JP2014200275A - Structure for fitting auxiliary arm of stand device - Google Patents

Structure for fitting auxiliary arm of stand device Download PDF

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JP2014200275A
JP2014200275A JP2013075679A JP2013075679A JP2014200275A JP 2014200275 A JP2014200275 A JP 2014200275A JP 2013075679 A JP2013075679 A JP 2013075679A JP 2013075679 A JP2013075679 A JP 2013075679A JP 2014200275 A JP2014200275 A JP 2014200275A
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auxiliary arm
display device
electronic image
stand device
supported
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JP2013075679A
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勝之 中村
Katsuyuki Nakamura
勝之 中村
土居　正雄
Masao Doi
正雄 土居
中村　勝重
Katsushige Nakamura
勝重 中村
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Mitaka Kohki Co Ltd
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Mitaka Kohki Co Ltd
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Abstract

PROBLEM TO BE SOLVED: To provide a structure for fitting an auxiliary arm of a stand device, which can support an electronic image display device to an arbitrary peripheral position of a surgical microscope.SOLUTION: In the structure for fitting an auxiliary arm of a stand device, a protrusion 6 is formed in a tip member 3 for supporting the auxiliary arm 8 of the stand device 1 so that the protrusion is protruded along the longitudinal direction of a support arm 2, and a base end part of the auxiliary arm 8 is fitted to the protrusion 6 via an intermediate link 10 having rotation fulcrums 7, 11 at both end thereof. Thus, the electronic image display device 9 supported to a tip of the auxiliary arm 8 can be supported to any peripheral position of the surgical microscope 4.

Description

本発明は、本発明はスタンド装置の補助アーム取付構造に関するものである。   The present invention relates to an auxiliary arm mounting structure for a stand device.

脳神経外科等において使用される手術顕微鏡は、スタンド装置の支持アームの先端に支持されて使用される。手術顕微鏡は一対の接眼部を有し、主術者は一対の接眼部から術部の光学像を立体的に観察することができる。   A surgical microscope used in neurosurgery or the like is used while being supported by the tip of a support arm of a stand device. The surgical microscope has a pair of eyepieces, and the main operator can observe an optical image of the surgical part in three dimensions from the pair of eyepieces.

また、手術は主術者だけでなく、助手も協力して行われるため、補助アームを介して電子映像表示装置を支持し、手術顕微鏡で観察している映像を電子映像表示装置に表示し、それを助手が観察できるようになっている。手術顕微鏡の内蔵カメラが両眼視差を有する一対の電子映像を撮影可能な場合は、その電子映像を電子映像表示装置に表示することにより、助手は立体的な観察も行える（例えば、特許文献１参照）。   In addition, not only the main surgeon but also the assistant cooperate, so the electronic image display device is supported through the auxiliary arm, and the image observed with the surgical microscope is displayed on the electronic image display device. The assistant can observe it. When the built-in camera of the surgical microscope can capture a pair of electronic images having binocular parallax, the assistant can also perform stereoscopic observation by displaying the electronic images on the electronic image display device (for example, Patent Document 1). reference).

特開２００８−２３７２３２号公報JP 2008-237232 A

しかしながら、このような従来の技術にあっては、補助アームで電子映像表示装置を支持しているものの、補助アームの回動範囲に制限があり、手術顕微鏡の周囲の全ての位置に電子映像表示装置を支持できるものでなかった。   However, in such a conventional technique, although the electronic image display device is supported by the auxiliary arm, the rotation range of the auxiliary arm is limited, and the electronic image is displayed at all positions around the surgical microscope. The device could not be supported.

本発明は、このような従来の技術に着目してなされたものであり、手術顕微鏡の周囲の任意の位置に電子映像表示装置を支持可能なスタンド装置の補助アーム取付構造を提供することを目的としている。   The present invention has been made paying attention to such a conventional technique, and an object thereof is to provide an auxiliary arm mounting structure of a stand device capable of supporting an electronic image display device at an arbitrary position around a surgical microscope. It is said.

