JP2004154174A - Stand device for endoscope - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a stand device for an endoscope capable of softly holding the endoscope inserted into the body of a patient following even the fine movement of the body of the patient. <P>SOLUTION: The base end of a vertical turning bar 17 is pivoted to a holding arm 12 attached to the tip part of a supporting arm 10, the hanging bar 18 of the endoscope is freely vertically movably supported at the tip of the vertical turning bar 17 and the holding mechanism 19 of the endoscope 2 is provided on the lower end of the hanging bar 18. Thus, by making the weight of a counter weight W1 act on the hanging bar 18 in a lifting direction, the endoscope 2 is stopped at an optional vertical position. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a stand device for an endoscope that can softly hold an endoscope inserted into a patient's body according to subtle movements of the patient's body.
[0002]
[Prior art]
There is an operation method in which treatment is performed while observing an affected part while an endoscope is inserted into a patient's body. In this type of surgical method, a doctor holds the endoscope at a delicate angle by hand in order to maintain a state in which the endoscope is inserted into a patient's body. This is because the endoscope inserted into the body moves delicately in accordance with the patient's respiratory movements and the like, so it is necessary to softly hold the endoscope so as not to oppose the movement. Such a delicate holding cannot be realized by a mechanical clamping mechanism, and holding by a doctor's hand is absolutely necessary.
[0003]
[Problems to be solved by the invention]
However, the method of holding the endoscope with the hand of the doctor in this way is inefficient because one doctor is required only to hold the endoscope. Also, the task of holding the endoscope by hand is a very nervous task, placing a heavy burden on the doctor holding the endoscope.
[0004]
Therefore, development of a device that can hold the endoscope softly, following a subtle movement of a patient's body, instead of a doctor, is awaited.
[0005]
The present invention pays attention to such a conventional technique, and an endoscope stand which can softly hold an endoscope inserted into a patient's body by following minute movements of the patient's body. An apparatus is provided.
[0006]
[Means for Solving the Problems]
According to the first aspect of the present invention, a holding arm that rotates around a vertical axis passing through the tip is attached to a tip of a support arm extending laterally from the stand body in a downward state, and is laterally attached to the holding arm. The base end of the vertically rotating bar that extends is pivotally supported, and a distal end of the vertically rotating bar supports a hanging bar having a holding mechanism for an endoscope at a lower end. The weight of the counterway provided on a part of the support arm acts in the lifting direction, and the endoscope held by the holding mechanism can be stopped at any vertical position by balancing with the counterweight. Features.
[0007]
According to the first aspect of the present invention, the endoscope is held movably up and down while floating in the air due to the weight balance with the counterweight, and the endoscope is rotatable about the vertical axis together with the holding arm. The endoscope inserted into the body of the patient can be softly held while following the movement of the patient's body.
[0008]
The invention according to claim 2 is characterized in that a vertical portion is provided on the holding arm, and the vertical portion and a vertical suspension bar are connected by a pair of upper and lower parallel vertical rotation bars to form a parallel link mechanism. And
[0009]
According to the second aspect of the present invention, by forming the parallel link mechanism including the suspension bar, the suspension bar can be moved up and down in a substantially vertical direction.
[0010]
According to a third aspect of the present invention, a vertical shaft substantially coincident with the vertical axis and having the weight of the counterway applied in the lifting direction is vertically moved with a slight play in the lateral direction at the tip of the support arm. The upper end of the hanging bar and the lower end of the vertical shaft are connected by a connecting bar, and the upper end of the connecting bar and the lower end of the vertical shaft are connected by a free joint.
