JP2024091607A - Irradiation System - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a novel irradiation system.

SOLUTION: A laser beam irradiation system (100) includes a laser beam source (10), an irradiation unit (12) and a universal arm (2). The irradiation unit (12) is connected to the universal arm (2) so as to be movable.

SELECTED DRAWING: Figure 1

COPYRIGHT: (C)2024,JPO&INPIT

Description

The present invention relates to an illumination system.

Photodynamic therapy (hereinafter referred to as "PDT") is a type of laser therapy in which a laser beam is irradiated onto the affected area. It is a treatment that kills cancer cells in which a photosensitive substance has accumulated by irradiating them with laser beam of an excitation wavelength specific to the photosensitive substance.

As a device for emitting laser light in PDT, a laser light emitting device is known that uses a laser light emitting unit attached to the lens barrel of a surgical microscope, as described in Patent Document 1.

Japanese Patent No. 6307510

However, when a laser light irradiation unit is attached to a surgical microscope as in Patent Document 1, various problems arise. For example, the laser light irradiation unit must be attached and detached every time surgery is performed, which is cumbersome. In addition, the irradiation range of the laser light is limited by the movable range of the surgical microscope. There is also a restriction that the irradiation range of the laser light cannot be adjusted independently of the field of view of the microscope. Furthermore, since the surgical microscope must always be pointed at the patient, there is also the problem that the surgeon's work range is limited.

In particular, in PDT for primary malignant brain tumors, etc., it is necessary to irradiate the affected area with a spreading laser light at a constant energy density, so the laser light irradiation unit needs to irradiate the laser light in a state where the distance between the laser light irradiation unit and the irradiation position where the laser light is irradiated is a predetermined distance. Therefore, it is necessary to precisely position the laser light irradiation unit, but it is difficult to finely adjust the position of the surgical microscope.

On the other hand, in recent years, instead of large-scale surgical microscopes, endoscopes are sometimes used that use a camera unit with a built-in image sensor such as a CCD and display images on a monitor. However, such camera units are becoming smaller, and there is a problem in that it is difficult to attach a laser light irradiation unit to them.

One aspect of the present invention has been made in consideration of the above problems, and its purpose is to provide a new irradiation system that improves at least one of the above problems.

In order to solve the above problems, an irradiation system according to one aspect of the present invention includes an irradiation seed source that generates irradiation seeds, an irradiation unit that irradiates the affected area with the irradiation seeds, and a flexible arm having one end connected to the irradiation unit via a connecting member, and the irradiation unit is movably connected to the flexible arm.

According to one aspect of the present invention, a novel illumination system can be provided.

FIG. 1 is a schematic diagram showing an example of a configuration of a laser light irradiation system. 10A and 10B are schematic diagrams showing an example of horizontal position adjustment of an irradiation unit included in the laser light irradiation system; 10A and 10B are schematic diagrams showing an example of horizontal position adjustment of an irradiation unit included in the laser light irradiation system; 10A and 10B are schematic diagrams showing an example of vertical position adjustment of an irradiation unit included in the laser light irradiation system; 10A and 10B are schematic diagrams showing an example of vertical position adjustment of an irradiation unit included in the laser light irradiation system; 3A to 3C are three-view diagrams showing an example of the structure of an irradiation unit included in the laser light irradiation system. 4 is a schematic diagram showing an example of the structure of a connection member included in the laser light irradiation system. FIG. 10A and 10B are schematic diagrams showing an example of angle adjustment around a first axis of an irradiation unit included in the laser light irradiation system; 10A and 10B are schematic diagrams showing an example of angle adjustment around a first axis of an irradiation unit included in the laser light irradiation system; 10 is a schematic diagram showing an example of angle adjustment around a second axis of an irradiation unit included in the laser light irradiation system. FIG. 10 is a schematic diagram showing an example of angle adjustment around a second axis of an irradiation unit included in the laser light irradiation system. FIG. 13 is a schematic diagram showing an example of angle adjustment around a third axis of an irradiation unit included in the laser light irradiation system. FIG. 13 is a schematic diagram showing an example of angle adjustment around a third axis of an irradiation unit included in the laser light irradiation system. FIG. FIG. 1 is a schematic diagram showing an example of use of a laser light irradiation system. FIG. 13 is a schematic diagram showing a modified example of the laser light irradiation system. FIG. 13 is a schematic diagram showing an example of an operation in a modified example of the laser light irradiation system. FIG. 13 is a schematic diagram showing an example of an operation in a modified example of the laser light irradiation system. FIG. 13 is a schematic diagram showing an example of use of a modified example of the laser light irradiation system. FIG. 13 is a schematic diagram showing a modified example of the laser light irradiation system. 3A and 3B are a plan view and a side view showing an example of a structure of an XY stage provided in the laser light irradiation system. 10 is a schematic diagram showing an example of position adjustment in the X-axis direction of an XY stage included in the laser light irradiation system; FIG. 10 is a schematic diagram showing an example of position adjustment in the Y-axis direction of an XY stage provided in the laser light irradiation system. FIG. FIG. 11 is a schematic diagram showing an example of the configuration of a laser light irradiation system according to a second embodiment. FIG. 11 is a schematic diagram showing an example of the configuration of a laser light irradiation system according to a third embodiment. FIG. 13 is a schematic diagram showing an example of the configuration of a laser light irradiation system according to a fourth embodiment. FIG. 2 is a schematic diagram showing an irradiated part model in an embodiment of the laser light irradiation system. FIG. 1 is a schematic diagram showing an embodiment of a laser light irradiation system.

