JP2004167287A - Support device for medical appliance - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a support device for a medical appliance which supports the medical appliance at a position even if it is moved, is hard to collide with other medical appliances, and can improve operability. <P>SOLUTION: A retaining means to movably hold a retentive portion 24 comprises a first arm 9 set up in a setting section 2, a move mechanism 11 which is connected to this first arm 9, holds the retentive portion 24, and consists of two or more arm units and joint sections of the retentive portion 24, a balance mechanism 19 which offsets the weight of an endoscope 25, and a second arm 10 which moves the retentive portion 24 which includes the endoscope 25 to an arbitrary position and stands still at this position. <P>COPYRIGHT: (C)2004,JPO

Description

  The present invention relates to a medical instrument holding device for holding an endoscope or a surgical instrument when performing an operation, for example.

  In recent years, devices and instruments to be operated during surgery have increased due to the complexity of endoscopic surgery, and endoscopes and holding devices for attaching surgical instruments that are constantly involved in surgery to operating tables have been used. Was.

  For example, Japanese Utility Model Publication No. 4-25121 discloses that an endoscope is held at a distal end of a support arm including a plurality of arms and a joint via a rack and pinion mechanism, and a rotation operation of a joint and a rack pin-on operation are performed. A holding device capable of moving an endoscope to an arbitrary position by a mechanism is disclosed.

  Japanese Patent Application Laid-Open No. 2-239854 discloses an endoscope held at a distal end of a flexible arm in which a plurality of connecting members are connected in a freely bendable and rotatable manner. A holding device is disclosed, which is installed on an operating table via a support portion and is capable of moving an endoscope to an arbitrary position by an operation of fixing or releasing the flexible arm during operation.

  However, in the holding device disclosed in Japanese Utility Model Publication No. 4-25121, when the endoscope is moved to an arbitrary position, several rotation operations of each joint connecting a plurality of arms must be combined. In addition, it is troublesome because it has to be performed, and since a large supporting force is applied to the joints to support the weight of the endoscope, the operation efficiency is poor. In addition, despite the small range of movement of the endoscope during the operation, the entire holding device must be moved, so that the endoscope is likely to collide with other surgical instruments and the like, and the operability is also poor in this respect.

  On the other hand, in the holding device disclosed in Japanese Patent Application Laid-Open No. 2-239854, the endoscope can be moved to a desired position at a stroke by the action of the flexible arm, and the necessary movement during the operation is caused by the movement of the flexible arm portion. Since it can be covered only by operation, there is no collision with other surgical instruments.

  However, since the flexible arm completely loses its supporting force when released by the fixed operation unit, the operator must operate the fixed operation unit with one hand and hold the endoscope with the other hand. As a result, the operation had to be temporarily suspended. In addition, the operation of holding the endoscope during the fine operation during the operation requires labor, no matter how much the endoscope is reduced in weight.

  The present invention has been made in view of the above circumstances, and an object thereof is to hold a medical instrument such as an endoscope or a surgical instrument in a holding section, and to move the holding section including the medical instrument to an arbitrary position. It is an object of the present invention to provide a medical device holding device which is supported by one hand after being moved with one hand, and which is hard to collide with an operator's body and other medical devices.

  In order to achieve the above object, the invention according to claim 1 is characterized in that an installation section, a holding section for holding a medical instrument, and a connection between the installation section and the holding section, Moving the part to an arbitrary position, and an arm part supporting the position, in a medical device holding device, wherein the holding part has an adapter attachment / detachment part, and is detachable with respect to the adapter attachment / detachment part. A holding device for a medical device, comprising: a holding adapter having a shape capable of holding the medical device, and an engaging portion for locking the adapter attaching / detaching portion and the holding adapter.

  The invention according to claim 2 is characterized in that the adapter attaching / detaching portion is provided with an adapter guide having an insertion groove formed on one side surface of the attaching / detaching portion main body, and the engaging portion projects from the insertion groove of the adapter guide. The medical device holding device according to claim 1, wherein the device is supported so as to be submerged.

  The invention according to claim 3 comprises an installation section, a holding section for holding a medical instrument, and means for connecting the installation section and the holding section and movably holding the holding section. The holding means is connected to the first arm provided on the installation portion and the first arm, holds the holding portion, and moves the holding portion including the medical instrument to an arbitrary position. , A second arm supported at that position, the second arm having a moving mechanism comprising a plurality of arms and joints and a balance mechanism for offsetting the weight of the medical instrument. In the holding device, an adapter attaching / detaching portion and a holding adapter are provided on the holding portion, and an adapter guide having an insertion groove formed on one side surface of the attaching / detaching portion main body of the adapter attaching / detaching portion is provided. The adapter guy A release member which is urged and supported in the insertion groove so as to protrude and retract, a medical instrument mounting portion is provided on one L-shaped component of the substantially L-shaped adapter main body of the holding adapter, and the other L-shaped component is provided. A guide hole is formed substantially at the center of the letter-shaped component and hook portions are formed on both sides, and a concave guide groove is formed below the guide hole on the outer surface of the other L-shaped component, A substantially circular guide surface whose depth gradually decreases from the lower surface of the adapter body toward the lower side of the guide hole is formed in the inner bottom of the guide groove, and the hook portion of the holding adapter is connected to the adapter. The adapter is inserted into the insertion groove of the adapter guide of the attachment / detachment part, and the leading end engagement part of the release member of the adapter attachment / detachment part is engaged with the guide surface of the guide groove of the holding adapter, and Insertion groove In the insertion operation, a holding device of the medical device, characterized in that engaging the release member into the guide hole of the holding adapter.

  When the operator holds the medical device or the holding unit in his or her hand and moves it in any direction, the plurality of arms and joints of the second arm move, and the holding unit including the medical device is moved to any position. Can be. In addition, since the balance mechanism for canceling the weight of the medical device is provided, the holding portion including the medical device is supported at the moved position.

  As described above, according to the present invention, a large range of movement of a medical instrument such as an endoscope or a surgical instrument which does not frequently move during surgery and fixation at the position are performed by the first arm. For a small range of movement that moves frequently, a movement mechanism consisting of multiple arms and joints is moved to an arbitrary position, and a movement mechanism consisting of multiple arms and joints and a balance mechanism to offset the weight of the medical device so that it is stopped at that position Providing the provided second arm has an effect that the medical instrument is less likely to collide with other medical instruments, the holding section including the medical instrument can be operated with a light force, and the operability can be improved.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  1 to 5 show a first embodiment, and FIG. 1 shows an overall view of a medical device holding device. 1 is a side rail of an operating table, for example, and 2 is an installation portion of a holding device. A fixing screw 3 for fixing to the side rail 1 is screwed to the installation portion 2.