[0011]
According to the third aspect of the present invention, the vertical movement of the suspension bar can be taken out near the distal end of the support arm via the connection bar and the vertical shaft, so that the weight of the counterweight is lifted on the vertical shaft in the lifting direction. , The suspension bar can be held in a floating state. Also, since the vertical shaft penetrates the distal end of the support arm with some play in the horizontal direction, the vertical shaft slightly moves in the horizontal direction with the circular movement of the distal end around the base end of the vertical rotation bar. There is no problem even if it is shifted. Further, since the connecting bar and the vertical shaft are connected by the free joint, the vertical change of the angle of the connecting bar with respect to the vertical shaft and the rotation of the connecting bar about the vertical shaft in the horizontal direction can be allowed. .
[0012]
According to a fourth aspect of the present invention, a first conversion mechanism for converting a vertical movement of a vertical shaft into a lateral movement of a transmission shaft provided along the support arm is provided near the distal end of the support arm. A second conversion mechanism for converting the lateral movement of the transmission shaft into a vertical rotation of a weight lever having a counterweight is provided near the base end, and the weight lever is connected to the holding mechanism by the second conversion mechanism. By rotating the endoscope upside down with the held endoscope, the weight associated with the endoscope is offset by the weight of the counterweight, and the endoscope can be stopped at any vertical position. It is characterized by the following.
[0013]
According to the invention described in claim 4, the vertical movement of the vertical shaft is guided from the distal end side of the support arm to the second conversion mechanism at the base end of the support arm via the first conversion mechanism and the transmission shaft. Therefore, the weight lever having the counter weight is rotated via the second conversion mechanism. Therefore, the weight lever rotates at a position away from the endoscope, and the doctor working around the endoscope does not care. In addition, since the heavy weight lever is placed at the base end of the support arm, rattling of the support arm in the vertical direction is suppressed as compared with the case where the weight lever is placed at the tip end.
[0014]
According to a fifth aspect of the present invention, the position of the hanging bar is displaced laterally from the vertical axis, and one end of a horizontal rotating lever is rotatably supported at the lower end of the hanging bar so as to be rotatable. The other end of the lever and the other end of the slide bar parallel to the horizontal pivoting lever are rotatably supported at both ends of a pair of parallel parallel bars, respectively. A rotating shaft orthogonal to the slide bar is provided, and a holding mechanism of the endoscope is attached to a tip of the rotating shaft so as to be rotatable about an axis of the rotating shaft.
[0015]
According to the fifth aspect of the present invention, since the position of the suspension bar is not on the vertical axis and is displaced in the lateral direction from the vertical axis, the suspension bar is rotated around the vertical axis by rotating the holding arm. It is possible to make a horizontal and horizontal circular motion. Further, the orientation of the holding mechanism in the horizontal direction can be changed by rotating the one end of the horizontal rotation lever around the center. Therefore, the endoscope can be swung in the left-right direction while keeping the orientation constant. Further, with the horizontal rotation lever fixed, the slide bar parallel to the horizontal rotation lever can be slid along the longitudinal direction of the horizontal rotation lever by moving the parallel lever therebetween. Therefore, the endoscope can be moved in parallel by combining the three operations described above. Further, the holding mechanism can be rotated up and down around a rotation shaft provided in a direction orthogonal to the slide bar. In this way, the endoscope held by the holding mechanism can be oriented, moved, or rotated in any direction, so that the endoscope can be softly held in a state that fits more closely to the patient's body. can do.
[0016]
According to a sixth aspect of the present invention, in the parallel link mechanism in which the stand main body is formed by combining a pair of parallel vertical links and horizontal links, the middle part of one of the vertical links is rotated by a gantry installed on the floor. A support arm is formed by extending the upper horizontal link of the parallel link mechanism by supporting it on a moving shaft, and a vertical link as a distal end portion is pivotally supported on a connection shaft at the distal end of the support arm. A crankshaft having a horizontal support shaft located on the same horizontal line as the connection shaft and a vertical support shaft located on the same vertical line as the connection shaft is supported on the connection shaft serving as the base end, and the horizontal rotation of the crank member is achieved. The support shaft and a part of the gantry are connected by a vertical sub-link that is parallel to a straight line connecting the rotation axis of the vertical link supported by the gantry and the upper connection shaft and has the same length as the straight line. , The vertical support shaft of the crank member The upper end of the distal link is connected to a straight sub-link having the same length as the straight line connecting the connecting shaft at the distal end and the connecting shaft at the base end of the support arm, and the lower portion of the parallel link mechanism Is provided with a counterweight for canceling the rotational moment applied around the rotation axis of the parallel link mechanism and around each connection axis, and the holding arm attached to the tip link of the support arm is moved inward by the weight balance with the counterweight. It is characterized in that it can be stopped at any vertical position with the endoscope and its holding mechanism provided.
