JP2010046117A - Surgical microscopic system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a surgical microscopic system capable of freely rotating a surgical microscope by a suspension arm having a simple structure. <P>SOLUTION: Since the rotational operation of the surgical microscope 15 in a left and right direction X and a before and behind direction Y can be wholly achieved by the rotational operation of the surgical microscope 15 itself centering around a main axis S within a cylindrical part 31 and the rotational operation of the lower end of the suspension arm 20 centering around a horizontal axis H3 with respect to the cylindrical part 31, the suspension arm 20 may be formed into a mere arm shape and it is unnecessary to form the suspension arm 20 into a conventional parallel link shape. Accordingly, the suspension arm 20 is simple in shape and becomes easy to manufacture. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a surgical microscope system, and more particularly to a surgical microscope system with a simple structure of a suspension arm.

  A surgical microscope used in neurosurgery or the like is used while being supported by a tip of a support arm of a stand device via a suspension arm. The surgical microscope is supported by the suspension arm so as to be rotatable in the front-rear direction and the left-right direction so that the observation direction can be freely changed.

Specifically, the suspension arm itself is composed of a small parallel link, and by deforming the shape of the suspension arm itself, the surgical microscope supported by the lower end of the suspension arm rotates in the left-right direction (tilt). To do). The surgical microscope is pivotally supported at the lower end of the suspension arm so as to be rotatable in the front-rear direction around a horizontal rotation axis. Therefore, the surgical microscope can be freely rotated in the left-right direction and the front-rear direction in the direction in which the observer is looking, and the observation direction can be arbitrarily changed (see, for example, Patent Document 1).
Japanese Patent No. 2825721

  However, in such a conventional technique, since the suspension arm has a parallel link structure in order to rotate the surgical microscope in the left-right direction, the structure of the suspension arm is complicated and difficult to manufacture. It was.

  The present invention has been made paying attention to such a conventional technique, and provides a surgical microscope system in which a surgical microscope can be freely rotated even with a suspension arm having a simple structure.

The invention according to claim 1 has a suspension arm extending downward from the tip of a support arm extending in the lateral direction of the stand device, and a surgical microscope can be rotated in the front-rear direction and the left-right direction at the lower end of the suspension arm. A supported surgical microscope system, wherein the surgical microscope has a substantially cylindrical structure having a pair of eyepieces at one end and a light beam inlet at the other end, and the middle part of the surgical microscope is cylindrical The cylindrical portion is supported in a left-right direction around the main axis passing through the cross-sectional center of the surgical microscope in the unit, and the cylindrical part is positioned in the front-rear direction around the horizontal axis perpendicular to the main axis with respect to the lower end of the suspension arm. It is characterized by being pivotally supported.

  The invention according to claim 2 is characterized in that the suspension arm is supported so as to be rotatable in the horizontal direction around the vertical axis with respect to the tip of the support arm.

  According to a third aspect of the present invention, the stand device rotates the main body located at the upper portion of the base at the middle portion of the one vertical link in the parallel link formed by combining a pair of parallel vertical links and horizontal links. A support arm is formed by extending the upper lateral link of the parallel link and supporting the suspension arm at the lower end of a vertical tip link pivotally supported by the tip of the support arm. A crank member having a horizontal axis point located on the same horizontal line as the connection axis point and a vertical axis point located on the same vertical line as the connection axis point is pivotally supported at the connection axis point of the parallel link as the starting point. And connecting the horizontal axis point of the crank member and a part of the main body with a vertical sub-link that is parallel to and has the same length as the straight line connecting the connecting axis point of the vertical link and the rotation axis point The vertical axis of the crank member And a part of the end link are connected by a horizontal sub-link that is parallel to and has the same length as the straight line connecting the connecting axis of the support arm and the end. The counter weight is configured to cancel the weight applied to the rotation direction of the parallel link around the axis point and the rotation direction of the support arm around the connection axis point.

  According to the first aspect of the present invention, the surgical microscope has a substantially cylindrical structure, and an intermediate portion thereof is rotatably supported in a cylindrical portion provided at the lower end of the suspension arm. It can be rotated in the left-right direction within the cylindrical portion. Since the cylindrical portion itself is rotatably supported around the horizontal axis at the lower end of the suspension arm, it can be rotated in the front-rear direction by the horizontal axis. Because the surgical microscope is supported in the left and right direction in a cylindrical part that can be rotated in the front-rear direction, it can be rotated in the front-rear direction and the left-right direction only by the structure of the surgical microscope. A fixed arm shape may be used. Thus, the suspension arm itself does not need to have a complicated shape as in the conventional parallel link, the shape is simple, and manufacture is easy.

  According to the invention described in claim 2, since the suspension arm is supported so as to be rotatable in the horizontal direction around the vertical axis with respect to the tip of the support arm, the observation direction of the surgical microscope is further increased in the horizontal direction. Can be changed.