  The installation section 2 is provided with a fixed arm 4. The fixed arm 4 is provided with a through hole 5 penetrating vertically. A moving arm 6 is inserted into the through hole 5 so as to be movable in the vertical direction. A plurality of annular grooves 6a are provided in the shaft portion of the moving arm 6 at predetermined intervals in the axial direction.

  On the other hand, a screw hole 7 is formed in the fixed arm 4 in a direction perpendicular to the through hole 5. A height fixing pin 8 is screwed into the screw hole 7. By engaging the distal end 8a of the height fixing pin 8 with the annular groove 6a of the moving arm 6, the position of the moving arm 6 in the height direction with respect to the fixed arm 4 can be fixed.

In this manner, the movable arm 6 can be adjusted to an arbitrary height by sliding the movable arm 6 in the direction of the arrow a in FIG. Moreover the moving arm 6 is rotatably attached to the vertical around the rotation axis O _1. The fixed arm 4, the moving arm 6, and the height fixing pin 8 constitute a first arm 9.

  A moving mechanism 11 for the second arm 10 is provided at an upper end of the moving arm 6. The moving mechanism 11 includes a support section 12, a horizontal moving arm 13, and a vertical moving arm 14.

Here, the support 12 is integrally attached to the upper end of the moving arm 6. Moreover, the horizontal movement arm 13 is rotatably attached to the intermediate vertical to the rotation axis O ₁ via the joint portion 13a provided on an around the rotation axis O ₂ of the horizontal movement arm 13 relative to the moving arm 6.

Further, vertical movement arm 14 is rotatably mounted about a horizontal turning arm 13 rotation axis O rotational axis parallel to the ₂ O ₃ via a joint portion 14a provided in the middle of the vertical movement arm 14 with respect to.

Further, the second arm 10 is provided with a first rod 15, a second rod 16, a first weight 17, and a second weight 18, and constitutes a balance mechanism 19 of the second arm 10. The first rod 15 is rotatably mounted on the around the rotation axis O ₂ via the joint portion 15a provided at the end of the first rod 15 with respect to the support portion 12.

Also, rotatably around the second rod 16 and the second end a rotation axis parallel to the rotation axis O ₂ via the joint portion 16a provided in the portion O of the rod 16 ₄ against vertical movement arm 14, and , rotatably attached to the rotary shaft O ₅ about parallel to the rotation axis O ₂ via the joint portion 16b provided for the first rod 15 at the other end of the second rod 16 . Here, the first rod 15 and the vertical movement arm 14 are parallel, and the second rod 16 and the horizontal movement arm 13 are parallel, so that the horizontal movement arm 13, the vertical movement arm 14, the first rod 15, the second rod 16 Constitute a parallelogram link. In addition, the first weight 17 and the second weight 18 are attached to the ends of the first rod 15 and the horizontal movement arm 13, respectively.

  A first rotating body 20 bent in a crank shape is provided at a tip end of the vertically moving arm 14, and a second rotating body 21 is provided on the first rotating body 20 in a direction perpendicular to the vertically moving arm 14. The third rotating body 22 is connected to the second rotating body 21 to form a holding unit 24.

The first rotating body 20 is rotatable around the rotation axis O _{6 with} respect to the vertically moving arm 14, and the second rotating body 21 is rotated with respect to the first rotating body 20 by a rotation axis O orthogonal to the rotation axis O _6. rotatably mounted around _7, third rotary member 22 is rotatably mounted about the rotation axis O ₈ perpendicular to both of the rotary shaft O _6, O ₇ with respect to the second rotary member 21. An endoscope 25 as a medical instrument is fixed to the third rotating body 22 with screws (not shown) or the like. Here, the endoscope 25 can be tilted in any direction about a point O, and is arranged so that this point and the center of gravity of the endoscope 25 coincide.

  The support section 12 is configured as shown in FIG. That is, the support portion 12 has a columnar shape, and has shaft portions 12a protruding from both ends thereof. The joint portions 13a and 15a are rotatably supported on the shaft portions 12a, respectively. Protrusions 12b and 13b are provided on the end faces of the support portion 12 and the joint portion 13a, respectively, and the rotation range of the horizontal motion arm 13 is regulated at the position where these protrude portions 12b and 13b hit. Similarly, on the end surfaces of the support portion 12 and the joint portion 15a, the rotation range of the first rod 15 (not shown) is restricted by the projections 12c and 15b.

  Next, the operation of the medical device holding device configured as described above will be described. First, when the surgeon provides the holding device, when the fixing screw 3 is rotated in a state where the setting part 2 is fitted to the side rail 1, the side rail 1 is sandwiched between the setting part 2 and the tip of the fixing screw 3. Thus, the holding device is fixed to the side rail 1.

  3 and 4 show state diagrams of the operation using the holding device. FIG. 3 shows a case where the operation site is in front of the patient, at which time the holding height L of the endoscope 25 with respect to the operation table 23 is low, and FIG. 4 shows a case where the operation site is on the side of the patient X. At this time, the holding height L increases. Since the required holding height L differs depending on the operation site, the operator must change the installation height of the holding device.

  In this case, the moving arm 6 is slid in the vertical direction with respect to the fixed arm 4, and the height fixing pin 8 is rotated to insert the tip 8a of the height fixing pin 8 into an appropriate one of the plurality of annular grooves 6a. Then, the height of the moving arm 6 with respect to the fixed arm 4 is fixed at an appropriate position.

When moving the endoscope 25 during the operation, the operator directly holds the endoscope 25 and moves it to a desired position. In FIG. 1, the horizontal movement is performed by rotation of the movable arm 6 about the rotation axis O _{1 with} respect to the fixed arm 4 and rotation of the horizontal movement arm 13 about the rotation axis O ₂ with respect to the support portion 12. Here, the rotation axis O ₁ be rotated to move the arm 6 relative to the fixed arm 4 for a vertical, since even after the movement rotation moment about the rotation axis O ₁ is not changed, and still be let go I have.

By the action of the second weight 18 in conjunction with the movement of the endoscope 25 even if the rotation of the horizontal movement arm 13 about the rotation axis O ₂ with respect to the support portion 12 also rotates moment about the rotation axis O ₂ is balanced It is still even if you release your hand. Subsequently, in FIG. 1, the vertical movement is performed by the rotation of the vertical movement arm 14 about the rotation axis O ₃ with respect to the horizontal movement arm 13. Here, even when the vertical movement arm 14 is rotated about the rotation axis O ₃ with respect to the horizontal movement arm 13, the first weight 17 is transmitted via the first rod 15 and the second rod 16 with the movement of the endoscope 25. There interlocked, so that balanced rotation moment about the rotation axis O ₃ by the action of the first weight 17, is stationary even let go.

