JP2019180881A - Medical care device - Google Patents

Abstract

To provide a medical care device capable of suppressing vibration which occurs when an object is moved in linear reciprocation motion in a housing and extending service life of the device.SOLUTION: A three-dimensional scanner 100 comprises: a housing 77; a lens 81; a first drive part 80 for moving the lens 81 in linear motion; a counter weight 91 provided on a straight line L of the linear motion direction of the lens 81 and has a same weight to the lens 81; a second drive part 90 for moving the counter weight 91 in linear motion; support parts 60, 65 for supporting the lens 81 and the counter weight 91 so as to move in linear motion; and a control part 40 for controlling the first and second drive parts 80, 90, and the control part 40 controls the first and second drive parts 80, 90 so that, the lens 81 and the counter weight 91 move by linear motion by an equal distance, respectively, in a relative direction.SELECTED DRAWING: Figure 12

Description

  The present invention relates to a medical diagnostic apparatus.

  2. Description of the Related Art Conventionally, there has been known an apparatus configured to suppress vibration transmitted to a casing as much as possible by linearly moving two objects having the same mass in opposite directions by the same distance. For example, in Patent Document 1 (Japanese Patent Laid-Open No. 2015-83978), a lens and a counterweight are mechanically connected via a translation stage, and the lens and the counterweight are translated by a mechanical configuration including a motor. A scanner for linear motion above is disclosed.

Japanese Patent Laying-Open No. 2015-83978

  In the scanner disclosed in Patent Document 1, since the lens and the counterweight are linearly moved in the opposite direction via the translation stage by the same motor, mechanical wear occurs when the lens is driven for a long time. It was difficult to achieve a long service life.

  The present invention has been made to solve the above-described problem, and an object of the present invention is to suppress vibration generated when an object is linearly reciprocated in a casing and to realize a long life of the apparatus.

  A medical medical device according to the present invention is provided on a straight line in a linear motion direction of a first object, a housing, a first object, a first drive unit that linearly moves the first object, and the first object. A second object having the same mass, a second drive unit that linearly moves the second object, a support unit that supports the first object and the second object to linearly move, a first drive unit, and a second drive And a control unit that controls the first drive unit and the second drive unit such that the first object and the second object move linearly by the same distance in the opposing direction.

  In the medical medical device according to the present invention, since the first object and the second object can be linearly moved independently by the respective driving units, it is possible to realize a long life.

It is a schematic diagram which shows the structure of the three-dimensional scanner which concerns on this Embodiment. It is a schematic diagram which shows the structure of the handpiece which concerns on this Embodiment. It is a figure for demonstrating the positional relationship of a lens and a counterweight in the three-dimensional scanner which concerns on this Embodiment. It is a schematic diagram which shows the YZ cross section of the drive part which concerns on this Embodiment. It is a schematic diagram which shows the XZ cross section of the drive part which concerns on this Embodiment. (A) is a schematic diagram showing an XZ cross section of the drive unit when the lens linearly moves in one direction in the drive unit according to the present embodiment. (B) is a schematic diagram showing an XZ cross section of the drive unit when the lens linearly moves in the other direction in the drive unit according to the present embodiment. (A) is a figure for demonstrating the positional relationship of both when a lens and a counterweight are linearly moved in the direction away from each other in the three-dimensional scanner which concerns on this Embodiment. (B) is a figure for demonstrating the positional relationship of both when a lens and a counterweight are linearly moved in the direction which mutually approaches in the three-dimensional scanner which concerns on this Embodiment. It is a schematic diagram for demonstrating the structure of the optical system in the handpiece which concerns on a modification. It is a schematic diagram which shows the YZ cross section of the drive part which concerns on a modification. It is a schematic diagram which shows the YZ cross section of the drive part which concerns on a modification. It is a schematic diagram which shows the YZ cross section of the drive part which concerns on a modification. It is a schematic diagram for demonstrating the support part applied to the three-dimensional scanner which concerns on a modification. It is a schematic diagram for demonstrating the drive part applied to the three-dimensional scanner which concerns on a modification. It is a schematic diagram which shows the structure of the cutting device which is a medical treatment apparatus which concerns on a modification.

  This embodiment will be described with reference to the drawings. In the present embodiment, a three-dimensional scanner that can be used in dental practice will be described as an exemplary form of a medical treatment apparatus. The three-dimensional scanner is an intraoral scanner for acquiring a three-dimensional shape of teeth in the oral cavity. The three-dimensional scanner according to the present embodiment is not limited to the intraoral scanner, but can be applied to other three-dimensional scanners having the same configuration, for example, inside the human ear in addition to the intraoral area. In order to acquire a three-dimensional shape in the outer ear by imaging, it is also applicable to a scanner. The medical medical device exemplified by the three-dimensional scanner according to the present embodiment is not limited to dentistry, and can be applied to medical treatments of all medical departments such as ophthalmology, otolaryngology, radiology, and veterinary medicine. . Medical treatment includes diagnosis and treatment.

[Configuration of 3D scanner]
FIG. 1 is a schematic diagram showing a configuration of a three-dimensional scanner 100 according to the present embodiment. The three-dimensional scanner 100 corresponds to an embodiment of a “medical medical device”. As shown in FIG. 1, the three-dimensional scanner 100 includes a handpiece 70, a control unit 40, a display unit 50, and a power supply 45. The handpiece 70 is a hand-held member, and includes the probe 10, the connection unit 20, and the optical measurement unit 30.

  The probe 10 is inserted into the oral cavity and projects light having a pattern (hereinafter also simply referred to as a pattern) onto an object 99 such as a tooth. The probe 10 guides the reflected light from the object 99 onto which the pattern is projected to the optical measurement unit 30. The probe 10 can be attached to and detached from the optical measurement unit 30. Therefore, the surgeon can remove only the probe 10 that may come into contact with the living body from the optical measurement unit 30 and perform sterilization (for example, processing in a high-temperature and high-humidity environment) as a countermeasure against infection. . If the entire three-dimensional scanner device is sterilized, the life of the device may be shortened because many optical components and electronic components are included. However, as described above, only the probe 10 is removed and sterilized. Therefore, it is possible to prevent the life of the apparatus from being shortened as much as possible.