[Embodiment 1]
Hereinafter, an embodiment of the present invention will be described in detail with reference to FIGS. 1 to 22. Hereinafter, as an example of an irradiation system according to this embodiment, a laser light irradiation system using laser light as an irradiation species will be described, but this embodiment is not limited thereto. In this specification, the irradiation species means a species that is irradiated to the affected area for irradiation treatment, and may be electromagnetic waves (including light) or sound waves (including ultrasound) as long as it is irradiated to the affected area for irradiation treatment. For example, but not limited to, the irradiation species may be laser light, radiation such as gamma rays/X-rays, light such as ultraviolet rays/visible light/infrared rays, electromagnetic waves including radio waves such as microwaves, ultrasound, sound waves, etc. In other words, in the laser light irradiation system described below, an irradiation system in which radiation such as gamma rays/X-rays, light such as ultraviolet rays/visible light/infrared rays, electromagnetic waves including radio waves such as microwaves, ultrasound, sound waves, etc. are used as irradiation species instead of laser light is also within the scope of this embodiment.

(Outline of the laser light irradiation system 100)
A laser light irradiation system (irradiation system) 100 according to an embodiment of the present disclosure is a laser light irradiation system used in PDT, which is one type of treatment in which a laser light is irradiated to an affected area of a subject W1. The laser light irradiation system 100 can be used in photoimmunotherapy in which a complex of a light-reactive antibody and a photosensitive substance accumulated in cancer cells is irradiated with laser light, as well as in other treatments in which a living body is irradiated with laser light.

In this specification, a "subject" is typically a patient lying on an operating table or the like, who receives treatment using a laser light irradiation system. An "operator" is a person who performs treatment on the subject, typically a medical professional (e.g., a doctor).

In this specification, "laser light" refers to any light having an energy density capable of exciting the photosensitive substance accumulated in cancer cells, and is typically a single-wavelength light with high directionality and convergence, but may be, for example, visible light, infrared light, ultraviolet light, etc. Laser light can be selected arbitrarily as long as it is suitable for the photosensitive substance accumulated in cancer cells, including its directionality, etc. Furthermore, when the energy is light, the light source may be a semiconductor such as a light-emitting diode (LED).

Conventional laser light irradiation devices are attached to the lens barrel of a surgical microscope, so the range of laser light irradiation is limited by the range of motion of the surgical microscope. In addition, because surgical microscopes are large, the working range of the surgeon W2 and surgical assistant is limited. In addition, depending on the surgical microscope, it is difficult to attach the laser light irradiation unit.

In response to this, the laser light irradiation system 100 employs a configuration in which the irradiation unit 12 that irradiates laser light is attached to the flexible arm 2, thereby realizing a laser light irradiation system that can be used without being attached to a surgical microscope. In addition, by devising a configuration for the connecting member 4 that connects the irradiation unit 12 and the flexible arm 2, a laser light irradiation system is realized that has the effect of expanding the movable range of the irradiation unit 12 and the irradiation range of the laser light compared to conventional laser light irradiation devices.

(Configuration of laser light irradiation system 100)
A schematic configuration of a laser light irradiation system 100 will be described with reference to Fig. 1. Fig. 1 is a conceptual diagram showing an example of the configuration of a laser light irradiation system.

As shown in FIG. 1, the laser light irradiation system 100 includes a laser light irradiation device (irradiation device) 1, a flexible arm 2, a cart 3, and an imaging device 5.

[Laser light irradiation device 1]
The laser light irradiation device 1 comprises a laser light source (irradiation seed source) 10 , a cable 11 , and an irradiation unit 12 .

The laser light source 10 generates laser light. As an example, the laser light source 10 generates laser light with an excitation wavelength specific to the photosensitive substance used in PDT. A specific example of a photosensitive substance is talaporfin sodium. In this case, the laser light source 10 generates laser light of 664 nm.

The cable 11 transmits the laser light. As an example, the cable 11 is a cable that connects the laser light source 10 and the irradiation unit 12, and guides the laser light (e.g., 664 nm laser light) generated in the laser light source 10 to the irradiation unit 12. An example of the cable 11 is an optical fiber. In this embodiment, a cable consisting of an optical fiber and an electrical cable is used as the cable 11. This makes it possible to control the irradiation unit 12 by operating the laser light source 10.