請求項１記載の発明は、スタンド装置の横方向に延びる支持アームの先端部材に、水平方向で支持アームの長手方向に沿って突出する突部を形成け、該突部に中間リンクの一端の回動支点を水平方向で回動自在に取付けると共に、該中間リンクの他端の回動支点に補助アームの基端部を水平方向で回動自在に取付け、該補助アームの先端に電子映像を表示する電子映像表示装置を支持したことを特徴とする。   According to the first aspect of the present invention, a protrusion projecting along the longitudinal direction of the support arm in the horizontal direction is formed on the tip member of the support arm extending in the lateral direction of the stand device, and one end of the intermediate link is formed on the protrusion. A rotating fulcrum is attached to be pivotable in the horizontal direction, and the base end of the auxiliary arm is attached to the pivoting fulcrum at the other end of the intermediate link so as to be pivotable in the horizontal direction. An electronic video display device for display is supported.

請求項２記載の発明は、電子映像表示装置が立体観察可能な構造であることを特徴とする。   The invention described in claim 2 is characterized in that the electronic video display device has a structure capable of stereoscopic observation.

請求項１記載の発明によれば、スタンド装置の補助アームを支持する先端部材に突部を形成し、その突部に両端に回動支点を有する中間リンクを介して補助アームの基端部を取付けたため、補助アームの先端に支持している電子映像表示装置を手術顕微鏡の周囲のいかなる場所にも支持することができる。   According to the first aspect of the present invention, the protrusion is formed on the tip member that supports the auxiliary arm of the stand device, and the base end portion of the auxiliary arm is connected to the protrusion via the intermediate link having the rotation fulcrum at both ends. Since it is attached, the electronic image display device supported on the tip of the auxiliary arm can be supported anywhere around the surgical microscope.

請求項２記載の発明によれば、電子映像表示装置が立体観察可能な構造であるため、助手は立体的な観察を行うことができ、主術者の作業をより正確に手伝えることがことができる。   According to the second aspect of the present invention, since the electronic image display device has a structure capable of stereoscopic observation, the assistant can perform stereoscopic observation and can help the main operator's work more accurately. it can.

スタンド装置の補助アーム取付構造を示す側面図。The side view which shows the auxiliary arm attachment structure of a stand apparatus. スタンド装置の補助アーム取付構造を示す斜視図。The perspective view which shows the auxiliary arm attachment structure of a stand apparatus. 補助アームの回動範囲を示す平面図。The top view which shows the rotation range of an auxiliary arm.

図１〜図３は、本発明の好適な実施形態を示す図である。   1 to 3 are diagrams showing a preferred embodiment of the present invention.

スタンド装置１は横方向に延びる支持アーム２を有している。この支持アーム２は平行リンクを利用した構造で、支持アーム２を上下に移動させても、その先端部材３は垂直が維持される。すなわち、先端部材３は支持アーム２が構成する平行リンクの垂直リンク辺（先端部）を通る仮想垂直軸を有し、垂直リンク辺に対して垂直軸のまわりに回動可能である。   The stand device 1 has a support arm 2 extending in the lateral direction. The support arm 2 has a structure using a parallel link, and even if the support arm 2 is moved up and down, the tip member 3 is maintained vertical. That is, the tip member 3 has a virtual vertical axis that passes through the vertical link side (tip portion) of the parallel link formed by the support arm 2 and is rotatable about the vertical axis with respect to the vertical link side.

先端部材３には手術顕微鏡４がコ字状の吊下アーム５により支持されている。手術顕微鏡４は、対物光学系、ズーム光学系、接眼光学系を内蔵し、一対の接眼部から主術者Ａの見る方向性での両眼視差を有する術部の光学像を立体的に観察できるようになっている。また手術顕微鏡４の内部には立体視撮影可能なカメラ（図示省略）も設けられている。   A surgical microscope 4 is supported on the tip member 3 by a U-shaped suspension arm 5. The surgical microscope 4 includes an objective optical system, a zoom optical system, and an eyepiece optical system, and three-dimensionally displays an optical image of the surgical part having binocular parallax in a direction seen by the main operator A from a pair of eyepieces. It can be observed. In addition, a camera (not shown) that can perform stereoscopic imaging is provided inside the operation microscope 4.

