# US 10,766,138 B2 · Stand device responsive to force or movement, control device, and method for positioning the stand device

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- Number: US 10,766,138 B2
- Document ID: US10766138B2
- Status: Granted
- Kind: B2
- Application number: 15/504,249
- Filed: 2015-07-09
- Published: 2017-11-30
- Granted: 2020-09-08
- Earliest claimed: 2014-08-18
- Assignees: Ondal Medical Systems GmbH
- Applicants: Ondal Medical Systems GmbH
- Inventors: Stefan Perplies; Kai Volkenand
- Web page: https://patentgrep.com/patent/US10766138B2

## CPC

- B25J 9/1674: {characterised by safety, monitoring, diagnostic}
- A61B 90/50: Supports for surgical instruments, e.g. articulated arms
- A61G 12/002: {Supply appliances, e.g. columns for gas, fluid, electricity supply (vertical ducts or channels for receiving utility lines E04F17/08; installations of electric cables or lines, wall trunking H02G3/0431; structural combinations of lighting devices with other articles F21V33/0068; stands or trestles as supports for apparatus or articles F16M11/00; buildings for public purposes E04H3/08)}
- A61G 13/107: {Supply appliances (supply appliances for dental machines A61C1/0007)}
- B25J 9/1694: {characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion}
- B25J 19/0004: {Braking devices (brakes in general F16D)}
- A61B 2090/064: {for measuring force, pressure or mechanical tension}
- A61B 2090/508: {with releasable brake mechanisms}
- A61G 12/004: {mounted on the ceiling}
- A61G 12/005: {mounted on the wall}
- A61G 12/007: {mounted on the floor, e.g. tracks}
- A61G 2203/32: for force
- A61G 2203/34: for pressure
- A61G 2203/36: for motion
- A61G 2203/38: for torque
- Y10S 901/09: Closed loop, sensor feedback controls arm movement
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- A61G: TRANSPORT, PERSONAL CONVEYANCES OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS (appliances for aiding patients or disabled persons to walk A61H3/00); OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES (embalming corpses A01N1/00)
- Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS

## Abstract

A stand device for arranging in an operating room and for locally moving a medical device can incorporate a braking device having at least one brake to adjust a degree of freedom of movement of the medical device or a support system holding the device, wherein the stand device can further comprise a control device connected to the braking device 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. The medical device can be moved without operating a switch/pushbutton. Furthermore, the disclosure relates to control devices and a methods for positioning the medical device.

## Claims

### Claim 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 a supporting device;
a control device connected to the braking device; and
at least one sensor device connected to the control device, the at least one 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, the controlling including completely releasing the braking device when the external force exceeds a certain threshold value and reactivating the braking device when the external force reduces to, or less than, the certain threshold value, as a function of the measured value autonomously and without operating an additional switch based only on the external force acting on the stand device, the complete releasing causing adjustment of the degree of freedom of movement of the at least one support arm and/or the medical device relative to the supporting device.

### Claim 2 (depends on 1)

The stand device according to claim 1, wherein the stand device has at least one manually operable functional element on which the at least one sensor device of the control device is arranged.

### Claim 3 (depends on 1)

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 is fixed in the mounting interface.

### Claim 4 (depends on 1)

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

### Claim 5 (depends on 1)

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

### Claim 6 (depends on 1)

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

### Claim 7 (depends on 1)

The stand device according to claim 1, wherein the at least one sensor device is a force sensor.

### Claim 8

A method for positioning a medical device on a stand device that can be arranged in an operating room, the method comprising:
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 the control device, the evaluating including determining a magnitude or a direction of the external force or movement;
controlling a braking device of the stand device as a function of the magnitude or the direction of the external force or movement, the controlling including completely releasing the braking device in response to the external force exceeding a certain threshold value for a first time, and reactivating the braking device when the external force returns to, or is less than, the certain threshold value.

### Claim 9 (depends on 8)

The method according to claim 8, 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.

### Claim 10 (depends on 1)

The stand device according to claim 1, wherein the control device communicates with the braking device and the at least one sensor device.