  The connection unit 20 is a part of the optical measurement unit 30, protrudes from the optical measurement unit 30, and has a shape that can be fitted to the root of the probe 10. The connection unit 20 includes a lens system for guiding the light collected by the probe 10 to the optical measurement unit 30, an optical component such as a cover glass, an optical filter, and a phase difference plate (¼ wavelength plate).

  The optical measurement unit 30 projects a pattern onto the object 99 via the probe 10 and images the projected pattern. The optical measurement unit 30 according to the present embodiment is configured to acquire a three-dimensional shape using the principle of the focusing method, as will be described below, but using the principle such as the confocal method. The structure which acquires a three-dimensional shape may be sufficient. In other words, the optical measurement unit 30 includes a configuration that changes the projection pattern and the focus position of the optical sensor, and uses any principle as long as it is a configuration that acquires a three-dimensional shape using an optical technique. May be.

  The control unit 40 controls the operation of the optical measurement unit 30 and processes the image captured by the optical measurement unit 30 to acquire a three-dimensional shape. Although not shown, the control unit 40 includes a CPU (Central Processing Unit) as a control center, a ROM (Read Only Memory) that stores a program for operating the CPU, control data, and the like, and a work area for the CPU. It includes a functioning RAM (Random Access Memory) and an input / output interface for maintaining signal consistency with peripheral devices. The control unit 40 can also output the acquired three-dimensional shape to the display unit 50, and can input information such as settings of the optical measurement unit 30 with an input device (not shown).

  Note that at least a part of the calculation for processing the captured image to acquire a three-dimensional shape may be realized as software by the CPU of the control unit 40, or as hardware that performs processing separately from the CPU. It may be realized. At least a part of the processing unit such as the CPU or hardware may be incorporated in the optical measurement unit 30. In FIG. 1, each component (30, 40, 45, 50) of the three-dimensional scanner 100 is depicted as being wired by a cable (thick line in the drawing). All may be connected by wireless communication. The control unit 40 may be provided inside the handpiece 70 as long as the control unit 40 is small and light enough to be lifted with one hand.

  The display unit 50 displays the measurement result of the three-dimensional shape of the object 99 obtained by the control unit 40. The display unit 50 can also display other information such as setting information of the optical measurement unit 30, patient information, scanner activation status, instruction manual, and help screen. As the display unit 50, for example, a stationary liquid crystal display, a head mounted type or a glasses type wearable display can be applied. Further, there may be a plurality of display units 50, and a three-dimensional shape measurement result and other information may be displayed simultaneously or divided on the plurality of display units 50.

  The power supply 45 supplies power to the optical measurement unit 30 and the control unit 40. The power supply 45 may be provided outside the control unit 40 as shown in FIG. 1, but may be provided inside the control unit 40 or inside the handpiece 70. Further, a plurality of power sources 45 may be provided so that power can be individually supplied to the control unit 40, the optical measurement unit 30, and the display unit 50.

[Configuration of handpiece]
FIG. 2 is a schematic diagram showing the configuration of the handpiece 70 according to the present embodiment. Each member in the handpiece 70 shown in FIG. 2 is accommodated in the optical measurement unit 30 shown in FIG. As shown in FIG. 2, the handpiece 70 includes a light source 71, a lens 81, and an optical sensor 75 inside a housing 77. In addition to these, the handpiece 70 includes a beam splitter that separates light from the light source 71 to the object 99 and light from the object 99 to the optical sensor 75, and a reflector that reflects the light toward the object 99. Etc. may be included. The lens 81 corresponds to an embodiment of a “first object”. In the embodiment described below, for convenience of explanation, an imaginary straight line indicating the direction in which the lens 81 moves linearly is indicated by L, an axis parallel to the straight line L is the X axis, and perpendicular to the straight line L. The upward axis of the paper is called the Z axis, and the axis perpendicular to the X axis and the Z axis is called the Y axis.

  The light output from the light source 71 is irradiated to the object 99 through the lens 81 and reflected by the object 99. The light reflected by the object 99 passes through the lens 81 again and is detected by the optical sensor 75. When a three-dimensional shape is acquired using the focusing technique, light that has passed through a pattern generation element (not shown) provided between the lens 81 and the object 99 is projected onto the object 99. When the lens 81 linearly moves on the same straight line (for example, the straight line L in the drawing), the focal position of the projection pattern changes. The optical sensor 75 detects light from the object 99 for each change. The control unit 40 described above calculates the shape information of the object 99 based on the position of the lens 81 and the detection result of the optical sensor 75 at that time.

  When the lens 81 linearly moves in the direction of the straight line L (X-axis direction), the center of gravity of the handpiece 70 moves by the mass of the lens 81 and is transmitted as vibration to the user's hand holding the handpiece 70. In order to cancel the vibration, the handpiece 70 is further provided with a counterweight 91 inside the housing 77. The counterweight 91 corresponds to an embodiment of “second object”. The counterweight 91 is provided on the back side of the optical sensor 75 in the X-axis direction so as not to block the optical path between the object 99 and the lens 81 and the optical path between the lens 81 and the optical sensor 75. .

  FIG. 3 is a schematic diagram for explaining the positional relationship between the lens 81 and the counterweight 91 in the three-dimensional scanner 100 according to the present embodiment. As shown in FIG. 3, the lens 81 is supported so as to linearly move in the direction of the straight line L by a support portion 60 parallel to the straight line L. Although not shown, the support portion 60 is fixed by a housing 77. Further, the lens 81 is connected to the magnetic circuit configuration 85 of the first drive unit 80. The first drive unit 80 constitutes a linear motor that linearly moves the lens 81 in the direction of the straight line L by the magnetic circuit configuration 85.