[0017]
According to the invention as set forth in claim 6, the vertical link, the crank member, and the horizontal sublink combined with the stand main body allow the distal link as the distal end of the support arm to be moved in any direction. , Can always be maintained vertically. Therefore, the suspension bar combined with the holding arm can be easily held vertically. The parallel link mechanism is a counterweight for offsetting the weight applied to the parallel link mechanism about the rotation axis in the falling direction and the weight (holding arm, hanging bar, holding mechanism, etc.) applied to the tip link of the support arm. No matter what position the holding arm attached to the distal end link of the support arm is moved, the holding arm can be stopped in the air at that position.
[0018]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, a preferred embodiment of the present invention will be described with reference to the drawings. In the description below, the right side of FIG. 1 is described as “front side”, the left side is “rear side”, the front side of the paper (the right side when facing the front side) is “front side”, and the reverse is “back side”.
[0019]
The stand device for an endoscope according to this embodiment basically has a structure in which a mechanism for suspending and supporting an endoscope 2 is combined with a stand body 1 that can be changed while maintaining a balance in any form. ing.
[0020]
First, the structure of the stand body 1 will be described. A gantry 4 is supported on the upper part of a base 3 installed on the floor so as to be horizontally rotatable. A clutch C1 is provided at a rotating portion of the gantry 4 with respect to the base 3.
[0021]
A rotation axis S is set at the upper front end of the gantry 4. The parallel link mechanism 5 is pivotally supported on the rotation shaft S. The parallel link mechanism 5 is defined by four connecting shafts P1, P2, P3, and P4, and includes two sets of parallel vertical links 6, 7 and horizontal links 8, 9, respectively. The lower halfway portion of the vertical link 6 on the front side of the parallel link mechanism 5 is supported by the rotating shaft S of the gantry 4. The front vertical link 6 pivotally supported by the rotation shaft S is curved toward the rear side, and has a structure that does not easily interfere with a doctor or an assistant.
[0022]
The rotating shaft S is provided with a clutch C2 so that the parallel link mechanism 5 centered on the rotating shaft S can be locked in the forward and backward falling position. Also, a clutch C3 is provided on the connecting shaft P4 between the front vertical link 6 and the lower horizontal link 9 to change the shape of the parallel link mechanism 5 (for example, from a square to a parallelogram). Can be locked.
[0023]
The lower horizontal link 9 extends slightly rearward beyond the connection axis P3, and a counterweight W1 of the stand body 1 is attached to the rear end thereof. The counter weight W1 is automatically adjusted in advance to a position where the rotational moment applied around the rotation axis S of the parallel link mechanism 5 and around each of the connection axes P1 to P4 can be offset. Therefore, even if the clutches C2 and C3 are released, the state of the stand main body 1 is maintained as it is, and even if it is moved from this state to an arbitrary form, the state after the movement is maintained as it is.
[0024]
The upper lateral link 8 extends forward beyond the connection axis P1 and forms an arch-shaped support arm 10. A vertical distal link 11 as a “distal end” is pivotally supported on the connecting shaft P5 at the front end of the support arm 10. The distal end link 11 has a hollow box shape, and its lower end is formed by a clutch C4. The clutch C4 is rotatable in a horizontal direction about a vertical axis V passing vertically through the distal link 11, and a holding arm 12 extending diagonally downward is attached to the clutch C4. The holding arm 12 is formed in an obliquely downward state as a whole, and a vertical portion 13 is formed at a lower end thereof.
