# US 5,345,087 A · Optical guide system for spatially positioning a surgical microscope

> Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt

- Number: US 5,345,087 A
- Document ID: US5345087A
- Status: Granted
- Kind: A
- Application number: 08/011,515
- Filed: 1993-02-01
- Granted: 1994-09-06
- Earliest claimed: 1992-01-30
- Assignees: Carl-Zeiss-Stiftung
- Inventors: Joachim Luber; Werner Muller; Martin Pelzer; Anette Reiss
- Web page: https://patentgrep.com/patent/US5345087A

## CPC

- B25J 13/00: Controls for manipulators (program controls B25J9/16)
- A61B 34/74: {Manipulators with manual electric input means}
- A61B 90/50: Supports for surgical instruments, e.g. articulated arms
- B25J 19/021: {Optical sensing devices}
- G02B 21/24: Base structure
- A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B 90/20: Surgical microscopes characterised by non-optical aspects
- A61B 2017/00216: {with eye tracking or head position tracking control}
- A61B 2017/00694: {with means correcting for movement of or for synchronisation with the body}
- A61B 2034/2055: {Optical tracking systems}
- A61B 2090/502: {Headgear, e.g. helmet, spectacles}
- 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)
- G02B: OPTICAL ELEMENTS, SYSTEMS OR APPARATUS

## Abstract

An instrument is mounted on a motorized positioning mechanism for providing a contactless guidance of the instrument. A transmitting unit and a receiving unit are arranged in a defined relative position to an operator and the instrument so that an evaluation unit positions the instrument via corresponding control signals with the aid of the registered signals of the receiving unit. A preferred application is the contactless guidance of a surgical microscope which tracks the head movements of the surgeon.

## Claims

### Claim 1

A guide system for spatially positioning a surgical microscope in correspondence to movements of the head of an operator for which a desired position relative to the surgical microscope is defined, the guide system comprising:
motorized positioning support means for holding and moving the surgical microscope in six degrees of freedom;
transmitter means mounted on one of the head of said operator and said surgical microscope in a defined position relative thereto for transmitting at least two separate transmitting beams defining respective beam paths;
receiver means mounted on the other one of the head of said operator and said surgical microscope in a defined position relative thereto for receiving said transmitting beams;
said receiver means including means providing a position-resolving registration of at least three separate incident points and means for emitting output signals indicative of a relative movement between said transmitter mean and said receiver means in said six degrees of freedom; and,
evaluation means for evaluating said output signals of said receiver means to reconstruct the movement of the head of said operator in said six degrees of freedom relative to said defined desired position and form control signals indicative of said movement and for transmitting said control signals to said motorized positioning support means thereby actuating said support means to cause said surgical microscope to track the movement of the head of said operator into said defined desired position in six degrees of freedom.

### Claim 2

A guide system for spatially positioning a surgical microscope in correspondence to movements of the head of an operator for which a desired position relative to the surgical microscope is defined, the guide system comprising:
motorized positioning support means for holding and moving the surgical microscope in six degrees of freedom;
optical transmitter means mounted on one of the head of said operator and said surgical microscope in a defined position relative thereto;
said optical transmitter means including at least one light source for generating and transmitting at least two separate transmitting beam defining respective beam paths;
optical receiver means mounted on the other one of the head of said operator and said surgical microscope in a defined position relative thereto for receiving said transmitting beams;
said optical receiver means including means providing a position-resolving registration of at least three separate incident points and means for emitting output signals indicative of a relative movement between said optical transmitter means and said optical receiver means in said six degrees of freedom; and,
evaluation means for evaluating said output signals to reconstruct a movement of the head of said operator in said six degrees of freedom relative to said defined desired position and form control signals indicative of said movement and for transmitting said control signals to said motorized positioning support means thereby actuating said support means to cause said surgical microscope to track the movement of the head of said operator into said defined desired position in six degrees of freedom.

### Claim 3 (depends on 2)

The guide system of claim 2, said optical transmitter means further including a plurality of optical elements for dividing said beam into a plurality of beams defining a plurality of respective individual transmitting beam paths.

### Claim 4 (depends on 3)

The guide system of claim 3, said elements being beam-splitter elements.

### Claim 5 (depends on 3)

The guide system of claim 3, said elements being light wave conductors.