The irradiation unit 12 irradiates laser light. As an example, the irradiation unit 12 irradiates the affected area of the subject W1 with laser light generated by the laser light source 10 and transmitted by the cable 11. The irradiation unit 12 is also connected to one end 201 of the flexible arm 2 via a connection member 4 (not shown in FIG. 1). Details of the irradiation unit 12 and the connection member 4 will be described later with reference to the drawings.

[Free Arm 2]
The flexible arm 2 has a mechanism for holding and fixing one end 201 at any position in the horizontal and vertical directions. As an example, the irradiation unit 12 is connected to one end 201, and the irradiation unit 12 is held and fixed at any position in the horizontal and vertical directions.

In this embodiment, the flexible arm 2 only needs to be able to hold and fix the irradiation unit 12 at any position, and the mechanism for holding and fixing it at any position is not limited. In this embodiment, the flexible arm 2 has one or more joints, and the joints adopt a mechanism for adjusting and holding the bending degree of the flexible arm 2.

The other end 202 of the flexible arm 2 is fixed to the arm fixing part 21. In this embodiment, a support that can be attached to the cart 3 is used as the arm fixing part 21, and the monitor 6 is fixed to the support, but the installation location of the monitor 6 is not limited and it can be installed in any location.

<Position Adjustment of Irradiation Unit 12 on Flexible Arm 2>
The position adjustment of the irradiation unit 12 by controlling the flexible arm 2 will be described with reference to Fig. 2 to Fig. 5. Fig. 2 and Fig. 3 are diagrams showing an example of the position adjustment of the irradiation unit 12 in the horizontal direction, and Fig. 4 and Fig. 5 are diagrams showing an example of the position adjustment of the irradiation unit 12 in the vertical direction.

As shown in Figures 2 and 3, the flexible arm 2 adjusts the position of the irradiation unit 12 in the horizontal direction parallel to the operating table on which the subject W1 is lying. Also, as shown in Figures 4 and 5, the flexible arm 2 adjusts the position of the irradiation unit 12 in the vertical direction, which is the direction that increases or decreases the distance between the lying subject W1 and the irradiation unit 12.

[Cart 3]
The cart 3 is a movable platform for carrying surgical instruments, etc. As an example, an arm fixing portion 21 is attached to the cart 3, and the laser light source 10 is placed on the arm fixing portion 21.

[Imaging device 5]
The imaging device 5 captures an image of a subject included in the angle of view. As an example, the imaging device 5 captures an image of the vicinity of the irradiation position of the laser light. The imaging device 5 may be a known camera. The captured image may be viewed in real time by the surgeon W2 while operating the laser light irradiation system 100, or may be saved as a record image of the surgery.

The laser light irradiation system 100 may also include a display device that displays the image captured by the imaging device 5. For example, in this embodiment, the monitor 6 is the display device that displays the image captured by the imaging device 5.

(Configuration of irradiation unit 12)
The configuration of the irradiation unit 12 will be described with reference to Fig. 6. Fig. 6 is a three-view diagram showing the configuration of the irradiation unit 12 included in the laser light irradiation system. Specifically, it is a left side view of the irradiation unit 12 as seen from viewpoint A in Fig. 1, a plan view of the irradiation unit 12 as seen from viewpoint B, and a front view of the irradiation unit 12 as seen from viewpoint C (a viewpoint in the depth direction from the front of the paper).

As shown in FIG. 6, the irradiation unit 12 includes a through hole TH, a laser light irradiation section 111, and a guide light irradiation section 112.

The through hole TH is a through hole that penetrates from one bottom surface of the irradiation unit 12 to the other bottom surface. Note that the one bottom surface here refers to the bottom surface of the two bottom surfaces that is closer to the subject W1, and the other bottom surface refers to the bottom surface that is closer to the connection member 4 and the imaging device 5. The imaging device 5 captures an image of the vicinity of the irradiation position of the laser light and the guide light from the other bottom surface through the through hole TH.

The laser light irradiation unit 111 irradiates laser light. As an example, the laser light irradiation unit 111 is provided on the circumference of the through hole TH, and irradiates the affected area of the subject W1 with the laser light generated by the laser light source 10.