[0025]
The stand body 1 is provided with a mechanism for keeping the distal end link 11 to which such a holding arm 12 is attached, always in a vertical state. That is, the vertical sub-link 14, the horizontal sub-link 15, and the crank member 16 are added.
[0026]
The crank member 16 has an L shape, and is supported by a connection shaft P1 which is a base end of the support arm 10. The crank member 16 has a horizontal support shaft 16a located on the same horizontal line as the connection shaft P1 on the rear side, and a vertical support shaft 16b located on the same vertical line as the connection shaft P1.
[0027]
The horizontal support shaft 16a of the crank member 16 and a part of the gantry 4 are connected to a straight line L1 (see FIG. 4) connecting the rotation axis S of the vertical link 6 and the upper connection shaft P1 with the straight line L1. And the vertical support shaft 16b of the crank member 16 and the upper end of the distal link 11 are connected by a vertical sub-link 14 having the same length as that of the vertical axis. Are connected by a horizontal sub-link 15 that is parallel to and has the same length as the straight line L2.
[0028]
Therefore, even if the support arm 10 is moved up and down as shown in FIG. 2, or if the support arm 10 is moved back and forth as shown in FIG. 3, the vertical state of the tip link 11 is maintained. This is because the vertical sub-link 14 and the horizontal sub-link 15 also form another parallel link mechanism between the front vertical link 6 and the support arm 10.
[0029]
Next, the holding arm 12 is provided with a mechanism for holding the endoscope 2. That is, in the vertical portion 13 below the holding arm 12, the base ends of a pair of upper and lower vertically rotating bars 17 that are parallel to each other are supported by shafts. A vertical suspension bar 18 is pivotally supported at the tip of the vertically rotating bar 17. The position of the suspension bar 18 is displaced from the vertical axis V in the lateral direction by D (see FIG. 1).
[0030]
Since the pair of vertically rotating bars 17 holding the hanging bar 18 are the same length and are parallel, a vertical link 13 of the holding arm 12 and the hanging bar 18 form a parallel link mechanism. In this way, by forming the parallel link mechanism including the suspension bar 18, the suspension bar 18 can be vertically moved in the vertical direction (the vertical state of the suspension bar 18 is maintained, There is a slight lateral displacement due to the arc trajectory of the tip of the bar 17).
[0031]
At the lower end of the suspension bar 18, a holding mechanism 19 for holding the endoscope 2 is provided. The structure of the holding mechanism 19 will be described later.
[0032]
Inside the hollow distal link 11, a vertical shaft 20 that matches the vertical axis V is provided. The lower end of the vertical shaft 20 protrudes downward through the through hole 21 (see FIG. 9) of the clutch C4. The through hole 21 is larger than the diameter of the vertical shaft 20, and is provided with “play” that allows the vertical shaft 20 to move slightly in the inside of the through hole 21.
[0033]
The lower end of the vertical shaft 20 is connected to the upper end of the suspension bar 18 via a connection bar 22. The upper end of the connection bar 22 and the holding arm 12 are connected by an auxiliary vertical rotation bar 23. A clutch C5 is provided at a pivot point of the auxiliary vertical bar 23 with respect to the holding arm 12. Since the clutch C5 for locking the vertical position of the suspension bar 18 is provided at a position close to the suspension bar 18, rattling when the suspension bar 18 is locked is small. That is, if the clutch C5 is provided at a position distant from the suspension bar 18, play will occur on the path to that point. However, if the clutch C5 near the suspension bar 18 is locked as in this embodiment, play will occur. Few.
