JP2022040672A - Holding arm - Google Patents

Abstract

To provide a compact holding arm which allows a surgical microscope to hold a 3D viewer.SOLUTION: A holding arm 11 is composed of a first arm and a second arm. A base end part of the first arm is attached on an upper surface of a surgical microscope 4 via a ball joint and a 3D viewer 8 can be held at a tip part of the second arm via a ball joint. The compact holding arm 11 locks all its movable parts by lock means so as to be able to firmly fix the 3D viewer 8 to a desired position in a desired direction.SELECTED DRAWING: Figure 1

Description

The present invention relates to a holding arm for supporting a 3D viewer in a surgical microscope.

The operating microscope supported by the tip of the support arm extending laterally from the stand device has a pair of left and right optical eyepieces, and the main doctor observes the optical image of the surgical part three-dimensionally from this optical eyepiece. can do. In addition, a camera is built into the operating microscope, and the camera can take a three-dimensional image of the surgical site and output a pair of left and right electronic images.

A holding arm whose tip extends close to the operating microscope is attached to the tip of the support arm of the stand device, and the 3D viewer is supported by the tip of the holding arm. The 3D viewer is provided with a pair of left and right panels for displaying electronic images output from the camera, and an eyepiece for images corresponding to each panel. Therefore, the assistant doctor can observe the three-dimensional image of the surgical site by viewing the electronic images displayed on the left and right panels from the visual eyepiece of the 3D viewer (see, for example, Patent Document 1).

Japanese Patent No. 4800248

However, in such a conventional technique, since the 3D viewer is supported by using a holding arm extending from the tip of the support arm of the stand device to the vicinity of the operating microscope, the holding arm inevitably becomes large and the entire stand device is used. It had an adverse effect on the weight balance of. In addition, the support arm of the stand device needs to be strengthened to support the weight of the holding arm, which also affects the design of the stand device side. Therefore, the proposal of a small holding arm that can support the 3D viewer to a closer surgical microscope instead of the support arm of the stand device is awaited.

The present invention has been made focusing on such a conventional technique, and an object of the present invention is to provide a small holding arm capable of supporting a 3D viewer in a surgical microscope.

According to the first technical aspect of the present invention, the proximal end is a holding arm attached to the upper surface of the surgical microscope and supporting the 3D viewer at the distal end, with the proximal end relative to the upper surface of the surgical microscope. A first arm that is rotatably attached by a ball joint and a second arm in which a 3D viewer is rotatably supported by a ball joint at the tip thereof are provided, and the tip of the first arm and the base end of the second arm are provided. The portions are connected in a state of being overlapped along a common rotation axis orthogonal to the longitudinal direction of the first arm and the second arm and in a state of being rotatable around the rotation axis, and the rotation axis is connected to the first arm and the first arm. Rotation around the ball joint of the first arm, rotation around the ball joint of the second arm, and rotation of the first arm and the second arm around the rotation axis between the second arm and the second arm. It is characterized in that a locking means that can lock the four locations at the same time by a single operation is provided.

According to the second technical aspect of the present invention, the ball joint of the first arm is a ball in which a pin fixed to the upper surface of a surgical microscope is integrally formed, and a socket-shaped base end in which the ball is inscribed. A groove portion is formed in a part of the base end portion to allow the angle of the pin to be changed, and the ball joint of the second arm is a ball in which a pin supporting a 3D viewer is integrally formed and the ball. It is composed of a socket-shaped tip portion inscribed with the ball, and is characterized in that a groove portion that allows a change in the angle of a pin is formed in a part of the tip portion.

According to the third technical aspect of the present invention, the locking means is provided with a bolt-shaped rotating shaft provided with an operation portion for rotation operation at one end and an inner surface screwed to the outside of the rotating shaft. Part of it engages with the tip of the first arm or the base of the second arm to regulate rotation around the axis, and slides along the longitudinal direction of the rotation axis as the rotation axis rotates. A slant is formed at one end of the slide cylinder, which is rotatably external to the center of the axis of the slide cylinder and is inclined in the longitudinal direction of the rotation shaft, at positions corresponding to the first arm and the second arm of the slide cylinder. The slider is provided along the longitudinal direction inside the first arm and the second arm, respectively, and a rust portion having a slope that can abut on the slope of the slider is formed at one end, and a ball of a ball joint is formed at the other end. It is characterized in that it is composed of an axial pressure transmission portion and a shaft pressure transmission portion in which a cup portion that can be freely contacted with the surface is formed.

