STAND DEVICE RESPONSIVE TO FORCE OR MOVEMENT, CONTROL DEVICE, AND METHOD FOR POSITIONING THE STAND DEVICE

Abstract

The invention relates to a stand device (1) for arranging in an operating room and for locally moving a medical device (20), comprising a braking device (50) having at least one brake (51) that is configured to adjust a degree of freedom of movement of the medical device (20) or a support system (10) holding the device, wherein the stand device (1) further comprises a control device (30) connected to the braking device (50) that is configured to evaluate an external force acting on the stand device (1) or a movement caused by the external force and configured to control the braking device (50) and to adjust the degree of freedom of movement. As a result, the medical device can be moved without operating a switch/pushbutton. Furthermore, the invention relates to a corresponding control device and a method for positioning the medical device.

Claims

1. A stand device for arranging in an operating room and for locally moving a medical device, comprising—at least one movably mounted support arm; a braking device having at least one brake that is configured to adjust a degree of freedom of movement of the at least one support arm and/or the medical device relative to the supporting device; and a control device connected to the braking device and at least one sensor device connected to the control device, the sensor device being configured to detect an external force acting on the stand device or a movement caused by the external force and configured to output a corresponding measured value to the control device, wherein the control device is configured to control the braking device as a function of the measured value—in particular, to release it—and adjust the degree of freedom of movement.

2. The stand device according to claim 1, wherein the control device is configured to release the braking device, as a function of the measured value, autonomously and without operating an additional switch, only on the basis of an external force acting on the stand device.

3. The stand device according to claim 1, wherein the control device is configured to at least gradually release and/or at least gradually apply the at least one brake as a function of the magnitude or the direction of the external force and/or the direction of the movement and/or the path of the movement, or in that the control device is configured to adjust the at least one brake as a function of a position signal detected by a position sensor device, particularly when the stand device is at a standstill, and preferably at a standstill after a predefined minimum duration.

4. The stand device according to claim 1, wherein the stand device has at least one manually operable functional element, particularly a tray on which a sensor device of the at least one sensor device is arranged—especially, at least one force sensor.

5. The stand device according to claim 1, wherein the stand device comprises the medical device and has a mounting interface in which the external force can be detected, wherein the mounting interface is provided on the medical device, and wherein a first functional element—in particular, in the form of a handle or a bar—is fixed in the mounting interface.

6. The stand device according to claim 1, wherein the stand device has an operating area that is accessible from the outside and in which the external force can be introduced to the stand device.

7. The stand device according to claim 1, wherein the stand device has at least one drive connected to the control device for the motorized movement of at least one support arm, wherein the control device is configured to evaluate the movement caused by an external force as a function of an operating state of the at least one drive.

8. The stand device according to claim 1, wherein at least one sensor device of the at least one sensor device is arranged in a swivel joint of the stand device.

9. The stand device according to claim 1, wherein the at least one sensor device is a force sensor from the group including pressure sensors, strain gauges, and torsion sensors.

10. A stand device for arranging in an operating room and for locally moving a medical device, comprising a braking device having at least one brake that is configured to adjust a degree of freedom of movement of the medical device; and a control device connected to the braking device configured to evaluate an external force acting on the stand device or a movement caused by the external force and configured to control the braking device- and to adjust the degree of freedom of movement.

11. A control device for use with a medical stand device—in particular, for a stand device according to claim 1, wherein the control device is configured to evaluate an external force acting on the stand device or a movement caused by the external force and configured to control a braking device of the stand device as a function of the force or movement—in particular, to release it—and, as a result, adjust a degree of freedom of movement of the stand device.

12. A method for positioning a medical device on a stand device that can be arranged in an operating room—in particular, a stand device according to claim 1, the method comprising the following steps: detecting an external force acting on the stand device or a movement caused by the external force; outputting a corresponding measured value to a control device of the stand device; evaluating the measured value by means of the control device—in particular, evaluating a magnitude and/or a direction of the external force or movement; and controlling a braking device of the stand device and adjusting the degree of freedom of movement of the medical device or the stand device by means of the control device as a function of the measured value—in particular, as a function of the magnitude and/or the direction of the external force or movement.

13. The method according to claim 12, wherein controlling the braking device comprises an at least gradual release of at least one brake of the braking device as soon as an external force is detected or if the external force exceeds a certain threshold value for the first time or is exerted in a specific direction, and/or in that the braking device is fully or gradually applied as soon as the external force decreases or no external force is detected anymore, or as soon as the direction of the external force changes—in particular, starting from a change in direction as a function of a minimum threshold value.

14. The method according to claim 12, wherein the movement caused by an external force is evaluated as a function of an operating state of at least one drive of the stand device.