  The counterweight 91 is a weight provided on the straight line L in the linear motion direction of the lens 81 and having the same mass as the lens 81. The counterweight 91 is supported by a support portion 65 parallel to the straight line L so as to linearly move in the direction of the straight line L. In the present embodiment, the support portion 65 is a separate member from the support portion 60. Further, the counterweight 91 is connected to the magnetic circuit configuration 95 of the second drive unit 90. The second drive unit 90 configures a linear motor that linearly moves the counterweight 91 in the direction of the straight line L by the magnetic circuit configuration 95. The specific configuration of the magnetic circuit configuration 85 and the magnetic circuit configuration 95 will be described later using the magnetic circuit configuration 85a and the magnetic circuit configuration 85b shown in FIGS. 4 to 6 as examples. Hereinafter, the first drive unit 80 and the second drive unit 90 are collectively referred to simply as a “drive unit”.

  Each of the first drive unit 80 and the second drive unit 90 is controlled by the control unit 40. In the present embodiment, the first drive unit 80 and the second drive unit 90 are controlled by the common control unit 40, respectively. However, the first drive unit 80 and the second drive unit 90 are controlled by different control units. Each may be controlled.

  When the lens 81 is linearly moved in the direction of the straight line L by the first driving unit 80, the counterweight 91 is linearly moved by the same distance as the lens 81 in the direction opposite to the lens 81 by the second driving unit 90. For example, when the lens 81 moves 10 mm on the straight line L in a direction approaching the object 99, the counterweight 91 moves 10 mm on the straight line L in a direction away from the object 99. When the lens 81 moves 15 mm on the straight line L in a direction away from the object 99, the counterweight 91 moves 15 mm on the straight line L in a direction approaching the object 99.

  As described above, the counterweight 91 linearly moves in the direction opposite to the lens 81 by the same distance as the lens 81, so that the deviation of the center of gravity of the handpiece 70 caused by the linear motion of the lens 81 can be offset. Thereby, the vibration caused by the linear motion of the lens 81 can be canceled by the counterweight 91.

[Configuration of drive unit]
FIG. 4 is a schematic diagram showing a YZ section of the drive unit according to the present embodiment. FIG. 5 is a schematic diagram showing an XZ cross section of the drive unit according to the present embodiment. FIG. 6A is a schematic diagram illustrating an XZ cross section of the drive unit when the lens 81 linearly moves in one direction in the drive unit according to the present embodiment. FIG. 6B is a schematic diagram illustrating an XZ cross section of the drive unit when the lens 81 linearly moves in the other direction in the drive unit according to the present embodiment. 4 to 6, the configuration of the first drive unit 80 among the drive units will be described, but the configuration of the second drive unit 90 is the same as that of the first drive unit 80. That is, in the case of the second drive unit 90, in the example shown in FIGS. 4 to 6, the lens 81 is replaced with the counterweight 91, but the other configuration is the same as that of the first drive unit 80.

  As shown in FIGS. 4 to 6, the first driving unit 80 includes members for linearly moving the lens 81 around the lens 81 so that a substantially circular lens 81 can be provided at the center. It is arrange | positioned and has an elongate hollow shape along the straight line L which is a linear motion direction. As described above, since the substantially circular lens 81 is provided at the center of the first drive unit 80, light can be transmitted to the center of the first drive unit 80.

  Specifically, as shown in FIG. 4, in the first drive unit 80, a support unit composed of a fixed support unit 57 a and a movable support unit 56 a, a fixed support unit 57 b and a movable unit are arranged on the outer periphery of the lens 81. The support part comprised by the support part 56b is provided. The movable support portion 56a and the movable support portion 56b cause the lens 81 to linearly move along the fixed support portion 57a and the fixed support portion 57b, respectively. In addition, the support part comprised by the fixed support part 57a and the movable support part 56a, and the support part comprised by the fixed support part 57b and the movable support part 56b respond | correspond to the support part 60 demonstrated with reference to FIG. To do.

  Specifically, the movable support portion 56 a and the movable support portion 56 b are fixed to the outer peripheral portion of the lens 81. In addition, the movable support portion 56 a and the movable support portion 56 b are disposed at symmetrical positions with respect to the center of the lens 81. In FIG. 4, a straight line L is shown so as to pass through the center of the lens 81. The movable support portion 56a and the movable support portion 56b are respectively fitted to the rail-like fixed support portion 57a and the fixed support portion 57b so as to linearly move in the direction of the straight line L. The fixed support portion 57a and the fixed support portion 57b play a role of a so-called linear guide in a state of being fitted to the movable support portion 56a and the movable support portion 56b, respectively. The movable support portion 56a and the movable support portion 56b are respectively fixed support portions. A linear movement is possible with the lens 81 along 57a and the fixed support part 57b.

  A lubricant having viscosity such as grease may be applied to the movable support portion 56a and the movable support portion 56b between the connection surfaces of the fixed support portion 57a and the fixed support portion 57b. A rolling bearing may be provided. In this case, the lubricant having viscosity such as grease corresponds to an embodiment of the “damper”.

  Further, as shown in FIGS. 4 and 5, a plurality of long springs 55 a to 55 d are provided in the vicinity of the outer peripheral portion of the lens 81. The springs 55 a to 55 d are provided in the X-axis direction so as to follow the straight line L at a position that is substantially 90 degrees away from the position of the support portion 60 with respect to the center of the lens 81. The springs 55a to 55d correspond to an embodiment of an “elastic member”. A coil spring or the like is applied to the springs 55a to 55d. The elastic member is not limited to a spring, and any member such as rubber may be applied as long as it deforms when a force is applied and returns to its original state when the force is removed.