[0034]
The lower end of the vertical shaft 20 and the upper end of the connection bar 22 are connected by a free joint 24. That is, the upper end of the connection bar 22 is branched into two branches, and the ball portion 27 formed at the lower end of the vertical shaft 20 is held through the plurality of balls 26 in the bearing 25 rotatably supported there. I have. Therefore, it is possible to allow a change in the angle of the connecting bar 22 in the vertical direction with respect to the vertical shaft 20 and the rotation of the connecting bar 22 about the vertical shaft 20 in the lateral direction.
[0035]
Front and rear swing bars 28 and 29, which are rotatable around lower ends, are supported on the back surface of the tip link 11 and the surface of the vertical portion of the crank member 16, respectively. The upper ends of the front and rear swing bars 28 and 29 are connected to each other by a transmission shaft 30 having the same length as the horizontal sub-link 15. An L-shaped lever 31 is pivotally supported slightly ahead of the front-rear swing bar 28 provided on the distal link 11. The vertical portion of the L-shaped lever 31 protrudes outside (back side) of the distal end link 11 similarly to the front-rear swing lever 28, but the horizontal portion enters the inside of the distal end link 11. The upper end of the vertical shaft 20 is connected to the tip.
[0036]
The upper end of the front and rear swing bar 28 and the upper end of the L-shaped lever 31 are connected by a joint 32, and the front and rear swing bar 28 and the vertical portion of the L-shaped lever 31 rotate back and forth while maintaining a parallel state to each other. can do. When the vertical shaft 20 is lifted, the horizontal portion of the L-shaped lever 31 is lifted, so that the L-shaped lever 31 rotates forward. When the vertical shaft 20 is lowered, the horizontal portion of the L-shaped lever 31 is also lowered. The shape lever 31 rotates rearward. In this embodiment, a first conversion mechanism 33 is formed by the L-shaped lever 31, the front-rear swing bar 28, and the joint 32.
[0037]
The shaft at the lower end of the front-rear swing bar 29 attached to the surface of the crank member 16 penetrates through the back surface of the crank member 16 and is connected to the gear 34. A front end of a weight lever 35 is rotatably supported on the back surface of the crank member 16, and a gear 36 meshing with the gear 34 is fixed to the rotation shaft. Therefore, when the back-and-forth swing bar 29 rotates forward, the weight lever 35 rotates downward, and when the fore-and-aft swing bar 29 rotates rearward, the weight lever 35 rotates upward. In this embodiment, a second conversion mechanism 37 is formed by the front and rear swing bar 29 and the two gears 34 and 36.
[0038]
The weight lever 35 is provided with a screw shaft 38 along the longitudinal direction, and the screw shaft 38 is provided with a counterweight W2. Therefore, by rotating the counter weight W2, the position of the weight lever 35 in the longitudinal direction can be adjusted.
[0039]
The position of the counter weight W2 in the weight lever 35 is set to a position that balances the weight of the holding mechanism 19 provided at the lower end of the suspension bar 18 and the endoscope 2 held there.
[0040]
Next, the holding mechanism 19 and its support structure will be described with reference to FIGS. FIG. 13 shows the horizontal rotation lever 39 and the parallel bar 42 separated vertically. One end of a horizontal rotation lever 39 is rotatably supported by a rotation shaft 40 at the lower end of the suspension bar 18. A clutch C6 is provided on the rotation shaft 40 of the horizontal rotation lever 39 so that it can be locked at an arbitrary rotation position. The other end of the horizontal rotation lever 39 and the other end of the slide bar 41 parallel to the horizontal rotation lever 39 are rotatably supported at both ends of a pair of parallel bars 42, respectively. ing. A clutch C7 is also provided on one rotating shaft of the parallel bar 42.
[0041]
A rotary shaft 43 orthogonal to the slide bar 41 is provided at one end of the slide bar 41, and a holding mechanism 19 of the endoscope 2 is attached to a tip of the rotary shaft 43. The holding mechanism 19 is rotatable up and down around the axis of the rotating shaft 43, and a clutch C8 that locks the rotation of the holding mechanism 19 is provided at the base end of the rotating shaft 43. Then, the endoscope 2 is detachably attached to such a holding mechanism 19.