15. A method for positioning a medical device of a stand device that can be arranged in an operating room, comprising the following steps: detecting an external force acting on the stand device or a movement caused by the external force; and controlling a braking device of the stand device and adjusting a degree of freedom of movement of the stand device by means of the control device as a function of the measured value—in particular, as a function of the magnitude and/or the direction of the external force.

16. A control device for positioning a stand device in the operating room when locally moving a medical device mounted on the stand device—in particular, for positioning a stand device according to claim 1, wherein the control device communicates with at least one braking device, as well as at least one sensor device configured to evaluate an external force acting on the stand device or a movement caused by the external force, and controls the braking device as a function of the measured value, and adjusts a degree of freedom of movement of the stand device.

Description

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

[0079] The disclosure will be explained in greater detail in the following figures with the help of exemplary embodiments. Illustrated are:

[0080] FIG. 1 schematically shows, in a perspectival side view, a stand device according to an exemplary embodiment of the disclosure in conjunction with a medical device;

[0081] FIG. 2 schematically shows, in a perspectival side view, the medical device shown in FIG. 1; and

[0082] FIG. 3 schematically shows procedural steps of a method according to individual embodiments of the disclosure.

DETAILED DESCRIPTION

[0083] In the context of the description of individual figures, reference is made to the other figures for reference numbers that are not explained explicitly.

[0084] In FIG. 1, a ceiling stand device 1 having a support system 10 is shown that includes two support arms 13, 14. The ceiling stand device 1 may be mounted on a ceiling by means of a mounting device (ceiling flange) 11, wherein one of the support arms 13 is connected to the mounting device 11 via a support section—in particular, via a section of column 11.1. A first swivel joint 12.1 is arranged between the carrier section 11.1 and the support arm 13. A second swivel joint 12.2 is arranged on an opposite end of the support arm 13. The second swivel joint 12.2 ensures the connection to the additional support arm 14, which is connected to a third swivel joint 12.3, which ensures the connection to a medical device 20—in particular, a supply unit. The third swivel joint 12.3 may optionally also be arranged directly on the additional support arm 14. A carrier 21—in particular, a bracket pipe—which is usually rigid and permits a rotational movement, but not necessarily also a height adjustment, is arranged between the medical device 20 and the additional support arm 14. A height adjustment is preferably made by accordingly mounting the additional support arm 14 on the first support arm 13.

[0085] The medical device 20 has a functional element 22 decoupled from the braking device in the form of a handle or a bar. Furthermore, the medical device 20 has a tray 26 that functions as a “functional element.”

[0086] The ceiling stand device 1 has a control device 30 that is arranged on one of the support arms in the example shown. The control device 30 may optionally also be arranged on the medical device 20, as indicated by the dotted line.

[0087] The control device 30 includes sensor devices 31 arranged on the support system 10, as well as sensor devices 32 arranged on the medical device. The sensor devices 31 on the support system 10 are preferably arranged in the joints 12.1, 12.2, 12.3. The sensor devices 32 on the medical device 20 are preferably arranged in mounting points M1, M2 and/or in attachment points B1, B2. The mounting points M1, M2 and the attachment points B1, B2 each provide an externally accessible mounting interface for the functional element 22 and the tray 26. An external force exerted on the ceiling stand device 1 may be detected, for example, at the points M1, M2, B1, B2.

[0088] Ceiling stand device 1 may optionally also have an indicating device 40 having at least one indicating element (indicator) 41. The indicating device 40 may be formed by the individual indicating elements 41 and is connected to the control device 30. The control device 30 is configured to control the indicating device 40 as a function of detected measured force values or an absolute or relative position.

[0089] The ceiling stand device 1 has a braking device 50 including at least one brake 51, 52, 53. Preferably, at least one brake is arranged at a respective interface between the support arms 13, 14 and the medical device 20 in each case. The respective brake or its position is indicated here by way of example. The braking device 50 may be formed by the individual brakes 51, 52, 53 and is connected to the control device 30.

[0090] An external force may be measured directly in the mounting and/or attachment points M1, M2, B1, B2 by means of the sensor devices 32, regardless of the point of the tray 26 or functional element 22 that the operator touches. The sensor devices 31, 32 may be configured to also measure other relative or absolute values—for example, a movement or an impulse.

[0091] The control device 30 is configured to at least release at least one of the brakes 51, 52, 53 in response to an external force—in particular, also in response to an external force having a predetermined minimum magnitude or a predetermined direction or a predetermined directional range. As a result, the ceiling stand device 1 can easily be moved (e.g., swiveled)—in particular, with one hand, or largely “blindly.”