When tilting the endoscope 25 during the operation, the operator directly holds the endoscope 25 and tilts it at a desired angle. In FIG. 1, the endoscope 25 is tilted to a desired angle by rotating the first rotating body 20, the second rotating body 21, and the third rotating body 22 around the rotation axes O ₆ , O ₇ , and O ₈ , respectively. It is performed by The rotation axes O ₆ , O ₇ , and O ₈ intersect at one point O, and the one point O coincides with the center of gravity of the endoscope 25. , and the rotation moment about the rotation axis O ₂ of the horizontal movement arm 13, does not change the rotation moment about the rotation axis O ₃ of vertical movement arm 14.

  When exchanging the endoscope 25 during the operation, the endoscope 25 is once removed from the holding portion 24. At this time, the horizontal movement arm 13 and the vertical movement arm 14 are actuated by the action of the first and second weights 17, 18. Try to jump up. That is, as shown in FIG. 5, generally, the range A indicated by the diagonal line of the operator is an unclean area, so it is not preferable that the clean up-and-down movement arm 14 touches this part. In this embodiment, the protrusion of the horizontal movement arm 13 can be prevented by contacting the protrusion 12b shown in FIG. 2 with the protrusion 13b, and the protrusion of the vertical movement arm 14 can be prevented by contacting the protrusion 12c with the protrusion 15b. . As a result, the endoscope 25 does not touch the unclean area.

  In this embodiment, the first arm 9 is moved by moving the moving arm 6 with respect to the fixed arm 4 in the direction of arrow a, and the fixing is performed by inserting the height fixing pin 8 into the annular groove 6a of the moving arm 6. Therefore, it is possible to cope with operations at various sites with a very simple configuration.

The first weight 17 and the second weight 18 in conjunction with the rotation around the rotation axis O ₃ of the rotary shaft O rotating around the ₂ and vertical movement arm 14 of the horizontal movement arm 13 is provided on the second arm 10 is moving mechanism 11 As a result, the balance is always maintained for any movement of the second arm 10.

  In addition, since the holding portion 24 is configured to be tiltable about one point O and the center of gravity of the endoscope 25 is arranged at this one point O, the endoscope 25 is tilted with a very light force. The second arm 10 can be kept stationary at the position, and the inclination does not cause the second arm 10 to lose its balance.

  Further, in the balance type holding device for canceling the weight of the endoscope 25, a stopper function for restricting the moving range of the endoscope 25 to a constant height is provided. , 12c, and the horizontal moving arm 13, and the first rod 15 linked to the vertical moving arm 14 are provided with protrusions 13b, 15b, respectively. Can be prevented from jumping up.

  FIG. 6 shows a second embodiment, in which the same components as those in the first embodiment are denoted by the same reference numerals, and description thereof will be omitted. An installation part 2 of the holding device is fitted to a side rail 1 of the operating table, and is fixed by a fixing screw 3. The installation part 2 is provided with a fixed arm 31, and the fixed arm 31 is provided with a concave groove 31a in the horizontal direction. The rack portion 32a of the first moving arm 32 is inserted into the concave groove 31a, and the rack portion 32a meshes with a first pin-on 33 provided inside the concave groove 31a.

  The first moving arm 32 is provided with a through hole 34 penetrating in the vertical direction, and the second moving arm 35 is slidably inserted in the through hole 34 in the vertical direction. A rack 35 a is provided on the shaft of the second moving arm 35, and the rack 35 a meshes with a second pinion 36 provided inside the through hole 34.

  The fixed arm 31, the first moving arm 32, the rack 32a, the first pin-on 33, the second moving arm 35, the rack 35a, and the second pinion 36 constitute a first arm 37.

  Therefore, the fixed arm 31 is integrally attached to the installation section 2, and the first moving arm 32 is attached to the fixed arm 31 so as to be slidable in the direction of arrow b. The second moving arm 35 is slidably attached to the first moving arm 32 in the direction of arrow c. The first pinion 33 and the second pinion 36 are provided with a handle (not shown) via an axis perpendicular to the plane of the drawing, and the operator can rotate the first pinion 33 and the second pinion 36 by operating the handle. It has become. Further, a worm and a worm wheel (not shown) are provided on the way to prevent the torque from being transmitted reversely.

At the upper end of the second moving arm 35, a first supporting portion 40, a horizontal moving arm 41, a second supporting portion 42, and a vertical moving arm 43 which constitute a moving mechanism 39 of the second arm 38 are provided. The first support portion 40 is rotatably attached about a vertical axis O ₁₀ with respect to the second moving arm 35. Further, the horizontal motion arm 41 uses the first support portion 40 and the second support portion 42 as two parallel links, and together with the links 41a, 41b, four joint portions 41c, which can rotate around mutually parallel axes. A parallelogram link including 41d, 41e, and 41f is configured.

  Similarly, the vertical movement arm 43 uses the second support portion 42 and a holding portion 24 described later as two links parallel to each other, and forms a parallelogram link together with the links 43a and 43b.

  Further, a first compression spring 46 and a second compression spring 47 constituting a balance mechanism 45 are provided between the first support portion 40 and the link 41b of the second arm 38 and between the second support portion 42 and the link 43b. Is provided. That is, the first compression spring 46 offsets the four joints 41c, 41d, 41c between the first support 40 and the link 41b in order to offset the rotational moment due to the weight applied to the joints 41c, 41d of the horizontal motion arm 41. The second compression spring 46 is similarly mounted between the second support part 42 and the link 43b via joints 41g and 41h that can rotate around axes parallel to 41e and 41f.

  The holding portion 24 includes a fixed seat 47a and a rotating seat 48. The rotating seat 48 is attached to the fixed seat 47a so as to be tiltable. The endoscope 25 is mounted on the rotating seat 48 with a screw (not shown). It is fixed by. Here, a frictional force is applied between the fixed seat 47a and the rotary seat 48 so that the endoscope 25 does not roll due to its own weight.

  Further, a projecting portion 49 projecting downward is provided at a lower end portion of the second support portion 42, and a screw-type first knob 50 is screwed into the projecting portion 49, and is attached to an upper end portion of the second support portion 42. Is provided with a protruding portion 51 that protrudes horizontally, and a screw-type second knob 52 is screwed to the protruding portion 51.

  When the first knob 50 is rotated, the first knob 50 moves forward and backward, and the moving range of the horizontal arm 41 is restricted at the position where the tip of the first knob 50 abuts on the link 41 a of the horizontal arm 41. Similarly, when the second knob 52 is rotated, it moves forward and backward, and the moving range of the vertical arm 43 is restricted at the position where the tip of the second knob 52 contacts the link 43 b of the vertical arm 43.