[0042]
Therefore, the endoscope 2 can be rotated about the rotation axis 40 of the horizontal rotation lever 39 by this holding mechanism 19, and the endoscope 2 can be rotated in the direction parallel to the horizontal rotation lever 39 by the parallel lever 42. (3) It can be tilted up and down around the rotating shaft 43. These movable elements include: (4) the holding mechanism 19 itself can be rotated in the horizontal direction about the vertical axis V, and (5) can be moved in the vertical direction by the vertical rotation bar 17, so that the endoscope 2 can be moved in all directions. Can respond to the movement of For example, by combining the above movements, the distal end of the endoscope 2 can be linearly moved in parallel as shown in FIG. Note that a large operation of moving the holding arm 12 can be handled by the movement of the stand arm body 1.
[0043]
Further, even if the weight of the endoscope 2 changes depending on the type of the endoscope 2, by moving the counterweight W2 screwed to the screw shaft 38 of the weight lever 35, the connection with the endoscope 2 is established. The endoscope 2 can be stopped in the air while maintaining the weight balance. Then, even if the endoscope 2 is moved up and down together with the holding mechanism 19, the weight lever 35 is rotated in the opposite direction up and down in synchronization with the movement, so that the weight balance is maintained even at the position moved up and down. Is maintained, and an aerial stop can be performed at that position. At this time, the weight lever 35 that moves up and down is supported by the crank member 16 far from the endoscope 2, so that the doctor near the endoscope 2 does not care.
[0044]
As described above, since the endoscope 2 can be moved to any position and can face any angle, and can be stopped in the air while floating at any position and angle, the endoscope 2 is inserted into the patient's body. In this state, the endoscope 2 can be held softly while following the movement of the patient's body.
[0045]
【The invention's effect】
According to the present invention, since the endoscope inserted into the patient's body can be softly held by following the subtle movement of the patient's body, the doctor does not need to hold the endoscope by hand. The burden on the doctor can be reduced.
[Brief description of the drawings]
FIG. 1 is a side view showing a stand device for an endoscope.
FIG. 2 is a side view showing a state where a support arm of the stand device is moved up and down.
FIG. 3 is a side view showing a state where a support arm of the stand device is moved forward and backward.
FIG. 4 is an exploded side view of the stand device.
FIG. 5 is a side view showing a state in which a mechanism for transmitting weight balance is removed from a stand body.
FIG. 6 is a side view showing a mechanism in which a weight lever moves in a direction opposite to the holding mechanism up and down.
FIG. 7 is a side view showing a state where a holding mechanism is raised and a weight lever is lowered.
FIG. 8 is a side view showing a state where a holding mechanism is lowered and a weight lever is raised.
FIG. 9 is a perspective view showing a free joint.
FIG. 10 is a longitudinal sectional view showing a free joint.
FIG. 11 is a transverse sectional view showing a free joint.
FIG. 12 is a perspective view showing a mechanism for movably supporting a holding mechanism.
FIG. 13 is an exploded view showing a mechanism for movably supporting a holding mechanism.