[0092] The ceiling stand device 1 also has a drive mechanism 60 including at least one drive 61, 62. Preferably, a drive is arranged at a respective interface between the support arms 13, 14 and the medical device 20 in each case. The respective drive or its position is indicated here by way of example. The drive mechanism 60 may be formed by the individual drives 61, 62 and is connected to the control device 30.

[0093] The tray 26 is shown in a further perspective in FIG. 2. The tray 26 is attached at two mounting points M2 on the functional element 22. The sensor devices 32 may be provided at the mounting interface between the functional element 22 and the tray 26 and/or at the mounting interface between the functional element 22 and the housing of the medical device 20.

[0094] Furthermore, a standard rail 23 is shown, which is attached to the supply unit in a further (third) set of mounting points M3, wherein sensors 33 (shown only schematically) may also be provided at these mounting interfaces. In addition, an operating area—in particular, haptic operating area HB—is schematically indicated, in which an operator input can be made. The operating area HB may also be arranged at other, if applicable, additional areas of the stand device—in particular, with regard to good accessibility, depending upon the application.

[0095] In FIG. 3, individual steps of the method for positioning the medical device are shown. The process is initiated when an external force is detected (in particular, its magnitude and/or direction) (step S1). In a second step S2, at least one measured value of the external force is output. The measured value is evaluated in a third step S3. In a fourth step S4, a braking device is controlled—in particular, at least one brake is at least gradually released or also at least gradually applied again, to adjust a degree of freedom of movement. Step S4 may include a step S4a (releasing at least one brake)—in particular, gradually releasing it (step S4a.1). Step S4 may also include a step S4b (applying at least one brake)—in particular, gradually applying it (step S4b.1). Steps S1 through S4 can be performed iteratively, be it completely or in partial steps. In a step S5, a signal/indication may be output to an operator—in particular, by means of an indicating device. Furthermore, at least one of the drives may be controlled in a step S6. Steps S5 and S6 may be performed in parallel with any of the steps S1 through S4, or also after step S4.

LIST OF REFERENCE NUMBERS

[0096] 1 stand device—in particular, a ceiling stand device [0097] 10 support system [0098] 11 mounting device—in particular, a ceiling flange or floor support [0099] 11.1 carrier section—in particular, a section of column [0100] 12.1 (first) swivel joint [0101] 12.2 second swivel joint [0102] 12.3 third swivel joint [0103] 13 (first) support arm [0104] 14 second support arm [0105] 20 medical device—in particular, a supply unit [0106] 21 carrier—in particular, a bracket pipe [0107] 22 functional element decoupled from the braking device—in particular, a handle or bar [0108] 23 functional element—in particular, a standard rail [0109] 26 tray—in particular, functioning as a functional element [0110] 30 control device [0111] 31 sensor device on the support system [0112] 32 sensor device on the medical device [0113] 33 sensor device—in particular, on/in the mounting interface [0114] 40 indicating device [0115] 41 indicating element (indicator) [0116] 50 braking device [0117] 51 (first) brake [0118] 52 second brake [0119] 53 third brake [0120] 60 drive mechanism [0121] 61 (first) drive—in particular, a rotary drive [0122] 62 second drive—in particular, a rotary drive [0123] B1 (first) attachment point [0124] B2 second attachment point [0125] HB operating area—in particular, a haptic operating area [0126] M1 (first) mounting point [0127] M2 second mounting point [0128] M3 third mounting point [0129] S1 first step: detecting an external force [0130] S2 second step: outputting a measured value [0131] S3 third step: evaluating the measured value [0132] S4 fourth step: controlling a braking device—in particular, at least gradually releasing a brake, to adjust a degree of freedom of movement [0133] S4a releasing a brake [0134] S4a.1 gradual release [0135] S4b applying a brake [0136] S4b.1 gradual application [0137] S5 outputting a signal/indication to an operator [0138] S6 triggering of at least one drive

[0139] The various embodiments described above can be combined to provide further embodiments. All of the U.S. patents, U.S. patent application publications, U.S. patent applications, foreign patents, foreign patent applications and non-patent publications referred to in this specification and/or listed in the Application Data Sheet are incorporated herein by reference, in their entirety. Aspects of the embodiments can be modified, if necessary to employ concepts of the various patents, applications and publications to provide yet further embodiments.

[0140] These and other changes can be made to the embodiments in light of the above-detailed description. In general, in the following claims, the terms used should not be construed to limit the claims to the specific embodiments disclosed in the specification and the claims, but should be construed to include all possible embodiments along with the full scope of equivalents to which such claims are entitled. Accordingly, the claims are not limited by the disclosure.