  The spring 55 a and the spring 55 b and the spring 55 c and the spring 55 d are provided at positions symmetrical with respect to the center of the lens 81. One end of each of the spring 55a and the spring 55b abuts against the lens 81 so as to sandwich the lens 81 from the direction perpendicular to the direction of the straight line L toward the center of the lens 81, and the other end contacts the casing (not shown). Touch. Further, the spring 55a and the spring 55b are held in the casing so as to be allowed to be deformed in the X direction and not deformed in the YZ direction. One end of each of the spring 55c and the spring 55d is in contact with the lens 81 so as to sandwich the lens 81 from the direction perpendicular to the direction of the straight line L, and the other end is in contact with a housing (not shown). Further, the spring 55c and the spring 55d are held in the housing so as to be allowed to deform in the X direction and not to be deformed in the YZ direction. By the plurality of springs 55a to 55d arranged in this way, an elastic force is given to the lens 81 in the linear motion direction.

  A magnetic circuit configuration 85a for linearly moving the lens 81 in the direction of the straight line L is provided outside the springs 55a and 55b (in a direction away from the center of the lens 81). The magnetic circuit configuration 85a includes a magnet 53a composed of an N pole and an S pole, and a coil 52a disposed outside the magnet 53a.

  The magnet 53a is a mover that can move in the direction of the straight line L, and the lens 81 can also move linearly along the straight line L when the magnet 53a moves linearly along the straight line L. The coil 52a is a stator.

  A yoke 51a is provided on the outer side of the coil 52a. The yoke 51a is a stator like the coil 52a.

  Similarly, a magnetic circuit configuration 85b for linearly moving the lens 81 in the direction of the straight line L is provided outside the springs 55c and 55d. The magnetic circuit configuration 85b includes a magnet 53b composed of an N pole and an S pole, and a coil 52b disposed outside the magnet 53b.

  The magnet 53 b is a mover that can move in the direction of the straight line L, and the lens 81 can also move linearly along the straight line L when the magnet 53 b moves linearly along the straight line L. The coil 52b is a stator.

  A yoke 51b is provided on the outer side of the coil 52b. The yoke 51b is a stator like the coil 52b.

  In the first drive unit 80 having such a configuration, the lens 81 moves linearly by applying a force in the direction of the straight line L to the lens 81 by the magnetic circuit configuration 85a and the magnetic circuit configuration 85b.

  For example, in the magnetic circuit configuration 85a and the magnetic circuit configuration 85b, when the magnet 53a and the magnet 53b composed of the N pole and the S pole are arranged in the positional relationship as shown in FIG. 5, a magnetic field in the arrow direction as shown by a dotted line is generated. In this case, the current shown in FIG. 5 (the current in the direction from the front to the back of the paper along the Y-axis is “x”, the current in the direction from the back of the paper to the front along the Y-axis is “ ) Is passed through each of the coil 52a and the coil 52b, and electromagnetic force (F) is generated in the X-axis direction as indicated by the solid arrow in accordance with Fleming's left-hand rule. When the electromagnetic force (F) generated in this way is applied to the magnet 53a and the magnet 53b which are the movers, the magnet 53a and the magnet 53b move in a direction opposite to the electromagnetic force (F). Hereinafter, the configuration related to the motion of the object in the apparatus, such as the spring 55a to the spring 55d, the magnets 53a and 53b, the lens 81, the coils 52a and 52b, and a damper including a lubricant having viscosity such as grease, is referred to as “motion system”. ".

  The lens 81 vibrates in the direction of the straight line L due to the response of the motion system such as the inertial force of the lens 81, electromagnetic force (F), elastic force of the springs 55a to 55d, and viscous force of the damper. As shown in FIGS. 6A and 6B, the control unit 40 linearly moves the lens 81 in the direction of the straight line L using this vibration. That is, the control unit 40 controls the first driving unit 80 at a constant period according to the natural frequency of the motion system and causes a current to flow through the magnetic circuit configuration 85a and the magnetic circuit configuration 85b. Utilizing this, the lens 81 can be linearly moved in the direction of the straight line L.

  In this way, the first drive unit 80 functions as a resonance drive motor that reciprocates the lens 81 in the direction of the straight line L by causing a current to flow through the coil 52a and the coil 52b in accordance with the natural frequency of the motion system. Can do. Here, when the lens 81 is linearly moved by a mechanical configuration in which a mechanical component such as a cam is connected to the motor, the motor must be continuously driven while the lens 81 is moved. On the other hand, if the resonance phenomenon of the motion system is used as in the present embodiment, the lens 81 can be linearly moved simply by passing a current through the magnetic circuit configuration 85a and the magnetic circuit configuration 85b at a constant period. Therefore, when a magnetic circuit configuration like this embodiment is used, power consumption can be suppressed and efficiency is high.

  As described above, when the lens 81 moves linearly in the direction of the straight line L by the first driving unit 80, the counter weight 91 is linearly moved by the same distance as the lens 81 in the direction facing the lens 81 by the second driving unit 90. Exercise.

  For example, FIG. 7A is a diagram for explaining the positional relationship between the lens 81 and the counterweight 91 that are linearly moved away from each other in the three-dimensional scanner 100 according to the present embodiment. As shown in FIG. 7A, when the lens 81 is moved in a direction approaching the object 99, the control unit 40 moves the counterweight 91 in a direction away from the object 99. FIG. 7B is a diagram for explaining the positional relationship between the lens 81 and the counterweight 91 that are linearly moved toward each other in the three-dimensional scanner 100 according to the present embodiment. As illustrated in FIG. 7B, when the lens 81 is moved in a direction away from the object 99, the control unit 40 moves the counterweight 91 in a direction approaching the object 99.

  As described above, in the three-dimensional scanner 100, the control unit 40 independently controls the first drive unit 80 that linearly moves the lens 81 and the second drive unit 90 that linearly moves the counterweight 91. Thus, while the focal position of the projection pattern with respect to the object 99 is changed by the lens 81, the vibration due to the linear motion of the lens 81 can be canceled by the counterweight 91.

