophthalmological laser therapy system 50 with a laser pivot arm 3 and an examination pivot arm 14. Rather use is likewise possible and advantageous in a laser therapy system 50 which comprises a laser pivot arm 3 that may be positioned but cannot be brought into a rest position and/or which does not comprise an examination pivot arm 14.

[0104] FIG. 2 shows a schematic illustration of the presentation of recording data on a display unit 12, 22. According to the invention, the display units 12 and 22 are used to display a plan view 34, obtained with camera 19, a side view 32, generated by camera 9, and also the transmitted view 30, observed through the contact glass onto the patient's eye and generated by camera 11, to the operator while positioning the patient's eye vis-à-vis the optical opening (e.g., the laser exit opening and/or contact glass). Camera 19 and the display of its image 34 on the monitor 12 increase the ergonomics for the surgeon since the patient is partly covered during surgery by the laser pivot arm 3 which contains the laser optical unit. For example, the recording data (for example in the plan view) are also displayed following the positioning of the eye, for example for monitoring the therapy.

[0105] Target marks 38 are overlaid on the displayed recording data. The positioning of the eye vis-à-vis the optical opening can be improved with the aid of the target marks 38. In particular, the direction in which the joystick 20 needs to be moved/controlled so that the patient's eye reaches its target position is quickly and intuitively evident to the operator.

[0106] Additionally, information data 36 are displayed on the display unit 12, 22. These are provided to the control unit by the laser therapy system via an interface. Furthermore, it is possible to output alerts which are provided by the laser therapy system or the control unit (or the computing unit).

[0107] Sectional images of the recording optical unit of a recording unit 100 are displayed in FIGS. 3a, 3b and 3c. Here, this is a recording unit 100 having a recording optical unit which is partly identical to the laser optical unit of the ophthalmological laser therapy system. An eye 170, an objective lens 150 with a contact element 160 for the laser treatment, a beam splitter 140 and a camera objective lens 120 with a stop 130, and a sensor 110 (CCD or CMOS detector) are illustrated. Here, the contact element 160, the objective lens 150 and the beam splitter 140 are jointly used by the laser optical unit and the recording optical unit. The optical design of the recording optical unit is distinguished in that it has a small numerical aperture in order thus to ensure a large depth of field. In this way, the eye 170 is already imaged so sharply at a distance of 100 mm to 200 mm from the contact element 160 that a centration of the eye 170 is facilitated. The imaging scale and the free diameters of the optical elements are chosen such that an image field with a diameter of approximately 10 mm is imaged in focus at the contact element 160, which is the target position of the eye.

[0108] In FIG. 3a, the course of the beam from the sensor 110 to the contact element 160 is formed such that the area with a diameter of 10 mm is imaged with the same size, also for distances from 100 mm to 250 mm. To this end, the stop 130 is positioned such that object-side telecentricity is ensured. This is elucidated by the beam 190 (solid line) for the center of the area to be imaged and by the beam 192 (dotted line) for a marginal region of the area to be imaged. In FIG. 3a, the beams 190 and 192 run in parallel and do not change their spacing.

[0109] FIG. 3b illustrates an example variant in this respect. Here, the optical design is designed such that the image field of the imaged area increases in the case of a greater distance from the contact element 160, and so a larger part of the eye or of the patient's head is imaged on the camera sensor 110. This facilitates an improved “capture” of the eye at the start of a positioning, when eye 170 and contact element 160 are still at a large distance from one another. This is elucidated by the beam 190 (solid line) for the center of the area to be imaged, by the beam 192 (dotted line) for a marginal region and by the beam 194 (dash-dotted line) for a central region of the area to be imaged. The distance between the beams 190, 192 and 194 increases with the distance from the contact element 160.

[0110] The contact element 160 may be formed as a plane or curved (as shown here) contact glass. The telecentricity (or deviation therefrom) is determined by the distance between the objective lens 150 and camera objective lens 120 or the stop 130 thereof.

[0111] The beam paths of the recording unit and the laser optical unit are combined in the beam splitter 140. The latter is designed as a beam splitter cube in FIGS. 3a, 3b and 3c. However, an embodiment as a splitter plate is also possible.

[0112] For elucidation purposes, the course of the beam of therapy radiation 180 is plotted as a dashed line for the jointly used optical unit in FIG. 3c. In this case, the eye 170 is in its target position; it is in contact with the contact element 160.

[0113] FIG. 4 illustrates a schematic illustration of an exemplary embodiment of a positioning device 200. The positioning device 200 comprises a first recording unit 210, a second recording unit 220, a display unit 230 and a displacement unit 240. Furthermore, the exemplary embodiment of the positioning device 200 comprises an input unit 260, an illumination unit 270 and a storage unit 280. A data exchange from the units to the control unit 250 is realized by way of interfaces (illustrated as boxes on the control unit). In this case, the data exchange is implemented by way of cables; it can also be implemented wirelessly. Furthermore, an interface is configured for an exchange of data with the laser therapy system 50 (illustrated by way of a line which leaves the positioning device 200 illustrated by a dashed line). The control unit 250 comprises a computing unit 255 which allows the calculation of displacement data.

[0114] In this case, the aforementioned features of the invention, which are described in various exemplary embodiments, can be used not only in the specified exemplary combinations but also in other combinations or on their own, without departing from the scope of the present invention.

[0115] A description of an apparatus relating to method features is analogously applicable to the corresponding method with respect to these features, while method features correspondingly represent functional features of the apparatus described.