The guide light irradiation unit 112 irradiates the guide light. The guide light indicates the irradiation position of the laser light corresponding to the position of the laser light irradiation unit 111. In a treatment using laser light, the laser light needs to be irradiated to the affected area with a certain energy density from the viewpoint of safety and therapeutic effect. That is, the laser light irradiation unit 111 and the irradiation position of the laser light need to be kept at a predetermined distance. In this embodiment, the guide light is used to adjust the distance between the laser light irradiation unit 111 and the irradiation position of the laser light to a predetermined distance. As an example, the guide light irradiation unit 112 is provided at two locations that circumscribe the through hole TH and whose linear distance is equal to the diameter. The guide light irradiated from each of the guide light irradiation units 112 intersects at one point when the distance between the laser light irradiation unit 111 and the irradiation position of the laser light is a predetermined value. Therefore, the operator W2 adjusts the position of the irradiation unit 12 so that each of the guide lights intersects at a desired position in the affected area of the subject W1, and irradiates the laser light. The specified value can be determined arbitrarily based on the energy density required for treatment at the affected area to which the laser light is irradiated.

(Configuration of Connection Member 4)
The configuration of the connection member 4 will be described with reference to Fig. 7. Fig. 7 is a schematic diagram showing an example of the configuration of the connection member 4 included in the laser light irradiation system.

As shown in FIG. 7, the connection member 4 is composed of a jig 41 and a camera platform 42, and connects one end 201 of the flexible arm 2 to the irradiation unit 12.

The jig 41 connects the camera platform 42 and the irradiation unit 12. As an example, the jig 41 is L-shaped, and the camera platform 42 and the irradiation unit 12 are connected to the long side of the L shape. In addition, the imaging device 5 that captures an image of the vicinity of the irradiation position of the guide light and the laser light is connected to the short side of the L shape of the jig 41.

The pan head 42 is connected to the jig 41 and one end 201 of the flexible arm 2. The pan head 42 is composed of a movable connection part 421 connected to one end 201 of the flexible arm 2, a ball 422, and a grip 423. The ball 422 and the grip 423 are configured so that the ball 422 can freely rotate in response to the movement of the grip 423. The movable connection part 421 and the ball 422 are movably connected, and the ball 422 can freely rotate with respect to the movable connection part 421 and be held at any position. In other words, the irradiation unit 12 connected to the pan head 42 via the jig 41 is movably connected to the flexible arm 2.

(Angle Adjustment in Irradiation Unit 12)
As described above, the irradiation unit 12 and the flexible arm 2 are connected by the connection member 4 including the pan head 42, so that the irradiation unit 12 can be moved while the position of one end 201 of the flexible arm 2 is fixed. In this way, the pan head 42 can adjust the angles of the irradiation unit 12 around three or more axes. Specific examples of the adjustment of the angles around the three or more axes will be described with reference to Figs. 8 to 13.

[Angle Adjustment Around the First Axis]
A specific example of the angle adjustment around the first axis will be described with reference to Fig. 1, Fig. 8, and Fig. 9. Fig. 8 and Fig. 9 are diagrams showing an example of the angle adjustment of the irradiation unit 12 around the first axis.

The first axis is the axis in the direction indicated by A in FIG. 1 (the direction from the left side to the right side of the irradiation unit 12), and is the axis in the direction perpendicular to the paper surface in FIG. 8 and FIG. 9. The first axis may also be called the vertical axis.

Angle adjustment around the first axis refers to changing the orientation of the irradiation unit 12 around the first axis, as shown in Figures 8 and 9. The angle around the first axis may be referred to as the roll angle.

[Angle Adjustment Around the Second Axis]
A specific example of the angle adjustment around the second axis will be described with reference to Fig. 1, Fig. 10, and Fig. 11. Fig. 10 and Fig. 11 are diagrams showing an example of the angle adjustment around the second axis of the irradiation unit 12.

The second axis is the axis in the direction indicated by B in FIG. 1 (the direction from the irradiation unit 12 toward the subject W), and is the axis in the direction perpendicular to the paper surface in FIG. 10 and FIG. 11. The second axis may also be referred to as the vertical axis.

Angle adjustment around the second axis refers to changing the orientation of the irradiation unit 12 around the second axis, as shown in Figures 10 and 11. The angle around the second axis may be referred to as the yaw angle.

[Angle Adjustment Around the Third Axis]
A specific example of the angle adjustment around the third axis will be described with reference to Fig. 1, Fig. 12, and Fig. 13. Fig. 12 and Fig. 13 are diagrams showing an example of the angle adjustment of the irradiation unit 12 around the third axis.

The third axis is the axis in the direction indicated by C in FIG. 1 (perpendicular to the paper surface), and is the axis in the direction perpendicular to the paper surface in FIG. 12 and FIG. 13. The third axis may also be called the horizontal axis.

Angle adjustment around the third axis refers to changing the orientation of the irradiation unit 12 around the third axis, as shown in Figures 12 and 13. The angle around the third axis may be referred to as the pitch angle.

Also, as shown in Figs. 8 to 13, the camera platform 42 may adjust the angles of the irradiation unit 12 and the imaging device 5 around three or more axes as a whole. In other words, the camera platform 42 can adjust the angles of the irradiation unit 12 and the imaging device 5 as a whole. This allows the imaging device 5 to capture an image of the vicinity of the irradiation position of the laser light with the angle of the irradiation unit 12 adjusted in any direction.