  According to the third aspect of the present invention, even if the support arm is rotated in the vertical direction or the entire parallel link is rotated in the horizontal direction, the tip link on which the suspension arm is supported is always in the vertical state. Maintained. Accordingly, the suspension arm also moves in parallel in the vertical direction and the horizontal direction while maintaining the posture, and the position of the surgical microscope can be easily moved.

  Hereinafter, embodiments of the present invention will be described with reference to FIGS. In the above and the following description, the left-right direction is the left-right direction in the direction observed by the operator, and the front-rear direction is the direction observed by the operator.

First, the stand device 1 will be described first. 2 is a base, and a lower surface of the base 2 is provided with a caster 3 with a lock mechanism. The caster 3 allows the stand device 1 to move on the floor 4. A main body 5 having a substantially U-shaped side surface is installed on the base 2. The main body 5 is rotatable about a vertical axis V1 oriented in the vertical direction, and the vertical axis V1 can be locked and freed by an electromagnetic clutch system.

  A parallel link 6 is pivotally supported at a rotation axis b1 at the top of the main body 5. Each of the parallel links 6 is formed by connecting both ends of a pair of parallel vertical links 7 and 8 and horizontal links 9 and 10 at connection axis points b2 to b5, respectively. A middle portion of the lower side of the link 7 is pivotally supported by the rotation axis point b1. This rotation axis point b1 can also lock and free the rotation position of the vertical link 7 in the horizontal direction R1 by an electromagnetic clutch system.

  The vertical link 7 that is pivotally supported by the rotation axis b1 is curved in a direction in which one side of the parallelogram defined by the rotation axes b2 to b5 is recessed inward to secure a work space. This makes it difficult to interfere with the main surgeon. A counterweight 11 is attached to the lower horizontal link 10.

  The horizontal link 9 on the upper side of the parallel link 6 is integrally formed with a support arm 12 in which the horizontal link 9 is extended in the horizontal direction as it is, and a vertical tip link 13 is connected to the tip of the link arm b6. It is attached so that it can rotate freely. The support arm 12 is also curved upward and has a structure that ensures a working space and does not interfere with the head of the main operator or the like.

  A lower portion of the tip link 13 is a box-shaped support box 14 that is rotatable in the horizontal direction about the vertical axis V2.

  An L-shaped crank member 17 is pivotally supported on the connecting shaft point b5 which is the starting point of the support arm 12, and a horizontal shaft point b7 located on the same horizontal line H1 as the connecting shaft point b5 is supported on the crank member 17. Also, a vertical axis point b8 located on the same vertical line V3 as the connection axis point b5 is set.

  The horizontal axis b7 and the connecting axis point b9 of the main body 5 located on the same horizontal line H2 as the rotating axis point b1 are connected to the vertical link 7 (the straight line connecting the rotating axis point b1 and the connecting axis point b5). D1) and the vertical sublink 18 having the same length as the straight line D1. Therefore, the link elements b5 to b7 are always maintained in parallel with the link elements b9 to b1 fixed to the main body 5 by the sub parallel links defined by the rotation axis point b1 and the connection axis points b9, b7, and b5. .

  Further, the space between the other vertical axis b8 of the crank member 17 and the connecting axis b10 at the upper end of the tip link 13 is parallel to the support arm 12 (straight line D2 connecting the connecting axis b5 and the connecting axis b6) and It is connected by a horizontal sublink 19 having the same length as the straight line D2. Therefore, the link elements b10-b6 are always maintained in parallel with the link elements b5-b8 by the sub parallel links defined by the connecting axis points b5, b8, b10, b6. That is, a sub parallel link (defined by the rotation axis point b1 and the connection axis points b9, b7, and b5) and a sub parallel link B (connection axis points b5, b8, b10, and b6) whose one side is fixed to the main body 5. However, the end link 13 as one side of the latter sub-link and the rotation axis V2 are connected to each other via the crank member 17 serving as an angle conversion element. A constant angle is always maintained with respect to the link element b9-b1. In the present embodiment, the rotation axis V2 is always perpendicular to the link elements b9-b1 fixed to the main body 5.

  Thus, by providing the vertical sub link 18, the crank member 17, and the horizontal sub link 19, the electromagnetic clutches of the stand device 1 are freed, and the parallel link 6 is moved in the horizontal direction R1 around the rotation axis point b1. Since the crank member 17 does not rotate even if the support arm 12 is rotated in the longitudinal direction R2 about the connecting shaft b5 or they are simultaneously rotated, the crank member 17 does not rotate. The vertical state is always maintained.