  Next, the operation of the medical device holding device configured as described above will be described. However, the installation of the holding device is the same as that of the first embodiment, and the description is omitted here. When the surgeon changes the installation height of the holding device for the reason described with reference to FIGS. 3 and 4 in the first embodiment, the rack portion is rotated by rotating the handle to rotate the second pinion 36. The second moving arm 35 having 35a is slid in the direction of the arrow c to change the height of the second moving arm 35 with respect to the fixed arm 31 to a position optimal for surgery. Thereafter, even when the hand is released from the handle, the height of the second moving arm 35 with respect to the fixed arm 31 is fixed as it is by the action of a worm and a worm wheel (not shown).

  Next, by rotating a handle (not shown) to rotate the first pinion 33, the first moving arm 32 having the rack portion 32a is slid in the direction of arrow b, and the second moving arm 35 is moved in the horizontal direction with respect to the fixed arm 31. Change the position to the optimal position for surgery. Thereafter, even if the hand is released from the handle, the horizontal position of the second moving arm 35 with respect to the fixed arm 31 is fixed by the action of a worm and a worm wheel (not shown).

When moving the endoscope 25 during the operation, the operator directly holds the endoscope 25 and moves it to a predetermined position. Movement of the arrow b direction is performed by the movement of the horizontal movement arm 41 (due to the deformation of the parallelogram link) for rotation and the first support portion 40 around the rotation axis O ₁₀ of the first support portion 40 relative to the second moving arm 35 It is. Stationary Since the rotary shaft be rotated first support portion 40 with respect to the second moving arm 35 is vertically, even the hand is released the rotational moment around the rotation axis O ₁₀ after moving does not change are doing.

  Further, even if the horizontal motion arm 41 is moved with respect to the support portion 40, the rotational moment around the joints 41c and 41d is canceled by the action of the first compression spring 46, so that the device remains stationary even if the user releases his hand. Subsequently, the movement in the direction of the arrow c is performed by moving the vertical movement arm 43 with respect to the second support portion 42. Even if the movement is performed, the second compression spring 47 is moved in the same manner as in the case of the horizontal movement arm 41. Since the rotational moment is offset by the action, it is still even if you release your hand.

  When tilting the endoscope 25 during the operation, the operator directly holds the endoscope 25 and tilts the endoscope 25 to a desired angle. The endoscope 25 is tilted to the desired tilt angle by rolling the rotary seat 48 with respect to the fixed seat 47a, and the endoscope 25 does not roll between the fixed seat 47a and the rotary seat 48 due to its own weight. Since only frictional force is urged, the inclination angle of the endoscope 25 is maintained even if the hand is released.

  In addition, since the vertical movement arm 43 and the horizontal movement arm 41 are each configured by a parallel link, the rotation moment of the vertical movement arm 43 with respect to the second support portion 42 and the first movement of the horizontal movement arm 41 are caused by the inclination of the endoscope 25. The rotational moment with respect to the support part 40 does not change.

  When the endoscope 25 is replaced during the operation, the second arm 38 tends to jump up as in the first embodiment. In this embodiment, the tip of the first knob 50 and the tip of the second knob 52 are prevented from coming into contact with the horizontal movement arm 41 and the vertical movement arm 43, respectively. Here, the tips of the first knob 50 and the second knob 52 can move forward and backward, respectively, so that the horizontal moving arm 41 and the vertical moving arm 43 can arbitrarily set the jumping height.

  Therefore, in this embodiment, the movement of the first arm 37 can be performed by the movement in the directions of the arrows b and c in FIG. 6 and can be fixed at any position, and the movement range of the second arm 38 with respect to the installation section 2 is limited. Because it is wide, it can handle various surgical sites.

  Further, since the balance mechanism 45 of the second arm 38 is constituted by a compression spring, a weight is not required as in the first embodiment, and the problem that the weight hits the operator's body can be eliminated. It is small and lightweight. Further, since the second arm 38 is formed by the parallel link, it is not necessary to hold the endoscope 25 at its center of gravity, and the holding section 24 can be made small and simple.

  Further, since the distal ends of the first knob 50 and the second knob 52 can be respectively advanced and retracted, the height of the jump can be arbitrarily set as needed, so that the endoscope 25 can be moved to a wider range as needed.

  7 and 8 show a third embodiment, in which the same components as those in the first embodiment are denoted by the same reference numerals and description thereof will be omitted. Reference numeral 68 denotes an installation portion of a holding device installed on the floor of the operating room, and includes a caster 69 for allowing the floor to move and a stopper 70 for fixing the caster at that position. The installation section 68 is provided with a fixed arm 73 constituting the first arm 71, a moving arm 74, a fixed knob 75, and a balance spring 76 composed of a coil spring.

That is, the fixed arm 73 is integrally attached to the installation section 2, and the movable arm 74 is attached to the support hole 73 a of the fixed arm 73 so as to be slidable in the direction of arrow d and rotatable around the vertical rotation axis O _11. Have been. Further, the fixed knob 75 is screwed to the fixed arm 73, and the slide and rotation of the movable arm 74 are fixed by pressing the tip 75 a of the fixed knob 75 against the movable arm 74. It is housed between the movable arm 74 and the bottom 73b of the support hole 73a of the fixed arm 73 to offset the force.

77 is a vertical arm of the second arm 78, together with the rotatably mounted about the rotation axis O ₁₁ to the mobile arm 74, at its front end is mounted a support portion 12 of the second arm 78. A retractor 79 as a medical device for pressing down an organ in the abdominal cavity during operation is fixed to the third rotating body 22 of the holding unit 24 that holds the medical device by a screw (not shown).

  The support section 12 is configured as shown in FIG. Here, the description of the same parts as in the first embodiment is omitted. The joint 13a is provided with a projection 81 which can be retracted by pulling the knob 81a against the pressure of the spring 80, and the rotation range of the horizontal motion arm 13 is set at a position where it comes into contact with the projection 12b if necessary. Can be regulated. The joint 15a has a similar configuration.

  Therefore, when the operator installs the holding device, the installation part 68 is moved to the bottom surface, the stopper 70 is operated at an appropriate position suitable for the operation, and the tip portion 70a is pressed against the floor surface to fix the position in the horizontal plane. At the same time, the movable arm 74 is slid with respect to the fixed arm 73, the fixed knob 75 is rotated at an appropriate position, and the tip 75a is pressed against the movable arm 74 to fix the height.