  As shown in FIGS. 4 and 5, in the first drive unit 80, the spring 55a and the spring 55c are symmetrically positioned from the direction perpendicular to the direction of the straight line L with the substantially circular lens 81 as the center. The lens 81 is interposed therebetween. The spring 55b and the spring 55d are arranged so as to sandwich the lens 81 from a direction perpendicular to the direction of the straight line L with the substantially circular lens 81 as a center. The members of the magnetic circuit configuration 85a and the members of the magnetic circuit configuration 85b are provided symmetrically from the direction perpendicular to the direction of the straight line L with the substantially circular lens 81 as the center.

  Furthermore, the movable support portion 56a and the movable support portion 56b are symmetrically positioned from the direction perpendicular to the direction of the straight line L at a position shifted by 90 degrees from the positions of the springs 55a to 55d around the substantially circular lens 81. The lens 81 is interposed therebetween. In addition, the fixed support portion 57a and the fixed support portion 57b are symmetrically positioned from the direction perpendicular to the direction of the straight line L at a position shifted by 90 degrees from the positions of the springs 55a to 55d around the substantially circular lens 81. The lens 81 is interposed therebetween.

  As described above, in the three-dimensional scanner 100, the components of the first drive unit 80 are arranged symmetrically in the vertical and horizontal directions so as to sandwich the lens 81 that is the object of movement, and the movable support units 56a and 56b and the fixed support are arranged. The parts 57a and 57b are also arranged symmetrically in the vertical and horizontal directions. If the lens 81 is supported by only one of the movable support portion 56a and the fixed support portion 57a and is linearly moved in the direction of the straight line L, the force between the fixed support portion 57a and the movable support portion 56a is a fulcrum. The moment is generated. When the moment of the force is generated in the lens 81, the movable support portion 56a is inclined with respect to the fixed support portion 57a, and the movement of the lens 81 is rattled. In the lens 81 that reciprocates on the straight line L, the direction of the moment of force generated at the fulcrum differs between the forward path and the return path. Therefore, by providing the movable support portions 56a and 56b and the fixed support portions 57a and 57b symmetrically with respect to the center of the lens 81, the fitting portion between the fixed support portion 57a and the movable support portion 56a and the fixed support portion 57b are provided. Moments of force applied to each of the fitting portions with the movable support portion 56b can be canceled out with each other. The same applies to the counterweight 91.

  When the members of the first drive unit 80, the movable support portions 56a and 56b, and the fixed support portions 57a and 57b are not arranged vertically and horizontally symmetrically, the fitting portion and the fixed support between the fixed support portion 57a and the movable support portion 56a. There is a possibility that the moments of the forces applied to the fitting portions of the portion 57b and the movable support portion 56b do not cancel each other, and vibrations cannot be completely removed. In particular, the handpiece 70 is handheld and is frequently tilted and used. Therefore, depending on the tilt direction of the handpiece 70, the moments of the forces applied to the fitting portion between the fixed support portion 57a and the movable support portion 56a and the fitting portion between the fixed support portion 57b and the movable support portion 56b cancel each other. Residual vibration occurs without matching. In that respect, as in the present embodiment, by arranging the members symmetrically in the vertical and horizontal directions, the fitting portion between the fixed support portion 57a and the movable support portion 56a and the fitting between the fixed support portion 57b and the movable support portion 56b. The moment of force applied to each of the joints cancels each other, and residual vibration can be suppressed as much as possible.

  Further, in the handpiece 70, each member of the first drive unit 80 is disposed so as to sandwich the lens 81 that is the object of movement from the direction perpendicular to the direction of the straight line L, and the movable support units 56a and 56b and Since the fixed support portions 57a and 57b are also arranged, the entire handpiece 70 can be reduced in size as compared with a case where the lens 81 is linearly moved by a mechanical configuration in which a mechanical component such as a cam is connected to a motor. Can do. Furthermore, as described above, since the lens 81 can be disposed in a place hollowed by the components of the first drive unit 80, the movable support portions 56a and 56b, and the fixed support portions 57a and 57b, the handpiece 70 is provided. The light having a pattern can be passed through the central part.

[Main configuration]
Next, the main configuration of the three-dimensional scanner 100 according to the present embodiment will be described.

  The three-dimensional scanner 100 according to the present embodiment is provided on a case 77, a lens 81, a first drive unit 80 that linearly moves the lens 81, and a straight line L in the linear motion direction of the lens 81, and the lens A counterweight 91 having the same mass as 81, a second drive unit 90 that linearly moves the counterweight 91, support units 60 and 65 that support the lens 81 and the counterweight 91 so as to linearly move, and a first drive unit. 80 and the control unit 40 that controls the second drive unit 90, and the control unit 40 linearly moves the first drive unit 80 and the second drive unit so that the lens 81 and the counterweight 91 move in the opposite directions by the same distance. 2 drives 90 are controlled respectively.

  Thus, in the three-dimensional scanner 100 according to the present embodiment, the lens 81 and the counterweight 91 can be linearly moved independently by the respective drive units. Therefore, mechanical wear is less likely to occur even if the lens 81 and the counterweight 91 are both linearly moved by the translation stage using the same motor, even if the lens is driven for a long time. Therefore, it is possible to realize a long life of the apparatus that realizes the linear motion of the lens 81 and the counterweight 91.

  In addition, as described above, by adopting a configuration in which the lens 81 and the counterweight 91 are linearly moved independently by the respective drive units, the above-described magnetic circuit configuration is changed to the driving of the lens 81 and the counterweight 91. Can be adopted in the department. In other words, in the present embodiment, the first drive unit 80 has a magnetic circuit configuration 85 including magnets 53 a and 53 b and coils 52 a and 52 b, and the lens 81 has a force in the linear motion direction ( Electromagnetic force (F)) gives a linear motion. Similarly, the second drive unit 90 has a magnetic circuit configuration 95 including a magnet and a coil (both not shown), and the counterweight 91 has a force (electromagnetic force (electromagnetic force ( F)) gives a linear motion.