  The operation microscope 15 is supported by a substantially inverted L-shaped suspension arm 20 with respect to the support box 14 of the distal end link 13 maintained in this vertical state. The suspension arm 20 is attached to the lower surface of the support box 14 and can rotate in the horizontal direction Z about the vertical axis V <b> 2 together with the support box 14. The rotation about the vertical axis V2 can also be locked and free by the electromagnetic clutch.

  In this specification, each side element of the parallel link is typically a link bar, but is not limited thereto. For example, the parallel link of the present invention comprises two sprockets, an endless chain or a part thereof as a pullable force conducting element, and a link rod that pivotally supports the centers of the two sprockets to apply a tensile force. Is possible. In this case, the end of the action region between the sprocket (or part of it) and the chain is a separation contact as a driving element, and a parallel link is defined by the separation contact. For example, when such a chain mechanism is applied to a sub parallel link connected to the crank member 17 of the present invention, one sprocket is fixed to the connecting element or formed integrally.

Surgical microscope The surgical microscope 15 has a substantially cylindrical shape extending in the horizontal direction, has a pair of eyepieces 22 on the front side, and has a light flux taking-in part 21 for taking in the light flux L from the surgical part T on the lower surface on the opposite side. ing. The light beam L taken in from the light beam taking-in portion 21 passes through the objective lens 23, is reflected horizontally by the first mirror 24, passes through the zoom 25, reaches the imaging lens 26, and is reflected by the second mirror 27. From there, it passes through the prism 28 and lens 29 of the eyepiece 22 and enters the surgeon's pupil. The objective lens 23 may be disposed vertically between the first mirror 24 and the zoom 25 instead of being disposed horizontally below the first mirror 24.

  The intermediate portion 30 (see FIG. 5) of the surgical microscope 15 has a slightly smaller diameter, and the portion is accommodated in the cylindrical portion 31. A mounting seat surface 32 is formed on the cylindrical portion 31, and the lower end of the suspension arm 20 is attached to the cylindrical portion 31 so as to rotate in the front-rear direction Y about the horizontal axis H 3.

  The main axis S which is the center of the cross section of the cylindrical portion 31 is positioned to be orthogonal to the horizontal axis H3, and the horizontal axis H3 and the vertical axis V2 are orthogonal to each other. The orthogonal point between the main axis S of the cylindrical portion 31 and the horizontal axis H3 is positioned on the extension of the vertical axis V2. The zoom 25 and the imaging lens 26 are arranged so as to have a linear optical axis (hereinafter referred to as an optical axis of the cylindrical portion 31), and the optical axis is parallel to the main axis S. Since the surgical microscope 15 has a cylindrical main body, it is easy to position the center of gravity near the main axis S and the horizontal axis H3 of the cylindrical portion 31.

  Therefore, the horizontal axis H3 is always orthogonal to the tip link 13 via the suspension arm 20, and the virtual plane on which the horizontal axis H3 rotates around the axis V2 forms a horizontal plane. The surgical microscope 15 is rotatable in the front-rear direction Y about the horizontal axis H3 for each cylindrical portion 31. The virtual plane in which the main axis S rotates around the horizontal axis H3 is always a vertical plane including the vertical axis V2. Therefore, the virtual plane on which the optical axis of the cylindrical portion 31 rotates is also a vertical plane. Further, a predetermined frictional force is applied to the horizontal axis H3, and the position where the surgical microscope 15 is rotated in the front-rear direction Y is maintained. In place of the frictional force, the electromagnetic clutch means may be locked and freed.

  In addition, the surgical microscope 15 can be rotated in the left-right direction X around the main axis S of the cylindrical portion 31 in the cylindrical portion 31. A predetermined frictional force is also applied between the surgical microscope 15 and the cylindrical portion 31, and the rotational position of the surgical microscope 15 in the left-right direction X can be maintained. Therefore, as shown in FIG. 6, the direction of observing the surgical site T can be freely changed in the left-right direction while changing the position of the surgical microscope 15 itself by the stand device 1.

  Since the horizontal axis H3 is always on the virtual horizontal plane, even if the surgical microscope 15 is moved, the rotational angles in the front-rear direction Y and the left-right direction X of the surgical microscope 15 are maintained, and the surgical microscope 15 is in any position. However, it can always be rotated in any direction with reference to the same horizontal plane. In order to maintain the position in the left-right direction X, a predetermined frictional force is applied between the cylindrical portion 31 and the surgical microscope 15, but instead of this, the electromagnetic clutch means is locked and free. May be.

  The weight of the surgical microscope 15 and the like applied to the distal link 13 is all balanced with the counterweight 11. Therefore, even if the surgical microscope 15 and the like are moved with the electromagnetic clutches of the stand device 1 being free and the hand is released at the moving destination, the surgical microscope 15 and the like are stopped in the air (because the balance is maintained).