  The movement and inclination of the retractor 79 during the operation are exactly the same as those of the movement of the endoscope 25 in the first embodiment, and therefore the description thereof is omitted. When replacing the retractor 79 during the operation, the second arm 78 tends to jump up as in the first embodiment. This embodiment prevents the protrusions 12b and 12c shown in FIG. 8 from abutting on the protrusions 81 and prevents the protrusions 81 from moving. Can be retracted by pulling the knob 81a.

  As described above, in the present embodiment, since the installation section 68 is fixed to the floor surface, the entire holding device does not move during the operation even if the upper surface (including the side rails) of the operating table is inclined during the operation. Hard to collide with other surgical instruments. In addition to the movement of the first arm 71, since the setting unit 68 also has a movement means by the casters 70 in the installation unit 68, the movement range of the support unit 12 of the second arm 78 is wide and can be used for various surgical sites. Further, since the protrusion 81 is retractable, the prevention of the jump-up is released as required, and the retractor 79 can be moved to a wider range.

  9 to 11 show a fourth embodiment of the present invention. This is a modification of the configuration of the height adjusting mechanism of the movable arm 6 which is vertically movably inserted into the through hole 5 of the fixed arm 4 of the first embodiment.

  That is, as shown in FIG. 10, a horizontal hole 91 is formed in the fixed arm 4 of this embodiment in a direction perpendicular to the through hole 5 so as to communicate with the through hole 5. A small-diameter portion 91a is formed in the lateral hole 91 on the side opening side of the fixed arm 4, and a large-diameter portion 91b larger in diameter than the small-diameter portion 91a is formed on the communication portion side with the through hole 5.

  A height fixing pin 92 is inserted into the lateral hole 91. The pin body 92a of the height fixing pin 92 is formed with a knob 92c on the base end side of the shaft 92b and a large-diameter portion 92d on the front end with a larger diameter than the shaft 92b. The large-diameter portion 92d of the tip of the height fixing pin 92 is formed to have substantially the same diameter as the large-diameter portion 91b of the lateral hole 91.

  A coil spring 93 for urging the height fixing pin 92 toward the through hole 5 is mounted in the large diameter portion 91b of the horizontal hole 91. The coil spring 93 is provided between a step portion between the small diameter portion 91a and the large diameter portion 91b of the horizontal hole 91 and a large diameter portion 92d at the tip of the height fixing pin 92.

  By engaging the large-diameter end portion 92d of the height fixing pin 92 with the annular groove 6a of the moving arm 6, the position of the moving arm 6 in the height direction with respect to the fixed arm 4 can be fixed. ing.

  Further, a flange 6b, which is a regulating member that regulates the lower limit position of the moving arm 6, is provided in the middle of the moving arm 6. The flange 6b is arranged at a position above a plurality of annular grooves 6a formed in the shaft of the moving arm 6. The other parts are the same as those of the first embodiment.

  Next, the operation of adjusting the height of the moving arm 6 according to this embodiment will be described. When adjusting the height of the moving arm 6, first, the knob 92c of the height fixing pin 92 is pulled out of the fixed arm 4 (in the direction of arrow b in FIG. 10). As a result, as shown in FIG. 10, the large-diameter portion 92d at the tip of the height fixing pin 92 comes off the annular groove 6a of the moving arm 6, and the locking of the moving arm 6 is released.

  In this state, the moving arm 6 is lowered along the through-hole 5 of the fixed arm 4 to lock the flange 6b at a position where the flange 6b is in contact with the upper surface 4a of the fixed arm 4. Subsequently, when the moving arm 6 is moved upward from the locked position of the moving arm 6, the height fixing pin 92 is moved by the urging force of the coil spring 93 so that the height fixing pin 92 becomes closer to the through hole 5 of the fixed arm 4 (in FIG. The moving arm 6 is pressed in the direction indicated by the arrow c), and the large-diameter end portion 92d of the height fixing pin 92 is inserted into and engaged with the annular groove 6a of the moving arm 6, as shown in FIG. It is fixed to the 4 side.

  Therefore, in the above configuration, the annular groove 6a of the moving arm 6 is inserted into the through hole 5 of the fixed arm 4, and the engaging portion between the annular groove 6a of the moving arm 6 and the height fixing pin 92 is formed. Even in a state where the movable arm 6 cannot be directly viewed, the engaging portion between the annular groove 6a of the moving arm 6 and the height fixing pin 92 can be easily found, so that the height adjusting operation of the moving arm 6 can be facilitated. .

  FIG. 12 shows a fifth embodiment of the present invention. This is because the flange 6b that regulates the lower limit position of the moving arm 6 of the fourth embodiment is formed by a nut member, and the height position of the flange 6b is adjusted on the outer peripheral surface of the shaft of the moving arm 6. A male screw portion 94 is provided, and a screw hole 95 of the flange 6b is screwed into the male screw portion 94. Here, the flange 6b is prevented from rotating freely by means such as a lock screw (not shown) for preventing rotation.

  Therefore, in the above configuration, the height position of the flange 6b can be adjusted in the vertical direction within a range where the male screw portion 94 on the outer peripheral surface of the shaft of the moving arm 6 is formed. By setting the height position of the flange 6b in advance according to the difference in the expression, the operation of engaging the large-diameter portion 92d of the tip of the height fixing pin 92 with the annular groove 6a at a desired position can be facilitated. .

  The outer peripheral surface of the shaft body of the moving arm 6 may be provided with a mark indicating the fixed position of the flange 6b in advance according to the difference in the surgical procedure. In this case, the annular groove 6a of the moving arm 6 is inserted into the through hole 5 of the fixed arm 4, and the engaging portion between the annular groove 6a of the moving arm 6 and the height fixing pin 92 cannot be directly viewed. However, since the engagement portions between the plurality of annular grooves 6a of the moving arm 6 and the height fixing pins 92 can be easily found, the height adjusting operation of the moving arm 6 can be further facilitated.

  FIG. 13 shows a sixth embodiment of the present invention. This is because a fixing screw 6d is provided in place of the flange 6b of the fourth embodiment as a restricting member for restricting the lower limit position of the moving arm 6, and the shaft of the moving arm 6 is positioned in the axial direction of the shaft. It is provided with a plurality of screw holes 6c which are screwed with the fixing screw 6d in a direction perpendicular to the direction. Here, the plurality of screw holes 6c are arranged at appropriate intervals in the axial direction of the shaft of the moving arm 6.

  Therefore, in the above configuration, the lower limit position of the moving arm 6 is adjusted in the vertical direction by screwing the fixing screw 6d into one of the plurality of screw holes 6c of the shaft of the moving arm 6. Can be. Therefore, also in this case, similarly to the fifth embodiment, the fixing screw 6d is screwed into the screw hole 6c at a desired position selected in advance according to, for example, a difference in a surgical procedure, so that the annular groove 6a at a desired position is screwed. The operation of engaging the large-diameter end portion 92d of the height fixing pin 92 with the height fixing pin 92 can be facilitated.