  As a result, the influence of mechanical wear can be reduced compared to a configuration in which the direction of the force is changed in the linear motion direction of the lens 81 or the counterweight 91 using a mechanical component such as a cam. The entire original scanner 100 can be reduced in size and weight. In addition, it is more durable and easier to maintain than adopting a mechanical component if the device configuration using only a magnetic circuit is employed.

  The first drive unit 80 includes springs 55 a to 55 d that apply elastic force in the linear motion direction of the lens 81. Similarly, the second drive unit 90 includes a spring (not shown) that gives an elastic force in the linear movement direction of the counterweight 91.

  As a result, the lens 81 or the counterweight 91 is vibrated by utilizing the resonance phenomenon caused by the response of the motion system including the inertial force of the lens 81, the elastic force of the springs 55a to 55d, and the viscous force of the damper. It can be suppressed and is efficient.

  The first drive unit 80 includes a damper made of a lubricant having a viscosity such as grease at the connection surfaces between the movable support 56a and the movable support 56b and the fixed support 57a and the fixed support 57b. Similarly, the second drive unit 90 includes the above-described damper (not shown).

  Thereby, it is possible to attenuate the gravity applied from the outside to the motion system including the first drive unit 80 and the motion system including the second drive unit 90, vibration by the operator, and the like.

  The first drive unit 80 has members arranged at positions where the moments applied to the fitting portion between the fixed support portion 57a and the movable support portion 56a and the moment applied to the fitting portion between the fixed support portion 57b and the movable support portion 56b cancel each other. Yes. Similarly, the second drive unit 90 has a member disposed at a position where the moments applied to the fitting portion (not shown) between the fixed support portion and the movable support portion cancel each other.

  Thereby, since the moment of force is not applied to the support part 60 of the lens 81 or the support part 65 of the counterweight 91 as much as possible, the residual vibration can be suppressed as much as possible.

  In the first driving unit 80, a member is disposed at a position where the lens 81 is sandwiched from a direction perpendicular to the direction of the straight line L. Similarly, the second drive unit 90 has a member disposed at a position where the counterweight 91 is sandwiched from a direction perpendicular to the direction of the straight line L.

  As a result, the entire handpiece 70 can be reduced in size, and light having a pattern can be passed through the central portion of the lens 81.

  The support portion 65 that supports the lens 81 is a member different from the support portion 60 that supports the counterweight 91.

  Thereby, since the freedom degree of design improves, even if it is in the limited space like the handpiece 70, a member can be arrange | positioned appropriately.

[Modification]
The present invention is not limited to the above embodiments, and various modifications and applications are possible. Hereinafter, modified examples applicable to the present invention will be described.

(About objects)
In the present embodiment, the lens 81 is applied as the first object and the counterweight 91 is applied as the second object. However, the second object may be a lens having the same mass as the first object. In other words, the handpiece may be configured so that two lenses having the same mass both linearly move in the opposite direction by the same distance, and the lens may have a counterweight function.

  For example, FIG. 8 is a schematic diagram for explaining the configuration of the optical system in the handpiece 170 according to a modification. As shown in FIG. 8, in the handpiece 170, a lens 92 that is a second object is disposed between the object 99 and the lens 81. At this time, the second object may be a counterweight. In this case, the optical path is not blocked by making the counterweight hollow.

  In the present embodiment, as shown in FIG. 3, the lens is provided perpendicular to the straight line L along the linear motion direction, but may be provided obliquely to the straight line L.

(About the location of each member of the drive unit)
In the present embodiment, as shown in FIGS. 4 to 6, the spring 55 a and the spring 55 b are arranged so as to sandwich the upper part of the lens 81 from the direction of the straight line L, and the spring 55 c and the spring 55 d have a straight line L. Although it has been arranged so as to sandwich the lower part of the lens 81 from the direction, the number of springs and the arrangement location thereof are not limited thereto.

  For example, FIG. 9 is a schematic diagram illustrating a YZ cross section of a drive unit 180 according to a modification. As shown in FIG. 9, a spring 155 may be disposed on the outer periphery of the lens 81 so as to surround the outer periphery of the lens 81 so as not to block the optical path at the center of the lens 81. Although not shown, in the longitudinal section of the drive unit 180, two springs are arranged so as to sandwich the lens 81 from the direction of the straight line L. The diameter of the spring 155 may be substantially the same as the diameter of the lens 81 so that the lens 81 can be sandwiched and fixed by two springs.

  FIG. 10 is a schematic diagram showing a YZ cross section of the drive unit 280 according to the modification. As shown in FIG. 10, four springs 255 a to 255 d may be arranged at the four corners of the lens 81. Although not shown, in the longitudinal section of the drive unit 280, at each corner of the lens 81, two springs (a total of eight springs are used) are arranged so as to sandwich the lens 81 from the direction of the straight line L. Yes. Furthermore, it is preferable that these springs are disposed at symmetrical positions so as to cancel each moment applied to the fitting portion between the fixed support portion and the movable support portion.

  Further, in the above-described example, at least one spring is provided on both sides of the lens 81 in the X-axis direction so as to sandwich the lens 81, but one side of the lens 81 in the X-axis direction without sandwiching the lens 81. Only at least one spring may be provided.

  In the present embodiment, as shown in FIG. 4, two movable support portions 56a and 56b and two fixed support portions 57a and fixed support portions 57b fitted to the respective movable support portions 56a and 56b are provided. However, the number of movable support portions and fixed support portions and their arrangement locations are not limited to this.