先端部材３には支持アーム２の長手方向に沿って突出する突部６が一体形成されている。この突部６に中間リンク１０の一端が先端部材３の垂直軸からオフセットした回動支点７を中心に水平方向で回動自在に取付けられ、更に中間リンク１０の他端の回動支点１１には補助アーム８の基端部が水平方向で回転自在に支持されている。また補助アーム８の先端部には電子映像表示装置９が支持されている。この電子映像表示装置９に手術顕微鏡４内で撮影された両眼視差を有する左右一対の電子映像を表示することにより、助手Ｂは患部の立体観察を行うことができる。   The tip member 3 is integrally formed with a protrusion 6 protruding along the longitudinal direction of the support arm 2. One end of the intermediate link 10 is attached to the protrusion 6 so as to be rotatable in the horizontal direction around the rotation fulcrum 7 offset from the vertical axis of the tip member 3, and further to the rotation fulcrum 11 at the other end of the intermediate link 10. The base end of the auxiliary arm 8 is supported so as to be rotatable in the horizontal direction. An electronic video display device 9 is supported at the tip of the auxiliary arm 8. By displaying a pair of left and right electronic images having binocular parallax photographed in the surgical microscope 4 on the electronic image display device 9, the assistant B can perform stereoscopic observation of the affected area.

図２では助手Ｂは主術者Ａの右側に位置しているが、手術顕微鏡４の周囲のあらゆる場所に移動する必要が生じることがある。この場合は補助アーム８が中間リンク１０ごと回動すると共に、中間リンク１０に対しても補助アーム８が自由に回動するため、図３に示すように、主術者Ａの前後・左右のいかなる任意の位置にも電子映像表示装置９を移動させて観察することができる。先端部材３に吊り下げアーム５が支持され、補助アーム８が中間リンク１０を介して先端部材３の垂直軸からオフセットした位置に軸支されているために、補助アーム８（電子映像表示装置９）を支点７または支点１１のまわりに回転しても吊り下げアーム５（手術顕微鏡４）と干渉しないからである。すなわち、回動支点７が先端部材３の垂直軸からオフセットしている上に補助アーム８の回動支点１１がさらに回動支点７のまわりに回動可能となっているため電子映像表示装置９の移動の自由度が高い。   In FIG. 2, the assistant B is located on the right side of the main operator A, but it may be necessary to move to any place around the surgical microscope 4. In this case, the auxiliary arm 8 is rotated together with the intermediate link 10, and the auxiliary arm 8 is also freely rotated with respect to the intermediate link 10. Therefore, as shown in FIG. The electronic image display device 9 can be moved and observed at any arbitrary position. Since the suspension arm 5 is supported by the tip member 3 and the auxiliary arm 8 is pivotally supported at a position offset from the vertical axis of the tip member 3 via the intermediate link 10, the auxiliary arm 8 (electronic video display device 9) is supported. ) Does not interfere with the suspension arm 5 (surgical microscope 4) even if it is rotated around the fulcrum 7 or the fulcrum 11. That is, since the rotation fulcrum 7 is offset from the vertical axis of the tip member 3 and the rotation fulcrum 11 of the auxiliary arm 8 is further rotatable around the rotation fulcrum 7, the electronic video display device 9. The freedom of movement is high.

また、手術顕微鏡４及び電子映像表示装置９は、垂直が維持された先端部材３に支持されているため、手術顕微鏡４及び電子映像表示装置９を、両者の姿勢及び位置関係を維持したまま、支持アーム２をスタンド装置１の本体に対して回動させることにより、垂直方向及び水平方向へ平行移動することができ、両者による観察が容易である。   In addition, since the surgical microscope 4 and the electronic video display device 9 are supported by the tip member 3 that is maintained vertically, the surgical microscope 4 and the electronic video display device 9 are maintained while maintaining their posture and positional relationship. By rotating the support arm 2 with respect to the main body of the stand device 1, the support arm 2 can be translated in the vertical direction and the horizontal direction, and observation by both is easy.

助手Ｂは補助アーム８で支持された電子映像表示装置９を独立して観察するため、主術者Ａが手術顕微鏡４を動かしても、助手Ｂが見ている電子映像表示装置９は不動で、助手Ｂ側の観察に影響を与えない。しかも、助手Ｂは電子映像の立体観察が可能なため、術部の状態を立体的に把握することができ、主術者Ａの援助を正確に行える。そのため手術時間の短縮を図ることができ、主術者Ａの負担を軽減することもできる。電子映像表示装置９で観察している電子映像の一部に、ＣＴ、ＭＲＩ、ナビゲーション情報等を一緒に表示しても良い。   Since the assistant B observes the electronic image display device 9 supported by the auxiliary arm 8 independently, even if the main operator A moves the surgical microscope 4, the electronic image display device 9 that the assistant B is looking at does not move. The observation on the assistant B side is not affected. In addition, since the assistant B can stereoscopically observe the electronic video, the state of the surgical part can be grasped in three dimensions, and the main operator A can be accurately assisted. Therefore, the operation time can be shortened and the burden on the main operator A can be reduced. CT, MRI, navigation information, and the like may be displayed together on a part of the electronic image observed by the electronic image display device 9.