  FIG. 14 shows a seventh embodiment of the present invention. This is a further modification of the configuration of the height adjusting mechanism of the movable arm 6 which is vertically movably inserted into the through hole 5 of the fixed arm 4 of the first embodiment.

  That is, in this embodiment, a cylindrical spring receiving member 101 communicating with the through hole 5 is attached to the lower surface of the fixed arm 4. A balance spring 102 made of a coil spring is housed inside the spring receiving member 101.

The movable arm 6 can be slid along the through hole 5 in the direction of arrow a to adjust the height to an arbitrary value. Furthermore, the moving arm 6 is attached to rotatably fixed arm 4 to the vertical rotation axis O ₁ around. The sliding and rotation of the moving arm 6 can be fixed by screwing the fixing pin 8 and pressing the moving arm 6 with the tip 8a of the fixing pin 8.

Therefore, in the above-described configuration, the balance spring 102 is housed in the cylindrical spring receiving member 101 communicating with the through hole 5, so that the force by the weight part above the moving arm 6 is canceled and the holding member main body is removed. the movement in the axial direction of the rotary shaft O ₁ can ease.

  FIGS. 15A to 15C show an eighth embodiment of the present invention. This is provided with an adapter attaching / detaching portion 551 that can be easily attached to the distal end portion of the vertically moving arm 14 of the medical device holding device of the first embodiment by a single insertion operation, and a holding adapter 552 for the endoscope 335. Things.

  Here, the adapter 552 is provided with a substantially L-shaped adapter body 553. One L-shaped component 553a of the adapter main body 553 is provided with an endoscope mounting portion 554 to which the endoscope 335 is detachably mounted. Further, projecting portions 555 are provided on both sides of the other L-shaped component 553b of the adapter main body 553, respectively. A hook 556 is formed by the L-shaped component 553b of the adapter body 553. Further, a guide hole 557 is formed substantially at the center of the L-shaped component 553b of the adapter main body 553.

  A concave guide groove 558 is formed below the guide hole 557 on the outer surface of the L-shaped component 553b of the adapter body 553, as shown in FIG. A substantially arc-shaped guide surface 559 whose depth gradually decreases from the lower surface of the adapter body 553 toward the guide hole 557 is formed at the inner bottom of the guide groove 558.

  Further, an adapter guide 561 is rotatably supported on one side surface of the attaching / detaching portion main body 560 in the adapter attaching / detaching portion 551. The adapter guide 561 is formed with an insertion groove 562 into which the hook 556 of the adapter 552 is inserted so as to match the outer shape of the hook 556 of the adapter 552.

  In this case, a cutout 563 communicating with the insertion groove 562 is formed at the center of the outer surface of the adapter guide 561. Guide portions 564 for guiding the protrusions 555 on both sides of the hook portion 556 of the adapter 552 are formed on both sides of the cutout portion 563, respectively.

  A release knob 565 is provided at the center of the detachable unit main body 560 as shown in FIG. The release knob 565 is arranged at a position where it can be engaged with the guide hole 557 of the hook 556 when the hook 556 of the adapter 552 is inserted into the adapter guide 561.

  Further, an engagement portion 565a is formed at the tip of the release knob 565 so as to be removably engaged in the guide hole 557 of the hook portion 556. The release knob 565 is supported by the attaching / detaching portion main body 560 so as to protrude and retract into the insertion groove 562 of the adapter guide 561.

  Further, a spring member 566 that urges the engaging portion 565a of the release knob 565 in a direction protruding toward the insertion groove 562 of the adapter guide 561 is mounted on the detachable portion main body 560.

  Next, the operation of the above configuration will be described. First, when the adapter 552 is mounted on the adapter guide 561, the hook 556 of the adapter 552 is inserted into the adapter guide 561. At this time, as the hook portion 556 is inserted into the adapter guide 561, the engaging portion 565a at the tip of the release knob 565 is pressed by the guide surface 559 of the guide groove 558 and gradually enters the inside of the detachable portion main body 560. Extruded. Then, when the position of the guide hole 557 of the hook portion 556 matches the position of the engagement portion 565a at the tip of the release knob 565, the engagement portion 565a at the tip of the release knob 565 projects due to the urging force of the spring member 566. To engage with the guide hole 557. As a result, the adapter 552 is locked to the adapter guide 561.

  When the pulling operation is performed by holding the release knob 565 outward, the engaging portion 565a at the tip retracts into the detachable portion main body 560 against the urging force of the spring member 566. Therefore, the engagement portion 565a of the release knob 565 is pulled out from the guide hole 557 of the hook portion 556, and the engagement between the engagement portion 565a of the release knob 565 and the guide hole 557 of the adapter 552 is released. By pulling out the adapter 552 from the adapter guide 561 in this state, the adapter 552 can be removed from the adapter guide 561.

  Therefore, in the above configuration, the work of connecting the adapter 552 to the adapter guide 561 of the adapter attaching / detaching portion 551 can be performed only by one action of inserting the hook portion 556 of the adapter 552 into the adapter guide 561. Work operability can be improved. Further, since the operation direction of the release knob 565 is orthogonal to the optical axis of the endoscope 335, there is no possibility that a force is applied to the release knob 565 in the direction of releasing the lock of the adapter 552 when the endoscope 335 is operated.

  FIG. 16 shows a ninth embodiment of the present invention. This is a modification of the structure of the attachment / detachment portion between the vertically moving arm 14 of the medical device holding device of the first embodiment and the rod 323 of the link mechanism portion formed of the parallelogram link.

  In this embodiment, a female screw-shaped rotary screw 571 is rotatably attached to the base end of the vertically movable arm 14. Further, a male screw portion 572 into which the rotary screw 571 is screwed is provided at a portion where the rod 323 is attached to and detached from the vertically moving arm 14.

  In addition, a linear guide groove 573 is formed on the distal end surface of the male screw portion 572. Further, a protrusion 574 having a shape corresponding to the guide groove 573 of the male screw portion 572 is formed at the base end of the vertically moving arm 14. The protrusion 574 of the vertically movable arm 14 is engaged with the guide groove 573 of the male screw 572.

  Here, the rotary screw 571 is made of a slidable plastic material such as polyether or ether ketone. Therefore, when the rotation screw 571 is screwed into the male screw portion 572 of the rod 323, the rotation screw 571 can be smoothly and gently screwed into the male screw portion 572 of the rod 323.

  Further, the engagement of the guide groove 573 of the male screw portion 572 and the protrusion 574 of the vertical movement arm 14 prevents the vertical movement arm 14 from being displaced when the rotary screw 571 is screwed into the male screw portion 572 of the rod 323.