According to the first technical aspect of the present invention, the holding arm is composed of a first arm and a second arm, and the proximal end portion of the first arm is attached to the upper surface of the operating microscope via a ball joint. A 3D viewer is supported by a ball joint at the tip of the two arms, and the tip of the first arm and the base end of the second arm are rotatably connected to the rotation axis in a superposed state. Then, by releasing the locking means, the 3D viewer can be moved to any position in front, back, left, right, up and down of the operating microscope via the holding arm, and the orientation of the 3D viewer can be freely changed. Then, by locking all the movable parts of the holding arm with the locking means, the 3D viewer can be securely fixed at the desired position and orientation, and the 3D viewer can be observed in a stable state. Therefore, although it is a small holding arm, the 3D viewer can be reliably supported by the operating microscope.

According to the second technical aspect of the present invention, since the socket-shaped base end portion and the tip end portion of the first arm and the second arm are formed with a groove portion that allows the angle of the pin of the ball to be changed, the ball is formed. The angle change range of the pin can be expanded in one direction along the groove. Since only the groove portion is formed in the base end portion and the tip portion, the function as a ball joint is surely maintained without reducing the rigidity of the base end portion and the tip portion.

According to the third technical aspect of the present invention, by turning the operation unit of the rotating shaft, the slide cylinder slides together with the slider, and the slope of the slider in the first arm and the second arm is the axial pressure transmission unit. By pushing the wedge portion, a compressive force is applied to the axial pressure transmission portion from both ends, and the reaction force causes the slider to press contact with the rotating shaft via the slide cylinder and the cup portion to press contact with the ball. Therefore, with a single operation of rotating the rotation axis, rotation around the ball joint of the first arm, rotation around the ball joint of the second arm, and the first arm and the second arm around the rotation axis. It is possible to lock four points of each rotation at the same time. Therefore, the 3D viewer can be easily fixed in any position and orientation. Then, by rotating the rotation axis to the opposite side, each movable part can be freed, and the position and orientation of the 3D viewer can be changed again.

The perspective view which shows the stand device which supported the operating microscope. A perspective view showing a surgical microscope, a holding arm, and a 3D viewer. The perspective view which shows the structure of a 3D viewer. A plan view showing a surgical microscope in which the position of the holding arm is changed. A partially omitted perspective view showing the holding arm. Sectional drawing which shows the holding arm. The cross-sectional view which shows the holding arm which separated the 2nd arm. An exploded perspective view showing a structure around a rotation axis. Sectional drawing which shows the structure around a rotation axis. FIG. 7 is a cross-sectional view taken along the line SA-SA shown by Nakaya.

1 to 10 are views showing a preferred embodiment of the present invention.

In the above and below, the front-back and left-right directions are as shown in FIG.

The stand device 1 has a support arm 2 extending laterally at the upper portion, and a surgical microscope 4 is supported at the tip of the support arm 2 via a suspension arm 3. The stand device 1 has a balanced structure using a parallel link mechanism, and by moving the stand device 1, the position of the operating microscope 4 supported by the tip of the support arm 2 can be moved.

The operating microscope 4 has a structure capable of stereoscopic observation, and two left and right light fluxes L are introduced inside from the surgical site G to be observed, and the two introduced light fluxes L are used as an internal objective optical system and a zoom optical system. After passing through, it is folded back and guided to a pair of left and right optical eyepieces 5. The main doctor can three-dimensionally observe the optical image of the surgical unit G from the pair of left and right optical eyepieces 5.

A camera 6 capable of three-dimensional photography is provided on the upper part of the operating microscope 4, and a part of the pair of left and right light beams L in the operating microscope 4 is branched and introduced to form a three-dimensional image of the surgical site G. A pair of left and right electronic images can be output.