(Example of Use of Laser Light Irradiation System 100)
An example of the use of the laser light irradiation system 100 in an actual surgery will be described with reference to Fig. 14. Fig. 14 is a schematic diagram showing an example of the use of the laser light irradiation system 100.

As shown in FIG. 14, the laser light irradiation system 100 includes a drape 101 covering the flexible arm 2, the connection member 4, the imaging device 5, and the irradiation unit 12. The drape 101 is sterilized and is used to reduce the risk of the subject W1 developing an infection or the like due to attachments of the flexible arm 2, the connection member 4, the imaging device 5, the irradiation unit 12, and the like. Even if blood or the like from the subject W1 adheres to the laser light irradiation system 100 during surgery, if the subject W1 is covered with the drape 101, only the replacement of the drape is required, simplifying maintenance management. A window 102 is provided in the drape 101 at a location corresponding to the field of view of the imaging device 5.

The window 102 is provided so as not to interfere with the imaging of the laser light irradiation position by the imaging device 5. Therefore, an optical member that transmits the wavelengths of laser light and visible light is suitable for the window 102. The shape and material of the window 102 may be determined arbitrarily as long as they do not interfere with the imaging of the imaging device 5.

(Effects of the laser light irradiation system 100)
According to the laser light irradiation system 100, it is possible to realize a laser light irradiation system that can be used without being attached to a surgical microscope and that is highly operable.

In particular, by using the flexible arm 2 or the pan head 42, or more preferably, a combination of the flexible arm 2 and the pan head 42, the range of motion and irradiation area of the irradiation unit 12 can be expanded. This makes it possible to irradiate positions and areas that would be difficult to irradiate if the unit was attached to a surgical microscope, thereby improving the effectiveness of photodynamic therapy.

In addition, since the laser light irradiation system 100 can perform PDT without using a large surgical microscope, in addition to the above-mentioned effects, it has the effect of increasing the freedom of movement and working range of the surgeon W2 and surgical assistants (e.g., medical personnel, etc.).

(Modification 1 of the laser light irradiation system 100)
Modification 1 of the laser light irradiation system 100 (hereinafter, referred to as "laser light irradiation system 100a") will be described below with reference to Figs. 15 to 17. Fig. 15 is a schematic diagram showing a part of the configuration of the laser light irradiation system 100a. For ease of explanation, the same reference numerals are used to designate members having the same functions as those described in the laser light irradiation system 100, and the description thereof will not be repeated.

As shown in FIG. 15, the laser light irradiation system 100a includes an imaging device 5a instead of the imaging device 5, and differs from the laser light irradiation system 100 in that the imaging device 5a is not connected to the irradiation unit 12 via the connection member 4. In this embodiment, a surgical microscope is used as the imaging device 5a, but an endoscope may also be used. In addition, in the laser light irradiation system 100a, since the imaging device 5a is not connected to the irradiation unit 12, the type of the imaging device 5a is not limited, and it is also possible to use a surgical microscope, to which a laser light irradiation unit was difficult to attach in the conventional technology, as the imaging device 5a.

(Operation Example of Laser Light Irradiation System 100a)
An example of operation of the laser light irradiation system 100a will be described with reference to Figures 16 and 17. Figures 16 and 17 are schematic diagrams showing an example of operation of the laser light irradiation system 100a.

As described above, in the laser light irradiation system 100a, the imaging device 5a and the irradiation unit 12 are not connected. Therefore, the imaging device 5a can be freely moved independently of the irradiation unit 12. Therefore, as shown in FIG. 16, the imaging device 5a may be operated at a position where the visual axis passes through the through hole TH of the irradiation unit 12, or as shown in FIG. 17, the imaging device 5a may be operated at a position where the visual axis does not pass through the through hole TH of the irradiation unit 12.

(Example of Use of Laser Light Irradiation System 100a)
An example of the use of the laser light emitting system 100a in an actual surgery will be described with reference to Fig. 18. Fig. 18 is a schematic diagram showing an example of the use of the laser light emitting system 100a.

As shown in FIG. 18, the laser light irradiation system 100a differs from the laser light irradiation system 100 in that the imaging device 5a is not covered by the drape 101. This is because the irradiation unit 12 and the imaging device 5a can be moved independently, as described above. Therefore, the drape 101 is configured to have a new upper window 103 so as not to interfere with imaging by the imaging device 5a.

(Effects of the laser light irradiation system 100a)
According to the laser light irradiation system 100a, even in the case of surgery using a surgical microscope, the range of motion and irradiation area of the irradiation unit 12 can be expanded, just like the laser light irradiation system 100, making it possible to irradiate laser light to positions and areas that would be difficult to irradiate if the laser light was attached to a surgical microscope, thereby enhancing the effectiveness of photodynamic therapy.