  For example, FIG. 11 is a schematic diagram illustrating a YZ cross section of a drive unit 380 according to a modification. As shown in FIG. 11, in addition to the set of the movable support portion 56a and the fixed support portion 57a and the set of the movable support portion 56b and the fixed support portion 57b, a set of the movable support portion 56c and the fixed support portion 57c may be provided. Good. Accordingly, the magnetic circuit configuration 85a including the coil 52a and the yoke 51a are arranged between the set of the movable support portion 56a and the fixed support portion 57a and the set of the movable support portion 56b and the fixed support portion 57b. A magnetic circuit configuration 85b including a coil 52b and a yoke 51b are disposed between the set of the portion 56b and the fixed support portion 57b and the set of the movable support portion 56c and the fixed support portion 57c. The movable support portion 56c and the fixed support portion A magnetic circuit configuration 85c including a coil 52c and a yoke 51c are arranged between the set of portions 57c and the set of the movable support portion 56a and the fixed support portion 57a. Furthermore, it is preferable that the set of the movable support portion and the fixed support portion is arranged at a symmetrical position so as to cancel each moment applied to the fitting portion between the fixed support portion and the movable support portion.

  The above-described example is merely an example, and the number of springs and their placement locations, and the number of movable support portions and fixed support portions and their placement locations can be designed by appropriately combining them in consideration of the space in the handpiece. is there.

(About support part)
In the present embodiment, as shown in FIG. 3, the support portion 65 that supports the lens 81 and the support portion 60 that supports the counterweight 91 are separate members. However, the present invention is not limited to this, and the support member that supports the first object and the support member that supports the second object may be a common member.

  For example, FIG. 12 is a schematic diagram for explaining the support unit 160 applied to the three-dimensional scanner 200 according to the modification. As shown in FIG. 12, the support portion 160 is configured by a member common to the lens 81 and the counterweight 91. In this way, the number of members can be suppressed.

(About the drive unit)
In the present embodiment, as shown in FIGS. 3 to 6, the driving unit applies a force in the direction of the straight line L to the lens 81 and the counterweight 91 by a magnetic circuit configuration including a magnet, a coil, and a yoke. However, the driving unit may apply a force in the direction of the straight line L to the lens 81 and the counterweight 91 with a configuration different from such a magnetic circuit configuration.

  For example, FIG. 13 is a schematic diagram for explaining a drive unit applied to a three-dimensional scanner 300 according to a modification. As illustrated in FIG. 13, the first driving unit 480 may cause the lens 81 to linearly move according to a mechanical configuration. Specifically, the first drive unit 480 includes a rotation unit 185 such as a motor and a motion conversion unit 186 such as a cam, and the rotational force generated by the rotation unit 185 is applied to the lens 81 via the motion conversion unit 186. By giving, the lens 81 may be linearly moved in the direction of the straight line L.

  Similarly, the second drive unit 490 may cause the counterweight 91 to linearly move depending on the mechanical configuration. Specifically, the second drive unit 490 includes a rotation unit 195 such as a motor and a motion conversion unit 196 such as a cam, and the counterweight 91 is applied to the rotational force generated by the rotation unit 195 via the motion conversion unit 196. The counterweight 91 may be linearly moved in the direction of the straight line L.

  Even when the object is linearly moved by such a mechanical configuration, the three-dimensional scanner 300 only needs to be configured to independently control the movements of the first object and the second object. .

  Note that both the first drive unit that linearly moves the first object and the second drive unit that linearly moves the second object adopt a magnetic circuit configuration, or both of them adopt a mechanical configuration. Alternatively, one of the first drive unit and the second drive unit may employ a magnetic circuit configuration and the other may employ a mechanical configuration.

  In the present embodiment, as shown in FIGS. 4 to 6, the driving unit linearly moves the lens 81 and the counterweight 91 in the direction of the straight line L at a constant period by using a resonance phenomenon due to the response of the motion system. Although it was a thing, it is not necessary to employ | adopt a spring. When a spring is not used, it is only necessary to keep a current flowing in the magnetic circuit configuration when the object is moved straight, and to stop the current of the magnetic circuit configuration when the object is stopped.

  When both the first drive unit and the second drive unit use the resonance phenomenon due to the response of the motion system, when both do not use the resonance phenomenon due to the response of the motion system, or both of the first drive unit and the second drive unit Any one of them may use a resonance phenomenon due to the response of the motion system.

  In the present embodiment, as shown in FIGS. 4 to 6, each member of the magnetic circuit configuration and the support unit are arranged at positions where the drive unit cancels each moment applied to the support unit. In other words, the drive unit is provided with members at positions where the object is sandwiched from the direction perpendicular to the direction of the straight line L, but these members are not necessarily limited to the moments applied to the fitting portions of the fixed support unit and the movable support unit. May not be arranged at positions where they cancel each other. When each member is arranged at a position where both of the first driving unit and the second driving unit cancel each moment applied to the fitting portion between the fixed support portion and the movable support portion, both cancel each moment. When each member is not arranged at a position, or each member is in a position where one of the first drive unit and the second drive unit cancels each moment applied to the fitting portion between the fixed support portion and the movable support portion. Any of them may be used. In particular, when the object is a counterweight, it is not necessary to transmit light to the center portion, and therefore it is not necessary to arrange a member at a position where the counterweight is sandwiched from a direction perpendicular to the direction of the straight line L. That is, the member may be disposed at a position where at least one of the first drive unit and the second drive unit sandwiches the object from a direction perpendicular to the linear motion direction.

(Application examples for other purposes)
In the present embodiment, a three-dimensional scanner that can be used in dental practice has been described as an exemplary form of the medical examination apparatus. However, the medical examination apparatus can be applied to other applications. For example, as a medical medical device, a cutting device that cuts or scrapes an object using a cutting tool (for example, a scaler chip, a file for radical treatment, etc.) and approaches a desired shape is applied. May be.