The electronic image output from the camera 6 is sent to the 3D viewer 8 via the cable 7. The 3D viewer 8 is provided with a panel (small LCD) 9 inside, and a pair of left and right electronic images related to the surgical unit G sent from the camera 6 can be displayed therein. The 3D viewer 8 is provided with an eyepiece 10 for video at a position corresponding to the panel 9, from which the assistant doctor observes the surgical unit G three-dimensionally by viewing the electronic image displayed on the panel 9. Can be done. With this 3D viewer 8, the assistant doctor can observe the surgical site G, share the surgical situation, and accurately assist the surgery. The 3D viewer 8 is attached to the upper surface of the operating microscope 4 via a small holding arm 11.

Next, the structure of the holding arm 11 will be described with reference to FIGS. 5 to 10. In the illustrated holding arm 11, even if the parts are actually formed of a plurality of small parts, the parts that function integrally are represented as an integral part.

The holding arm 11 is composed of a linear first arm A and a second arm B. The base end portion 12a of the first arm A has a socket shape and wraps the ball 13a inside. A ball joint 14a is formed by the base end portion 12a and the ball 13a.

A pin 15a having a flange-shaped tip is integrally formed on the ball 13a, and the pin 15a is in a state of protruding from the base end portion 12a. The base end portion 12a can rotate about the axis of the pin 15a. Further, a groove portion 16a extending in one direction is formed in the base end portion 12a including a portion where the pin 15a of the base end portion 12a protrudes, and the pin 15a changes the angle along the groove portion 16a within a range of 180 °. be able to.

The tip portion 17b of the second arm B also has a socket shape like the base end portion 12a of the first arm A, and wraps the ball 13b inside. A ball joint 14b is formed by the tip portion 17b and the ball 13b.

A pin 15b having a flange-shaped tip is integrally formed on the ball 13b, and the pin 15b is in a state of protruding from the tip portion 17b. The ball 13b can rotate about the axis of the pin 15b with respect to the tip portion 17b. A groove portion 16b extending in one direction is formed in the tip portion 17b including a portion where the pin 15b of the tip portion 17b protrudes, and the angle of the pin 15b can be changed within a range of 180 ° along the groove portion 16b. ..

The socket-shaped base end portion 12a and the tip end portion 17b of the first arm A and the second arm B are formed with groove portions 16a and 16b that allow the angles of the pins 15a and 15b of the balls 13a and 13b to be changed, respectively. Since only the grooves 16a and 16b are formed in the end portion 12a and the tip portion 17b, the rigidity of the base end portion 12a and the tip portion 17b surrounding the balls 13a and 13b does not decrease, and the ball joints 14a and 14b are formed. The function as is surely maintained.

The tip portion 17a of the first arm A and the base end portion 12b of the second arm B are connected in a superposed state along a common rotation axis 18 orthogonal to the longitudinal direction of the first arm A and the second arm B. ing. An intermediate ring 19 is interposed between the tip portion 17a and the base end portion 12b, and the tip portion 17a and the base end portion 12b including the intermediate ring 19 are connected to each other along the rotation axis 18. Form a continuous cylindrical shape.

The rotary shaft 18 has a bolt shape in which a cap 20 is connected to one end and a butterfly-shaped operation portion 21 is formed at the other end. The tip portion 17a of the first arm A and the base end portion 12b of the second arm B are rotatably attached to the rotating shaft 18 via two bearings 22.

A slide cylinder 23 screwed to the outside of the rotating shaft 18 is provided on the rotating shaft 18 located inside the connected tip portion 17a and the base end portion 12b. One end 23e of the slide cylinder 23 has a quadrangular shape and is engaged with the tip portion 17a of the first arm A having an inner surface of the same shape, so that the slide cylinder 23 does not rotate even if the rotation shaft 18 rotates. ing. Therefore, when the rotation shaft 18 is rotated by holding the operation unit 21 by hand, the slide cylinder 23 slides along the longitudinal direction of the rotation shaft 18 according to the rotation direction.