(Modification 2 of the laser light irradiation system 100)
Modification 2 of the laser light irradiating system 100 (hereinafter, referred to as "laser light irradiating system 100b") will be described below with reference to Figs. 19 to 22. Fig. 19 is a schematic diagram showing a part of the configuration of the laser light irradiating system 100b. For ease of explanation, the same reference numerals are used to designate members having the same functions as those described in the laser light irradiating system 100, and the description thereof will not be repeated.

The laser light irradiation system 100b differs from the laser light irradiation system 100 in that it includes a connection member 4a instead of the connection member 4. The connection member 4a has a pan head structure similar to the connection member 4, and further includes an XY stage 7. Here, the pan head structure in the connection member 4a may include, for example, a jig 41 and a pan head 42. In the connection member 4a, the pan head structure is connected to the irradiation unit 12 via the XY stage 7.

(Configuration of XY stage 7)
The configuration of the XY stage 7 will be described with reference to Fig. 20. Fig. 20 is a plan view and a side view showing an example of the structure of the XY stage 7 of the connection member 4a. Specifically, it is a plan view of the XY stage 7 seen from viewpoint D shown in Fig. 19, and a side view of the XY stage 7 seen from viewpoint E.

The XY stage 7 adjusts the position of the irradiation unit in two orthogonal axes (i.e., the X axis and the Y axis). In this embodiment, the X axis and the Y axis are two orthogonal axes defined within the joint surface between the XY stage 7 and the irradiation unit 12. As shown in FIG. 20, in the XY stage 7, the X axis direction is set to the left and right direction on the page, and the Y axis direction is set to the top and bottom direction on the page.

The XY stage 7 includes, as an example, an X feed screw 71, a Y feed screw 72, a stage 73, and a stage 74. The X feed screw 71 is a screw used to adjust the position of the stage 74 in the X-axis direction relative to the stage 73. The Y feed screw 72 is a screw used to adjust the position of the stage 73 in the Y-axis direction relative to the stage 74.

Stage 73 and stage 74 are connected so as to be movable relative to each other. Stage 73 is movable in the Y-axis direction relative to stage 74. Stage 74 is movable in the X-axis direction relative to stage 73. Stage 73 is also connected to irradiation unit 12. Stage 74 is also connected to a pan head structure.

(Position Adjustment of Irradiation Unit 12 by XY Stage 7)
A specific example of the position adjustment of the irradiation unit 12 by the XY stage 7 will be described with reference to Fig. 21 and Fig. 22. Fig. 21 is a diagram showing an example of the position adjustment in the X-axis direction of the XY stage 7 shown in Fig. 20, and Fig. 22 is a diagram showing an example of the position adjustment in the Y-axis direction of the XY stage 7 shown in Fig. 21.

For example, the stage 74 moves in the X-axis direction relative to the stage 73 in response to an operation such as rotating the X-feed screw 71.

In addition, the stage 73 moves in the Y-axis direction relative to the stage 74, for example, by rotating the Y feed screw 72.

As described above, the irradiation unit 12 connected to the pan-head structure via the XY stage 7 moves in the X-axis and Y-axis directions relative to the pan-head structure, as an example, by operation via the X feed screw 71 and the Y feed screw 72 in the XY stage 7. In this way, the XY stage 7 can adjust the position of the irradiation unit 12 on two orthogonal axes.

For example, when adjusting the position of the irradiation unit 12 using the guide light emitted from the guide light irradiation section 112, the universal arm 2 and the camera platform 42 may be operated to roughly adjust the position of the irradiation unit 12, and the XY stage 7 may be operated to fine-tune the position of the irradiation unit 12.

In addition, for example, when irradiating a first location with laser light using the irradiation unit 12 and then irradiating a second location located near the first location with laser light, the position of the irradiation unit 12 may be adjusted only by operating the XY stage 7 without changing the positions of the adjustable arm 2 and the pan head 42.

The XY stage 7 may be one in which the position is adjusted by manually operating a feed screw as described above, but it may also be one in which the position is adjusted by motor drive or the like. Here, the motor used for adjusting the position of the XY stage 7 may be operated via a controller such as a joystick.

(Effects of the laser light irradiation system 100b)
According to the laser light irradiation system 100b, the position of the irradiation unit 12 can be easily adjusted in photodynamic therapy, and the treatment time of the photodynamic therapy can be shortened.

[Embodiment 2]
A second embodiment of the present invention will be described below. For ease of explanation, the same reference numerals will be used to designate components having the same functions as those described in the above embodiment, and the description thereof will not be repeated.

(Configuration of laser light irradiation system 100c)
The configuration of a laser light irradiation system 100c according to the second embodiment will be described with reference to Fig. 23. Fig. 23 is a schematic diagram showing an example of the configuration of the laser light irradiation system 100c.