### Claim 6 (depends on 2)

The guide system of claim 2, said optical transmitter means including means for focussing said beams transmitted along said transmitting beam paths, respectively.

### Claim 7 (depends on 2)

The guide system of claim 2, said optical transmitter means further including three optical elements for dividing said beam into three beams defining three respective individual transmitting beam paths; and, said optical receiver means including a plurality of position-sensitive detectors for providing a position-resolving registration of said three transmitting beam paths.

### Claim 8 (depends on 2)

The guide system of claim 2, said position-sensitive detector being defined by at least one CCD-array.

### Claim 9 (depends on 2)

The guide system of claim 2, said optical receiver means including a plurality of said position-sensitive detectors;
and, each of said position-sensitive detectors being a segmented photo diode.

### Claim 10 (depends on 2)

The guide system of claim 2, said optical receiver means including a plurality of said position-sensitive detectors;
and, each of said position-sensitive detectors being a lateral effect diode.

### Claim 11 (depends on 2)

The guide system of claim 2, said optical receiver means including a plurality of said position-sensitive detectors;
and, each of said position-sensitive detectors being a transparent lateral effect diode.

### Claim 12

A guide system for spatially positioning a surgical microscope in correspondence to movements of the head of an operator for which a desired position relative to the surgical microscope is defined, the guide system comprising:
motorized positioning support means for holding and moving the surgical microscope in six degrees of freedom;
optical transmitter means mounted on one of the head of said operator and said surgical microscope in a defined position relative thereto;
said optical transmitter means including at least one light source for generating and transmitting at least two separate transmitting beams defining respective beam paths;
optical receiver means mounted on the other one of the head of said operator and said surgical microscope in a defined position relative thereto for receiving said transmitting beams;
said optical receiver means including means providing a position-resolving registration of at least three separate incident points and means for emitting output signals indicative of a relative movement between said optical transmitter means and said optical receiver means in said six degrees of freedom;
evaluation means for evaluating said output signals to reconstruct a movement of the head of said operator in said six degrees of freedom relative to said defined desired position and form control signals indicative of said movement and for transmitting said control signals to said motorized positioning support means thereby actuating said support means to cause said surgical microscope to track the movement of the head of said operator into said defined desired position in six degrees of freedom;
said light source being adapted to generate and transmit first and second light beams defining first and second beam paths, respectively; and,
said optical receiver means including three position-sensitive detectors; a first one of said position-sensitive detectors being a transparent lateral effect diode mounted in a first plane so as to be first impinged by said first light beam; a second one of said position-sensitive detectors being disposed in a second plane rearward of said first position-sensitive detector; and, the third one of said position-sensitive detectors being disposed in a third plane.

### Claim 13 (depends on 2)

The guide system of claim 2, said optical transmitter means being mounted on one of said instrument and the head of said operator.

### Claim 14 (depends on 13)

The guide system of claim 13, said optical receiver means being mounted on the other one of said instrument and said head of said operator.

### Claim 15 (depends on 2)

The guide system of claim 2, further comprising transmission means for transmitting signals between said evaluation means and said optical transmitter means and said optical receiver means;
and, said transmission means being adapted to provide a sequential resolution of said beam defining said beam path.

### Claim 16

A guide system for spatially positioning a surgical microscope in correspondence to movements of the head of an operator for which a desired position relative to the surgical microscope is defined, the guide system comprising:
motorized positioning support means for holding and moving the surgical microscope in six degrees of freedom;
optical transmitter means including at least one light source for generating and transmitting at least two separate transmitting beams defining respective beam paths;
said optical receiver means including means providing a position-resolving registration of at least three separate incident points and means for emitting output signals indicative of a relative movement between said optical transmitter means and said optical receiver means in said six degrees of freedom;
said optical transmitter means and said optical receiver means both being mounted on one of the head of said operator and said surgical microscope in a defined position relative thereto;
reflector means for receiving said beam from said optical transmitter means and for reflecting said beam to said optical receiver means;
said reflector means being mounted on the other one of the head of said operator and said surgical microscope in a defined position relative thereto; and,
evaluation means for evaluating said output signals to reconstruct a movement of the head of said operator in said six degrees of freedom relative to said defined desired position and form control signals indicative of said movement and for transmitting said control signals to said motorized positioning support means thereby actuating said support means to cause said surgical microscope to track the movement of the head of said operator into said defined desired position in said six degrees of freedom.