１ スタンド装置
２ 支持アーム
３ 先端部材
４ 手術顕微鏡
５ 吊下げアーム
６ 突部
７ 回動支点
８ 補助アーム
９ 電子映像表示装置
１０ 中間リンク
１１ 回動支点
Ａ 主術者
Ｂ 助手 DESCRIPTION OF SYMBOLS 1 Stand apparatus 2 Support arm 3 Tip member 4 Surgical microscope 5 Suspension arm 6 Protruding part 7 Rotating fulcrum 8 Auxiliary arm 9 Electronic video display apparatus 10 Intermediate link 11 Rotating fulcrum A Main operator B Assistant

Claims (2)

スタンド装置（１）の横方向に延びる支持アーム（２）の先端部材（３）に、水平方向で支持アームの長手方向に沿って突出する突部（６）を形成け、該突部に中間リンク（１０）の一端の回動支点（７）を水平方向で回動自在に取付けると共に、該中間リンクの他端の回動支点（１１）に補助アーム（８）の基端部を水平方向で回動自在に取付け、該補助アームの先端に電子映像を表示する電子映像表示装置（９）を支持したことを特徴とするスタンド装置の補助アーム取付構造。   A protrusion (6) protruding along the longitudinal direction of the support arm in the horizontal direction is formed on the tip member (3) of the support arm (2) extending in the lateral direction of the stand device (1), and an intermediate is formed on the protrusion. A rotation fulcrum (7) at one end of the link (10) is mounted so as to be rotatable in the horizontal direction, and the base end of the auxiliary arm (8) is horizontally connected to the rotation fulcrum (11) at the other end of the intermediate link. An auxiliary arm mounting structure for a stand device, wherein the electronic image display device (9) for displaying an electronic image on the tip of the auxiliary arm is supported. 電子映像表示装置が立体観察可能な構造であることを特徴とする請求項１記載のスタンド装置の補助アーム取付構造。   2. The auxiliary arm mounting structure of the stand device according to claim 1, wherein the electronic image display device has a structure capable of stereoscopic observation.
JP2013075679A 2013-04-01 2013-04-01 Structure for fitting auxiliary arm of stand device Pending JP2014200275A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113752280A (en) * 2021-10-12 2021-12-07 中南大学 Seven-degree-of-freedom decoupling main manipulator

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JP2008036277A (en) * 2006-08-09 2008-02-21 Mitaka Koki Co Ltd Stereoscopic microscope
JP2008237232A (en) * 2007-03-23 2008-10-09 Mitaka Koki Co Ltd Surgical microscope system
JP2012095799A (en) * 2010-11-01 2012-05-24 Mitaka Koki Co Ltd Surgical operation microscopic system

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Publication number Priority date Publication date Assignee Title
JP3139694B2 (en) * 1993-06-03 2001-03-05 株式会社クラレ Manufacturing method of composite sheet
JP2001117049A (en) * 1999-10-15 2001-04-27 Olympus Optical Co Ltd Stereoscopic observation device and electronic picture display device
JP2005137577A (en) * 2003-11-06 2005-06-02 Olympus Corp Surgical microscope and position setting method in surgical microscope
JP2008006089A (en) * 2006-06-29 2008-01-17 Mitaka Koki Co Ltd Operating microscope system
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JP2008237232A (en) * 2007-03-23 2008-10-09 Mitaka Koki Co Ltd Surgical microscope system
JP2012095799A (en) * 2010-11-01 2012-05-24 Mitaka Koki Co Ltd Surgical operation microscopic system

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113752280A (en) * 2021-10-12 2021-12-07 中南大学 Seven-degree-of-freedom decoupling main manipulator
CN113752280B (en) * 2021-10-12 2023-02-03 中南大学 Seven-degree-of-freedom decoupling main manipulator

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