As shown in FIG. 23, the laser light irradiation system 100c differs from the laser light irradiation system 100 in that it includes an arm fixing part 21b instead of the arm fixing part 21. As an example, the arm fixing part 21b is a support to which a moving part such as a caster is attached. A specific example of the arm fixing part 21b is a gutter used to suspend a bag containing medicine or the like when administering an intravenous drip. As a result, the laser light irradiation system 100c can move the arm fixing part 21b and the cart 3 separately, which increases the degree of freedom in the placement of the laser light irradiation system 100c in the operating room.

[Embodiment 3]
A third embodiment of the present invention will be described below. For ease of explanation, the same reference numerals will be given to members having the same functions as those described in the above embodiment, and the description thereof will not be repeated.

(Configuration of laser light irradiation system 100d)
The configuration of a laser light irradiation system 100d according to the third embodiment will be described with reference to Fig. 24. Fig. 24 is a schematic diagram showing an example of the configuration of the laser light irradiation system 100d.

As shown in FIG. 24, the laser light irradiation system 100d differs from the laser light irradiation system 100 in that it includes an arm fixing part 21c instead of the arm fixing part 21. As an example, the arm fixing part 21c is attached to the ceiling of the operating room. That is, in the laser light irradiation system 100d, the adjustable arm 2 is suspended from the ceiling of the operating room. This allows the amount of equipment placed on the floor of the operating room to be reduced, thereby reducing interference with other surgical equipment.

[Embodiment 4]
A fourth embodiment of the present invention will be described below. For ease of explanation, the same reference numerals are given to members having the same functions as those described in the above embodiment, and the description thereof will not be repeated.

(Configuration of laser light irradiation system 100e)
The configuration of a laser light irradiation system 100e according to the fourth embodiment will be described with reference to Fig. 25. Fig. 25 is a schematic diagram showing an example of the configuration of the laser light irradiation system 100e.

As shown in FIG. 25, the laser light irradiation system 100e differs from the laser light irradiation system 100 in that it includes an arm fixing part 21d instead of the arm fixing part 21. As an example, the arm fixing part 21d is attached to the operating table on which the subject W1 is lying. As a result, the laser light irradiation system 100e can reduce the amount of equipment placed on the floor of the operating room, similar to the above-mentioned laser light irradiation system 100d, and therefore can reduce interference with other surgical equipment.

[Other application examples]
As described above, in the first to fourth embodiments, the irradiation system for irradiating laser light has been described, but it is clear that the present invention can also be applied to an irradiation system for irradiating light other than laser light. In that case, for example, an irradiation seed source that generates a predetermined irradiation seed may be used instead of the laser light source 10, and the cable 11 may be configured to transmit the irradiation seed, or the irradiation seed source may be provided in the irradiation unit 12, and the irradiation unit 12 may generate the irradiation seed by supplying power to the irradiation unit 12 via the cable 11.

〔Example〕
An embodiment of the present invention will now be described.

(Example of laser light irradiation system 100)
An embodiment of the laser light irradiation system 100 will be described below with reference to FIGS. 26 and 27. FIG.

To evaluate the laser light irradiation system 100, we conducted a desktop experiment to compare the irradiation range, operability, stability, etc. with existing surgical microscopes.

An irradiated area model simulating the scar of a primary malignant brain tumor was prepared. Figure 26 is a schematic diagram showing the irradiated area model RM in this embodiment of the laser light irradiation system 100. Figure 26 shows a plan view of the irradiated area model RM from the front side and a cross-sectional view of the irradiated area model RM in a plane perpendicular to the front surface and the bottom surface. As shown in Figure 26, the irradiated area model RM was a concave model in which both the front surface and the bottom surface were circular. In this embodiment, the front diameter d1 of the irradiated area model RM was set to 6 cm, the bottom diameter d2 was set to 5 cm, and the depth h was set to 7 cm. In addition, as shown in Figure 26, in this embodiment, irradiation targets RT were placed at nine locations in the irradiated area model RM.

In this embodiment of the laser light irradiation system 100, it was confirmed whether it was possible to determine the laser light irradiation position using a guide light for an irradiation target RT placed in an irradiated part model RM. Figure 27 is a schematic diagram showing this embodiment of the laser light irradiation system 100.

It was confirmed that the adjustment range and operability were the same for all irradiation targets RT, and it was possible to determine the laser light irradiation position using the guide light, regardless of whether the irradiation unit that irradiates the laser light was attached to the laser light irradiation system 100 or a surgical microscope. In addition, it was confirmed that the guide light position was stable, being maintained for three minutes during laser light irradiation, regardless of whether the irradiation unit that irradiates the laser light was attached to the laser light irradiation system 100 or a surgical microscope.

As described above, in the desk experiments in this embodiment, the adjustment range, operability, and stability were all at the same level between the laser light irradiation system 100 and the surgical microscope.