FIG. 14 is a plan view showing a state in which the endoscope is moved linearly by the holding mechanism.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Stand main body 2 Endoscope 5 Parallel link mechanism 10 Support arm 11 Tip link (tip part)
12 Holding arm 13 Vertical section 14 Vertical sub-link 15 Horizontal sub-link 16 Crank member 17 Vertical rotation bar 18 Hanging bar 19 Holding mechanism 20 Vertical shaft 24 Free joint 33 First conversion mechanism 35 Weight lever 37 Second conversion mechanism 39 Horizontal Rotating lever 41 Slide bar 42 Parallel bar C1 to C8 Clutch W1, W2 Counter weight V Vertical axis L1, L2 Straight line S Rotating axis D Displacement P1 to P4 Connecting axis

Claims (6)

At the tip of the support arm extending laterally from the stand body, a holding arm that rotates around a vertical axis passing through the tip is attached in a downward direction,
A base end of a vertically rotating bar extending in the lateral direction is supported by the holding arm, and a suspension bar having a holding mechanism of an endoscope at a lower end is supported at a distal end of the vertically rotating bar,
At the upper end of the hanging bar, the weight of the counterway provided on a part of the stand body or the support arm is applied in the lifting direction, and the endoscope held by the holding mechanism is balanced with the counterweight, A stand device for an endoscope, which can be stopped at an arbitrary vertical position. The endoscope stand device according to claim 1,
An endoscope stand device comprising: a vertical portion provided on a holding arm; and a vertical link mechanism formed by connecting the vertical portion and a vertical suspension bar with a pair of upper and lower parallel rotation bars. . An endoscope stand device according to claim 1 or claim 2,
At the tip of the support arm, vertically penetrate a vertical shaft that approximately matches the vertical axis and the weight of the counterway is applied in the lifting direction, with some play in the horizontal direction,
An endoscope stand device, wherein an upper end of a suspension bar and a lower end of a vertical shaft are connected by a connecting bar, and an upper end of the connecting bar and a lower end of the vertical shaft are connected by a free joint. An endoscope stand device according to any one of claims 1 to 3,
A first conversion mechanism for converting the vertical movement of the vertical shaft into a lateral movement of a transmission shaft provided along the support arm is provided near the distal end of the support arm,
A second conversion mechanism is provided near the base end of the support arm to convert the lateral movement of the transmission shaft into a vertical rotation of a weight lever having a counterweight,
The weight lever is rotated upside down by the second conversion mechanism with respect to the endoscope held by the holding mechanism, and the weight associated with the endoscope is canceled by the weight of the counterweight, and An endoscope stand device wherein the endoscope can be stopped at an arbitrary vertical position. An endoscope stand device according to any one of claims 1 to 4,
Displace the position of the suspension bar laterally from the vertical axis, and at the lower end of the suspension bar, pivotally support one end of a horizontal rotation lever,
The other end of the horizontal rotation lever, and the other end of the slide bar parallel to the horizontal rotation lever, rotatably pivotally support both ends of a pair of parallel bars,
An endoscope wherein a rotary shaft orthogonal to the slide bar is provided at one end of the slide bar, and a holding mechanism for the endoscope is provided at the end of the rotary shaft so as to be rotatable about the axis of the rotary shaft. Mirror stand device. An endoscope stand device according to any one of claims 1 to 5,
The stand body,
In the parallel link mechanism formed by combining a pair of parallel vertical links and horizontal links, an intermediate portion of the one vertical link is supported by a rotating shaft of a gantry installed on the floor, and the upper side of the parallel link mechanism is Along with forming the support arm by extending the horizontal link, a vertical end link is supported as a distal end on the connecting shaft at the distal end of the support arm,
On a connecting shaft serving as a base end of the support arm, a crank member having a horizontal supporting shaft located on the same horizontal line as the connecting shaft and a vertical supporting shaft located on the same vertical line as the connecting shaft is supported.
A vertical sub-link having a horizontal support shaft of the crank member and a part of the mount parallel to a straight line connecting a rotation axis of the vertical link supported on the mount and an upper connection shaft and having the same length as the straight line; And the vertical support shaft of the crank member and the upper end of the distal link are parallel to and the same length as the straight line connecting the connecting shaft at the distal end and the connecting shaft at the base end of the support arm. Connect with the horizontal sub link,
At the lower part of the parallel link mechanism, a counter weight for canceling the rotational moment applied around the rotation axis of the parallel link mechanism and around each connecting axis is provided, and attached to the tip link of the support arm by weight balance with the counter weight. An endoscope stand device wherein the holding arm can be stopped at an arbitrary vertical position with the endoscope and the holding mechanism provided.

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