  At the base end of the vertically moving arm 14, a cable stopper 575 for entanglement the cable 339 of the TV camera 337 and the light guide cable 338 is provided. This cable stop 575 is formed by at least two turns of a flexible helical wire. Therefore, the cables do not come off after the cables are entangled with the cable stopper 575. The arm cover is made of an insulating plastic material such as polyether or ether ketone, and is electrically insulated at the center of the vertically moving arm 14.

  17 and 18 show a tenth embodiment of the present invention. FIG. 17 shows a schematic configuration of the entire medical device holding apparatus. Reference numeral 501 denotes an installation portion which is detachably attached to a guide rail of an operating table by, for example, a screw-down operation by operating an attachment knob 502.

The lower end of the column 503 is connected to the installation portion 501 via a bearing 504 that can rotate about a _first rotation axis O1 extending substantially in the vertical direction. The base end of the first arm 506 is connected to the upper end of the support 503 via a bearing 505 rotatable about a _second rotation axis O2 on a connection shaft 505a extending substantially in the horizontal direction. ing. The proximal end of the second arm 508 is connected to the distal end of the first arm 506 via a bearing 507 rotatable about a _third rotational axis O ₃ on a connecting shaft 507 a extending substantially in the horizontal direction. Are linked.

  Note that a first end arm 331 having the same configuration as the first end arm 331 of the tenth embodiment is connected to the end of the second arm 508. An adapter attaching / detaching portion 334 is provided at the distal end of the first distal arm 331. An adapter 336 as a holding section for holding the endoscope 335 is detachably attached to the adapter attaching / detaching section 334.

  Further, the column 503, the first arm 506, and the second arm 508 are formed of a hollow frame member. The bearing 505 between the support 503 and the first arm 506 and the bearing 507 between the first arm 506 and the second arm 508 each have a built-in balancing mechanism 508 having the configuration shown in FIG. I have.

  As shown in FIG. 18, the balance mechanism 508 accommodates a spiral spring 509, which is a spiral leaf spring, in a column 503 (or a first arm 506). The center of the spiral spring 509 is fixed to a support pin 510 spanned between both side surfaces of the column 503 (or the first arm 506).

  Further, a fixing pin 511 is fixed to a portion near the connection shaft 505a (or 507a) around the bearing 505 (or 507), and a support pin 510 is fixed around the bearing 505 (or 507). A wire stopper 512 is fixed on the first arm 506 (or the second arm 508) on the opposite side of the section.

  One end of a connection wire 513 is attached to the outer end of the spiral spring 509. The other end of the connection wire 513 is hooked on a fixing pin 511, bent, and then fixed to a wire stopper 512.

  In this embodiment, the bearings 505 and 507 are held by the endoscope 335, the distal arm 331, the second arm 508, and the first arm 506 held by the adapter 336 of the distal arm 331 due to their own weights. The spiral spring 509 built in each of the bearing portions 505 and 507 applies a reaction force to the turning motion acting on the endoscope 335, and the endoscope 335 can be fixed in a balanced and stationary state.

  Therefore, in the above configuration, the balancing mechanism 508 for fixing the endoscope 335 in a balanced and stationary state is accommodated in the column 503, the first arm 506, or the like. The amount of protrusion of the protruding portion protruding to the outside can be reduced. Therefore, it is possible to make it difficult for the worker to come into contact with the main body of the medical device holding device, and it is also easy to clean the main body of the medical device holding device.

  FIG. 19 shows a modification of the balancing mechanism 508 incorporated in the periphery of each of the bearings 505 and 507 of the tenth embodiment. That is, in this modification, two sets of spiral springs 509, 509 'are provided for each of the bearing portions 505, 507 of the tenth embodiment. Here, one of the two sets of spiral springs 509, 509 'has the same configuration as the spiral spring 509 of the eighteenth embodiment.

  Further, the other spiral spring 509 ′ is arranged symmetrically with respect to the spiral spring 509 about the connection shafts 505 a and 507 a. Here, the central part of the spiral spring 509 'is fixed to a support pin 510' spanned between both side surfaces of the first arm 506 (or the second arm 508).

  Further, a fixing pin 511 ′ is fixed to a portion near the connection shaft 505a (or 507a) around the bearing 505 (or 507), and the support pin 510 ′ is centered on the bearing 505 (or 507). A wire stopper 512 ′ is fixed on the column 503 (or the first arm 506) on the side opposite to the fixing part.

One end of a connection wire 513 'is attached to the outer end of the spiral spring 509'. The other end of the connecting wire 513 'is fixed to a wire stopper 512'. Reference numeral 511 ′ is a fixing pin for hooking the connection wire 513 ′ when the first arm 506 (or the second arm 508) in FIG. 19 is turned to a symmetric position about the third rotation axis O _3. .

  Therefore, in the above-described configuration, the endoscope 335 is fixed in a stationary state in which the endoscope 335 is balanced with respect to the turning motion of the first arm 506 and the second arm 508 over a wider range than in the tenth embodiment. Can be.

  Next, other characteristic technical matters of this application are listed as follows.

  (Feature 1) The medical device holding device according to claim 1, wherein the first arm includes a fixed arm and a movable arm for holding the second arm so that the height can be adjusted.

  (Feature 2) The medical device holding device according to Feature 1, wherein a height adjusting means of the moving arm includes a groove provided in the arm, and a height fixing member provided in the fixing arm so as to be inserted into the groove. .

  (Feature 3) The medical device holding device according to Feature 2, wherein the height adjustment means of the movable arm comprises a rack and pinion mechanism provided on the arm and the fixed arm.

  (Feature 4) The height adjustment means of the moving arm comprises means for vertically urging the arm, and a height fixing member for fixing the height by pressing the moving arm provided on the fixed arm. The medical device holding device according to Feature 2.

  (Feature 5) The medical device holding device according to Feature 4, wherein the means for urging the moving arm in the vertical direction is a coil spring.

  (Feature 6) The medical device holding device according to Feature 1, wherein the first arm includes a member that holds the second arm movably in a horizontal plane.

  (Feature 7) The medical device holding device according to Feature 6, wherein the moving means comprises a rack and pinion mechanism.

  (Feature 8) The medical device holding device according to Feature 6, wherein the moving means is a transport mechanism provided in the installation section.

  (Feature 9) The medical device holding device according to claim 1, wherein the moving mechanism includes at least one parallelogram link mechanism.

  (Feature 10) The medical device holding device according to Feature 9, including a regulating means for regulating the movement of the parallelogram link mechanism within a desired range.