In addition, when using a surgical microscope in an actual clinical setting, the microscope is operated mainly while looking through the binoculars, so if the angle at which the laser light is emitted is large, this places a strain on the operator's posture. On the other hand, when using the laser light irradiation system 100 in an actual clinical setting, the imaging device 5 and monitor 6 are used while the guide light is used to determine the laser light irradiation position, making it easy to determine the laser light irradiation position and reducing the operator's burden.

[Additional Notes]
The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope of the claims. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of the present invention.

〔summary〕
The irradiation system according to aspect 1 of this embodiment includes an irradiation seed source that generates irradiation seeds, an irradiation unit that irradiates an affected area with the irradiation seeds, and a flexible arm having one end connected to the irradiation unit via a connecting member, and the irradiation unit is movably connected to the flexible arm.

According to the above configuration, the irradiation system has an irradiation unit that irradiates the irradiation species and is movably connected to the flexible arm. This allows the irradiation system to improve at least one of the irradiation range and the working range.

In the illumination system according to aspect 2 of this embodiment, in the above aspect 1, the connection member has a pan-head structure, and the pan-head structure adjusts the angle of the illumination unit around three or more axes.

With the above configuration, the irradiation system can adjust the angle of the irradiation unit around three or more axes. This improves operability and expands the irradiation range of the irradiation type.

In the irradiation system according to aspect 3 of this embodiment, in the above aspect 1, the connection member further has an XY stage, the pan-and-tilt structure is connected to the irradiation unit via the XY stage, and the XY stage adjusts the position of the irradiation unit in two orthogonal axes.

According to the above configuration, the irradiation system can adjust the position of the irradiation unit in two orthogonal axes. This improves the operability of the irradiation system.

In the irradiation system according to aspect 4 of this embodiment, in the above aspect 2 or 3, an imaging device that captures an image of the vicinity of the irradiation position of the irradiation species is connected to the connection member, and the pan head structure adjusts the angles of the irradiation unit and the imaging device in an integrated manner.

With the above configuration, the imaging device of the irradiation system can always capture the irradiation position of the irradiation species.

The irradiation system according to aspect 5 of this embodiment is any one of aspects 1 to 4 above, and further includes an imaging device that captures an image of the vicinity of the irradiation position of the irradiation type, and a display device that displays the image captured by the imaging device.

With the above configuration, the irradiation system can determine the laser light irradiation position using the imaging device 5 and the monitor 6. This can reduce the burden on the operator.

The illumination system according to aspect 6 of this embodiment is any one of aspects 1 to 5 above, in which the flexible arm is provided with a mechanism for holding and fixing the one end at any position in the horizontal and vertical directions.

With the above configuration, the flexible arm of the irradiation system can be held and fixed at any position of the surgeon's choice. This improves operability and allows the irradiation species to be irradiated to the affected area with high precision.

The irradiation system according to aspect 7 of this embodiment is any one of aspects 1 to 6 above, in which the other end of the flexible arm is fixed to at least one of a cart, a gutter, a ceiling, and an operating table.

With the above configuration, the irradiation system can select the fixing location of the other end of the flexible arm. This allows the fixing location to be selected according to the conditions of the operating room in the hospital, etc.

100, 100a, 100b, 100c, 100d, 100e Laser light irradiation system (irradiation system)
1 Laser light irradiation device (irradiation device)
10 Laser light source (irradiation seed source)
REFERENCE SIGNS LIST 11 Cable 12 Irradiation unit 2 Free arm 21, 21b, 21c, 21d Arm fixing portion 3 Cart 4, 4a Connection member 41 Jig 42 Pan head 5 Imaging device 6 Monitor 7 XY stage

Claims (7)

A source of irradiated species for generating irradiated species;
an irradiation unit for irradiating the affected area with the irradiation species; and
A flexible arm is provided, one end of which is connected to the irradiation unit via a connecting member,
The irradiation unit is movably connected to the movable arm.
1. An illumination system comprising: The connection member has a pan head structure,
The pan head structure adjusts the angle of the irradiation unit around three or more axes.
2. The illumination system according to claim 1 . The connection member further includes an XY stage,
The pan head structure is connected to the irradiation unit via the XY stage,
The XY stage adjusts the position of the irradiation unit in two orthogonal axes.
3. The illumination system according to claim 2. An imaging device that images an area near an irradiation position of the irradiation species is connected to the connection member,
The pan head structure integrally adjusts the angles of the irradiation unit and the imaging device.
3. The illumination system according to claim 2. An imaging device that images the vicinity of the irradiation position of the irradiation species;
A display device that displays an image captured by the imaging device is further provided.
2. The illumination system according to claim 1 . The flexible arm is provided with a mechanism for holding and fixing the one end at any position in the horizontal and vertical directions.
2. The illumination system according to claim 1 . The other end of the flexible arm is fixed to at least one of a cart, a garter, a ceiling, and an operating table.
Illumination system according to any one of the preceding claims.

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