  FIG. 14 is a schematic diagram illustrating a configuration of a cutting device 370 that is a medical medical device according to a modification. As shown in FIG. 14, the cutting device 370 is provided on a straight line in the linear motion direction of the cutting tool 381, a housing 375, a cutting tool 381, a first drive unit 580 that linearly moves the cutting tool 381, and A counterweight 391 having the same mass as the cutting tool 381, a second drive unit 590 that linearly moves the counterweight 391, a support unit 360 that supports the cutting tool 381 to linearly move, and a counterweight 391 that linearly moves. And a control unit 340 for controlling the first drive unit 580 and the second drive unit 590. The control unit 340 controls the first driving unit 580 and the second driving unit 590 so that the cutting tool 381 and the counterweight 391 move linearly by the same distance in the opposing direction.

  Thus, in the cutting device 370, the control unit 340 controls the first drive unit 580 that linearly moves the cutting tool 381 and the second drive unit 590 that linearly moves the counterweight 391, respectively. Thus, the residual vibration due to the linear motion of the cutting tool 381 can be suppressed as much as possible by the counterweight 391 while cutting or scraping an object (for example, a tooth) with the cutting tool 381.

  In the cutting device 370 shown in FIG. 14, the control unit 340 is housed in the housing 375, but the control unit 340 is arranged outside the housing 375 like the three-dimensional scanner 100 shown in FIG. 1. In addition, the first driving unit 580 and the second driving unit 590 may be connected by wiring.

  In addition, as a medical medical device, a medical camera for photographing a digestive organ such as the oral cavity, the outer ear, or the stomach or intestine may be applied. In this case, a camera lens may be applied as the first object, and a counterweight may be applied as the second object.

  Moreover, a microscope may be applied as the medical medical device. In this case, a lens in the microscope may be applied as the first object, and a counterweight may be applied as the second object.

  Further, as a medical medical device, a laser pointer that points to an object such as a figure using a laser beam or a laser device that cuts teeth may be applied. In this case, a lens may be applied as the first object, and a counterweight may be applied as the second object.

  As described above, the medical medical device according to the present embodiment and the modification is applied to any device as long as it is a device that linearly moves two objects having the same mass to each other in the opposite direction by the same distance. be able to.

(Other variations)
The light source 71 according to the present embodiment is not limited to a single light source (for example, an LED or a laser element), and may be configured such that a plurality of light sources are gathered. For example, the light source 71 may be configured such that a plurality of LEDs and laser elements are arranged on a substrate. The three-dimensional scanner 100 may be configured such that light from the light source 71 and reflected light from the object 99 are guided to the optical sensor 75 and the object 99 by a light guide such as an optical fiber.

  An object to be imaged by the three-dimensional scanner 100 according to the present embodiment is not limited to a tooth or gingiva in the oral cavity, but a living tissue such as an ear canal, a gap in a wall of a building, an interior of a pipe, and an industrial product having a cavity. The three-dimensional scanner 100 according to the present embodiment can be widely applied to a purpose of measuring or observing the inside of a narrow space where a blind spot is likely to occur.

  The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims. Note that the configuration exemplified in this embodiment and the configuration exemplified in the modification can be combined as appropriate.

  10 probe, 20 connection section, 30 optical measurement section, 40, 340 control section, 45 power supply, 50 display section, 51a, 51b, 51c, 54a, 54b, 54c yoke, 52a, 52b, 52c coil, 53a, 53b magnet, 55a, 55b, 55c, 55d, 155, 255a, 255d Spring, 56a, 56b, 56c Movable support part, 57a, 57b, 57c Fixed support part, 60, 65, 160, 360, 365 Support part, 70, 170 Handpiece , 71 Light source, 75 Optical sensor, 77, 375 Case, 80, 480, 580 First drive unit, 81, 92 Lens, 85, 85a, 85b, 85c, 95 Magnetic circuit configuration, 90, 490, 590 Second drive Part, 91,391 counterweight, 99 object, 100,200,300 three-dimensional Catcher Na, 180,280,380 driver, 185,195 rotating part, 186,196 motion converter, 370 a cutting device, 381 a cutting tool.

Claims (12)

A medical treatment device,
A housing,
A first object;
A first drive unit that linearly moves the first object;
A second object provided on a straight line in the linear motion direction of the first object and having the same mass as the first object;
A second drive unit that linearly moves the second object;
A support portion for supporting the first object and the second object so as to move linearly;
A control unit for controlling the first drive unit and the second drive unit,
The medical control apparatus, wherein the control unit controls the first driving unit and the second driving unit, respectively, so that the first object and the second object move linearly in the opposite direction by the same distance. At least one of the first drive unit and the second drive unit has a magnetic circuit configuration including a magnet, a coil, and a yoke,
2. The medical medical device according to claim 1, wherein the first object or the second object linearly moves when a force in a linear movement direction is applied by the magnetic circuit configuration.   The at least any one of the said 1st drive part and the said 2nd drive part contains the elastic member which gives an elastic force in the linear motion direction of the said 1st object or the said 2nd object. Medical medical equipment.   The medical diagnosis apparatus according to claim 3, wherein at least one of the first drive unit and the second drive unit includes a damper.   5. The member according to claim 1, wherein at least one of the first drive unit and the second drive unit has a member disposed at a position where the moments applied to the support unit cancel each other. The medical medical device described.   At least one of the first drive unit and the second drive unit has a member disposed at a position sandwiching at least one of the first object and the second object from a direction perpendicular to the linear motion direction. The medical diagnostic apparatus according to any one of claims 1 to 5.   The medical diagnosis apparatus according to any one of claims 1 to 6, wherein the first object is a lens.   The medical diagnosis apparatus according to any one of claims 1 to 6, wherein the first object is a cutting tool.   The medical diagnosis apparatus according to any one of claims 1 to 8, wherein the second object is a counterweight.   The medical support apparatus according to any one of claims 1 to 9, wherein the support portion is configured by a common member for the first object and the second object.   The medical support apparatus according to any one of claims 1 to 9, wherein the support unit includes a member that supports the first object and a member that supports the second object.   The medical medical device according to any one of claims 1 to 11, wherein the medical medical device includes a hand-held member.