  (Feature 11) The medical device holding device according to Feature 10, wherein the device is a pair of protrusions provided so as to face at least a pair of intersecting links of the restricting means in a specified range.

  (Feature 12) The medical device holding device according to Feature 10, wherein the regulating means is a protrusion provided so as to face at least one link in a prescribed range.

  (Feature 13) The medical device holding device according to Feature 10, wherein the regulating means can change and adjust a desired range of movement of the link mechanism.

  (Feature 14) The medical device holding device according to Feature 10, wherein the regulating means can release the regulation of the desired range of the movement of the link mechanism.

  (Feature 15) The medical device holding device according to claim 1, wherein the holding means can tilt the held medical device around a predetermined point.

  (Characteristic 16) In a medical device holding device including at least an installation portion, a movable arm detachable from the installation portion, and a medical device holding portion, the medical device holding device is installed in an installation portion that forms a part of the movable arm. A medical device holding device provided with a member for restricting movement of a movable arm with respect to a part.

  (Feature 17) The medical device holding device according to Feature 16, wherein the movable arm is a rotatable connection of a plurality of arm elements, and the balance device includes a balance mechanism for maintaining the overall balance when the medical device is attached to the holding portion.

  (Feature 18) The medical device holding device according to Feature 17, wherein the balance mechanism is a counterbalance mechanism including a parallelogram link type arm element.

  (Feature 19) The medical device holding device according to Feature 16, wherein the balance mechanism includes a spring element disposed between each arm element.

  (Feature 20) The medical device holding device according to features 18, 19, wherein the attachment / detachment portion is a column supporting the arm element.

  (Feature 21) The medical device holding device according to Feature 20, wherein the regulating member is a flange provided on the detachable portion.

  (Feature 22) The medical device holding device according to Feature 20, wherein the regulating member is a locking pin provided on the attaching / detaching portion.

  (Feature 23) The medical device holding device according to Feature 20, wherein the position of the regulating member can be adjusted along the column.

  (Feature 24) In a medical device holding device including at least an installation portion, a movable arm detachable with respect to the installation portion, and a medical device holding portion, a spring element for maintaining an overall balance when the medical device is attached to the holding portion. A medical device holding device comprising:

FIG. 1 is an overall perspective view of a medical device holding device according to a first embodiment of the present invention. The longitudinal section side view of the support part of the embodiment. Operation | movement explanatory drawing of the holding apparatus of the medical instrument of the embodiment. Operation | movement explanatory drawing of the holding apparatus of the medical instrument of the embodiment. FIG. 7 is an explanatory view of an operation of a conventional medical device holding device. FIG. 6 is an overall perspective view of a medical device holding device according to a second embodiment of the present invention. FIG. 9 is an overall perspective view of a medical device holding device according to a third embodiment of the present invention. The longitudinal section side view of the support part of the embodiment. FIG. 9 is an overall perspective view of a medical device holding device according to a fourth embodiment of the present invention. FIG. 4 is a longitudinal sectional view showing a state in which the moving arm of the embodiment has moved to a lower limit position. FIG. 4 is a longitudinal sectional view showing a state in which the moving arm of the embodiment is fixed by engagement of a fixing pin and an annular groove. The longitudinal section of the important section of the holding device of the medical instrument showing a 5th embodiment of the present invention. The longitudinal section of the important section of the holding device of the medical instrument showing a 6th embodiment of the present invention. FIG. 14 is a schematic configuration diagram of a main part of a medical device holding device according to a seventh embodiment of the present invention. FIG. ₁₄ shows an eighth embodiment of the present invention, in which (A) is a perspective view of an adapter attaching / detaching portion of a vertically moving arm, (B) is a transverse sectional view thereof, and (C) is L ₁ -L ₁ of (B). Line sectional view. FIG. 18 is a perspective view of a main part showing a ninth embodiment of the present invention. The perspective view of the whole medical instrument holding device showing a 10th embodiment of the present invention. The perspective view which shows the detailed structure around the bearing of the example. FIG. 21 is an exemplary perspective view showing a modification of the balancing mechanism incorporated in the periphery of the bearing unit according to the tenth embodiment;

Explanation of reference numerals

DESCRIPTION OF SYMBOLS 1 ... Side rail, 2 ... Installation part, 9 ... 1st arm, 10 ... Second arm, 11 ... Moving mechanism, 19 ... Balance mechanism, 24 ... Holding part.

Claims (3)

An installation section, a holding section for holding a medical instrument, and an arm section that connects between the installation section and the holding section, moves the holding section to an arbitrary position, and supports the position. In a medical device holding device comprising:
The holding portion is provided with an adapter attaching / detaching portion and a holding adapter detachably attachable to the adapter attaching / detaching portion and having a shape capable of holding the medical device, and engaging with the adapter attaching / detaching portion and the holding adapter. A medical device holding device provided with a joining portion.   The adapter attaching / detaching portion is provided with an adapter guide having an insertion groove formed on one side surface of the attaching / detaching portion main body, and the engaging portion is supported so as to protrude and retract with respect to the insertion groove of the adapter guide. The medical device holding device according to claim 1, wherein: An installation section, a holding section for holding a medical instrument, and a means for connecting between the installation section and the holding section, and a means for movably holding the holding section, the holding means comprising: A first arm provided on the installation portion, and a second arm connected to the first arm for holding the holding portion, moving the holding portion including the medical instrument to an arbitrary position, and supporting the holding portion at that position. A second arm, wherein the second arm is a medical device holding device including a moving mechanism including a plurality of arms and a joint, and a balance mechanism for offsetting the weight of the medical device.
Providing an adapter attaching / detaching portion and a holding adapter in the holding portion,
An adapter guide having an insertion groove formed on one side surface of the detachable portion main body of the adapter detachable portion is provided, and the distal end engaging portion is biased to the detachable portion main body so as to protrude and retract into the insertion groove of the adapter guide. Provided a release member,
A medical device mounting portion is provided on one L-shaped component of the substantially L-shaped adapter body of the holding adapter, a guide hole is formed substantially at the center of the other L-shaped component, and hook portions are formed on both sides. A concave guide groove is formed below the guide hole on the outer surface of the other L-shaped component, and the inner bottom of the guide groove is directed downward from the lower surface of the adapter body to the guide hole. To form a substantially circular bottom guide surface whose depth gradually decreases according to
The hook portion of the holding adapter is inserted into the insertion groove of the adapter guide of the adapter attaching / detaching portion, and the leading end engaging portion of the release member of the adapter attaching / detaching portion is inserted into the guide surface of the guide groove of the holding adapter. A medical instrument holding device, wherein the release member is engaged with the guide hole of the holding adapter by an operation of inserting the hook portion into the insertion groove.

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