Further, on the outside of the slide cylinder 23, sliders 24a and 24b are provided at positions corresponding to the first arm A and the second arm B, respectively. A spacer 25 is interposed between the sliders 24a and 24b, and the sliders 24a and 24b are integrated with the slide cylinder 23 in the longitudinal direction.

The sliders 24a and 24b are rotatable with respect to the slide cylinder 23 with the slide cylinder 23 penetrating, and slopes 26a and 26b inclined in the longitudinal direction of the rotation shaft 18 are formed at one end of the sliders 24a and 24b. There is.

Axial pressure transmitting portions 27a and 27b are provided inside the first arm A and the second arm B along the longitudinal direction, respectively. The axial pressure transmitting portions 27a and 27b are basically pipe-shaped, and wedge portions 29a and 29b having slopes 28a and 28b that can abut on the slopes 26a and 26b of the sliders 24a and 24b are formed on the rotating shaft 18 side thereof. On the side of the ball joints 14a and 14b, cup portions 30a and 30b that can abut on the balls 13a and 13b are formed. The axial pressure transmitting portions 27a and 27b are rotatable together with the first arm A and the second arm B, respectively, and the sliders 24a and 24b in contact with the wedge portions 29a and 29b of the axial pressure transmitting portions 27a and 27b also have the slide cylinder 23. Rotate to the center.

The pin 15a of the base end portion 12a of the holding arm 11 having such a structure was fixed to the fixing portion 31 formed on the upper surface of the operating microscope 4, and was formed on the pin 15b of the tip portion 17b on the upper part of the 3D viewer 8. The fixing portion 32 is fixed. Therefore, the 3D viewer 8 is attached to the upper surface of the operating microscope 4 via the holding arm 11.

Since the base end portion 12a of the first arm A is rotatable about the axis of the pin 15a by the ball joint 14a, the 3D viewer 8 can be placed beside or behind the operating microscope 4 as shown in FIG. You can bring it.

Further, since the groove portion 16a is formed in the base end portion 12a of the first arm A, the angle of the first arm A can be changed along the groove portion 16a, and the first arm A and the second arm A and the second arm can be changed. Since B is rotatable about the rotation axis 18, the position of the 3D viewer 8 can be moved up and down.

Further, the ball joint 14b of the tip portion 17b of the second arm B allows the 3D viewer 8 to be moved to any position and changed to the optimum orientation at that position.

In this embodiment, the locking means is configured by the above-mentioned rotating shaft 18, slide cylinder 23, sliders 24a and 24b, and axial pressure transmitting portions 27a and 27b. After the 3D viewer 8 is oriented at an arbitrary position and orientation, the state of the holding arm 11 can be locked by the locking means in order to maintain the state.

That is, when the operating portion 21 of the rotating shaft 18 is rotated to the right by hand, the rotating shaft 18 rotates, but the slide cylinder 23 does not rotate because one end 23e thereof is engaged with the tip portion 17a of the first arm A. .. Therefore, the slide cylinder 23 slides toward the operation unit 21 with respect to the rotating shaft 18. The sliders 24a and 24b are also slid integrally with the slide cylinder 23, and the axial pressure transmitting portions 27a and 27b with which the slopes 26a, 26b, 28a and 28b are in contact with each other are pushed in the axial direction.

Then, a compressive force is applied to the axial pressure transmitting portions 27a and 27b from both ends, and one of the sliders 24a and 24b is pressed against the rotating shaft 18 via the slide cylinder 23 due to the reaction force, and the other cup portions 30a and 30b are in contact with the ball 13a. , 13b is pressed. Therefore, by a single operation of turning the operation unit 21, the rotation around the ball joint 14a of the first arm A, the rotation around the ball joint 14b of the second arm B, and the rotation around the rotation shaft 18 are the first. Four points of each rotation of the 1st arm A and the 2nd arm B can be locked at the same time. Then, by rotating the rotating shaft 18 to the opposite side, each movable portion can be freed, and the position and orientation of the 3D viewer 8 can be changed again.