  This balanced state is maintained even if the surgical microscope 15 is rotated in the front-rear direction Y or in the left-right direction X. That is, since the vertical state of the distal link 13 is always maintained, even if the direction of the surgical microscope 15 supported by the suspension arm 20 is changed, the overall balance state by the counterweight 11 is not changed. No need to adjust the balance again.

  According to this embodiment, as described above, since the intermediate portion of the surgical microscope 15 is rotatably supported around the main axis S in the cylindrical portion 31 provided at the lower end of the suspension arm 20, The surgical microscope 15 can be rotated in the left-right direction X within the cylindrical portion 31.

  Further, since the cylindrical portion 31 itself is supported at the lower end of the suspension arm 20 so as to be rotatable about the horizontal axis H3, it can be rotated in the front-rear direction Y by the horizontal axis H3.

  The position of the center of gravity of the surgical microscope 15 can be moved to an arbitrary position while maintaining the weight balance by the stand device 1, and observation in an arbitrary direction is performed by a link mechanism via the vertical axis V2, the horizontal axis H3, and the main axis S. be able to. That is, by the link mechanism from the main body 5 of the stand device 1 to the surgical microscope 15, the horizontal axis H3 is always in the horizontal plane regardless of the position of the surgical microscope 15 and the rotation about the vertical axis V2. Further, even if it rotates around the horizontal axis H3, the optical axis of the cylindrical portion 31 is always in the vertical plane. Therefore, the rotation operation can always be performed with respect to the same reference plane regardless of the position of the center of gravity of the surgical microscope 15.

  All the rotations of the surgical microscope 15 in the left-right direction X and the front-rear direction Y are realized by the rotation of the surgical microscope 15 itself within the cylindrical portion 31 and the rotation of the lower end of the suspension arm 20 with respect to the cylindrical portion 31. Therefore, the suspension arm 20 may have a simple arm shape and does not need to be a parallel link as in the related art. Further, since the center of gravity of the surgical microscope 15 is in the vicinity of the horizontal axis H3, it is not necessary to compensate for the position of the center of gravity by the parallel link. Therefore, the shape of the suspension arm 20 is simple, and manufacture becomes easy.

The side view which shows the surgical microscope system which concerns on embodiment of this invention. The perspective view which shows a suspension arm and a surgical microscope. The perspective view which shows a surgical microscope. The perspective view which shows the optical structure in a surgical microscope. Sectional drawing of a surgical microscope. The figure which shows the rotation state in the left-right direction of a surgical microscope.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Stand apparatus 2 Base 5 Main body 6 Parallel link 11 Counterweight 12 Support arm 13 End link 15 Surgical microscope 17 Crank member 18 Vertical sublink 19 Horizontal sublink 20 Suspension arm 21 Light flux taking-in part 22 Eyepiece part 30 Intermediate part 31 Cylinder T part Surgery part L Luminous flux X Left and right direction Y Front and rear direction S Main axis

Claims (3)

A surgical microscope system having a suspension arm that extends downward from a tip of a support arm that extends in a lateral direction of a stand device, and a surgical microscope supported at the lower end of the suspension arm so as to be rotatable in the front-rear direction and the left-right direction. ,
The surgical microscope has a generally cylindrical structure having a pair of eyepieces at one end and a light beam intake at the other end,
An intermediate part of the surgical microscope is supported in the cylindrical part so as to be rotatable in the left-right direction around a main axis passing through the cross-sectional center of the surgical microscope, and the cylindrical part is perpendicular to the main axis with respect to the lower end of the suspension arm. A surgical microscope system characterized by being pivotally supported so as to be rotatable in the front-rear direction about a horizontal axis.   The surgical microscope system according to claim 1, wherein the suspension arm is supported so as to be rotatable in a horizontal direction about a vertical axis with respect to a tip of the support arm. Stand device
The middle part of the one vertical link in the parallel link formed by combining a pair of parallel vertical links and horizontal links is supported on the pivot point of the main body located at the upper part of the base,
The upper side link of the parallel link is extended to form a support arm, and the suspension arm is supported at the lower end of a vertical tip link pivotally supported at the tip of the support arm.
A crank member having a connecting axis of a parallel link serving as a starting point of the support arm, a horizontal axis located on the same horizontal line as the connecting axis, and a vertical axis located on the same vertical line as the connecting axis To support
Connecting the horizontal axis point of the crank member and a part of the main body with a vertical sub-link that is parallel to and has the same length as the straight line connecting the connecting axis point and the rotating axis point of the vertical link; Connecting the vertical axis of the crank member and a part of the tip link with a horizontal sub-link that is parallel to and has the same length as the straight line connecting the connecting axis of the support arm and the tip;
A counterweight is provided at the bottom of the parallel link to counteract the weight applied to the rotation direction of the parallel link around the pivot axis and the rotation direction of the support arm around the connection axis. The surgical microscope system according to claim 1 or 2, characterized by the above.

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