According to this embodiment, since the base end portion 12a has a structure in which the 3D viewer 8 is supported on the tip end portion 17b of the holding arm 11 attached to the upper surface of the operating microscope 4, the holding is performed as compared with the case where the base end portion 12a is attached to the stand device 1 side. The arm 11 itself can be made smaller. Therefore, the holding arm 11 is lightweight and does not affect the weight balance of the entire stand device 1, and it is not necessary to increase the strength of the support arm 2 of the stand device 1 more than necessary. Therefore, the stand device 1 is also designed. It will be easier.

Further, since the operating microscope 4 and the 3D viewer 8 can be moved together by rotating the support arm 2 of the stand device 1 while maintaining the posture and the positional relationship between the two, the operating microscope 4 is observed. The positional relationship does not change and the operability is good for both the main doctor who observes the 3D viewer 8 and the assistant doctor who observes the 3D viewer 8.

In the above description, the groove portions 16a and 16b are formed in the socket-shaped base end portion 12a and the tip portion 17b of the first arm A and the second arm B to expand the angle changing range of the ball joints 14a and 14b in one direction. However, an opening of a certain size is formed in the portion through which the pins 15a and 15b of the base end portion 12a and the tip end portion 17b wrapping the balls 13a and 13b pass, and the opening is allowed. Within, the angles of the pins 15a and 15b may be changed in all directions instead of one direction.

1 Stand device 2 Support arm 4 Operating microscope 5 Optical eyepiece 6 Camera 8 3D viewer 9 Panel 10 Video eyepiece 11 Holding arm 12a, 12b Base end 13a, 13b Ball 14a, 14b Ball joint 15a, 15b Pin 16a, 16b Groove 17a, 17b Tip 18 Rotating shaft (locking means)
21 Operation unit 23 Slide cylinder (locking means)
24a, 24b slider (locking means)
27a, 27b Axial pressure transmission part (locking means)
29a, 29b Wedge part 30a, 31b Cup part A 1st arm B 2nd arm G surgical part L Luminous flux

Claims (3)

A holding arm whose base is attached to the upper surface of the operating microscope and supports the 3D viewer at the tip.
A first arm whose base end is rotatably attached to the upper surface of the operating microscope by a ball joint and a second arm whose 3D viewer is rotatably supported by a ball joint at the tip are provided.
The tip of the first arm and the base of the second arm are superposed along a common rotation axis orthogonal to the longitudinal direction of the first arm and the second arm, and are rotatable about the rotation axis. Connected with
Between the rotation axis and the first arm and the second arm, rotation around the ball joint of the first arm, rotation around the ball joint of the second arm, and rotation around the rotation axis. A holding arm characterized in that a locking means that can simultaneously lock four points of each rotation of the first arm and the second arm by a single operation is provided. The ball joint of the first arm is composed of a ball in which a pin fixed to the upper surface of a surgical microscope is integrally formed and a socket-shaped base end portion inscribed with the ball, and a pin is formed on a part of the base end portion. A groove is formed to allow the angle to be changed.
The ball joint of the second arm is composed of a ball in which a pin supporting the 3D viewer is integrally formed and a socket-shaped tip portion inscribed with the ball, and the angle of the pin can be changed in a part of the tip portion. The holding arm according to claim 1, wherein a groove portion is formed. The locking means is
A bolt-shaped rotating shaft with an operation unit for rotation operation at one end,
An inner surface is provided on the outer side of the rotating shaft in a state of being screwed, and a part thereof engages with the tip end portion of the first arm or the base end portion of the second arm to regulate the rotation around the axis and rotate. A slide cylinder that slides along the longitudinal direction of the rotating shaft as the shaft rotates,
A slider that is rotatably extrapolated around the axis of the slide cylinder at positions corresponding to the first arm and the second arm of the slide cylinder, and has a slope formed at one end thereof that is inclined in the longitudinal direction of the rotation shaft.
A wedge portion is provided inside the first arm and the second arm along the longitudinal direction, and has a wedge portion having a slope that can abut on the slope of the slider at one end, and a wedge portion that can abut on the ball of the ball joint at the other end. The axial pressure transmission part where the cup part is formed and the
The holding arm according to claim 1 or 2, wherein the holding arm is provided with.

Images