JP3321271B2 - Surgical microscope - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a surgical microscope in which a mirror for magnifying and observing an operation part can be three-dimensionally moved when performing an operation.

[0002]

2. Description of the Related Art A surgical microscope of this type has a mirror for magnifying and observing an operation part. However, the mirror can be moved and adjusted to a desired position and direction during surgery. There must be. For this reason, the mirror body is supported by a gantry that can be moved and adjusted to a desired position and direction. Examples of this type of mount include, for example, Japanese Patent Publication No.
The one disclosed in JP-A-3-21887 is known.

The device disclosed in Japanese Patent Publication No. 53-23168 is equipped with a mirror at one end of a parallel stand supported by a balance having a predetermined weight at the other end, and deforms the parallel stand by manual operation. Thus, the spatial position of the mirror is adjusted.

[0004] Further, the one disclosed in Japanese Patent Publication No. 3-21887 discloses a mirror body which is mounted on a base so as to be able to move up and down and rotate horizontally by means of a mirror hanging part. The part is supported so as to be horizontally rotatable, and is configured to perform spatial position adjustment of the position and orientation of the mirror body by electric operation.

[0005] By the way, as a gantry for realizing a subtle movement of the mirror body which cannot be performed by a human hand, one having a configuration as shown in FIG. 19 can be considered. In FIG. 19, reference numeral 200 denotes a gantry base having a caster 201 attached to the bottom,
A column 2 vertically attached to the gantry base 200
02 is erected. A vertical moving body 203 is attached to the column 202 so as to be vertically movable. Prop 20
A load suspension device 205 for suspending the vertical moving body 203 is provided on the upper part of the second movable member 203 . The load suspension device 205 has a belt 207 hung on a pulley 206, one end of the belt 207 is connected to the vertical moving body 203, and the other end of the belt 207 is vertically movable inside the support column 202. The vertical moving body 203 and the members attached thereto are connected to a balancer 208 of the same weight suspended by the added weight.

[0006] A horizontal arm 210 is attached to the vertical moving body 203, and a mirror moving device 211 as shown in Japanese Patent Publication No. 3-21887 is attached to the end of the horizontal arm 210 that extends. I have.

[0007] A fixed portion 212 of a forward and backward tilting mechanism is provided in a horizontal moving portion of the lens body moving device 211.
A movable portion 213 of the forward / backward tilt mechanism is provided rotatably about the axis A. The fixed part 214 of the left and right tilt mechanism is attached to the movable part 213. further,
A movable part 215 of a left-right tilting mechanism that is rotatable about an axis B perpendicular to the paper surface is attached to the fixed part 214. The mirror 216 is attached to the movable part 215 of the left-right tilt mechanism.

FIG. 20 shows a driving mechanism of the fixed parts 212 and 214 and the movable parts 213 and 215. That is, reference numeral 221 denotes a housing for each of the fixing portions 212 and 214, and a motor 223 having a rotating shaft 222 is fixed to the housing 221. Housing 221
, The coupling 2 is attached to the rotating shaft 222 of the motor 223.
A worm 226 coaxially connected via a shaft C
It is mounted so that it can rotate around the center. Further, a rotation shaft 228 of the movable portions 213 and 215 fixed integrally with a worm wheel 227 meshing with the worm 226 is provided. The rotation shaft 228 is centered on the shafts A and B with respect to the housing 221. It is freely rotatable.

[0009] The load suspension device 205
Movement, horizontal movement by mirror moving device 211, front and rear and left and right
Before and after the tilting mechanism 212, 213, 214, 215
The mirror 216 is moved slightly by tilting left and right.
You. Then, this operation is performed according to the figure corresponding to each movement.
This can be done by a switch not shown.

[0010]

By the way, the operating microscope having such a gantry is very troublesome when the mirror 216 is to be moved to an optimum position for observing the operation part. Involves a lot of work. That is, as shown in FIG. 21, the operation of moving the mirror unit 216 to the optimum position is to first move the mirror unit 216 to a solid line position where the opening 230 of the operation unit 231 can be seen under enlarged observation. , Its operative opening 230
The mirror unit 216 is moved in the direction of the broken line where the operation unit 231 is visible so as not to lose sight.

However, when the spatial position of the mirror unit 216 is adjusted by a mount using a parallel stand disclosed in the above-mentioned Japanese Patent Publication No. 53-23168, the movement of a manually operated hand is directly affected. Since it is transmitted to the mirror unit 216, fine position adjustment cannot be performed. In addition, under observation at a high magnification, slight movement of the mirror body part 216 greatly moves within the observation visual field and appears as a large displacement, so that it is generally difficult to adjust the position under magnification observation. Even when the mirror body portion 216 is moved from the solid line position to the broken line position shown in FIG. 21, it is difficult to find the surgical site opening 230. When finding the operative part 231 from 230, it is easy to lose it again. And every time you lose, you have to find it, but once you lose,
It is difficult to rediscover. Therefore, considerable skill is required for the position adjustment work, and the position adjustment work takes a long time, and the time required to shift to the original operation becomes long.

Further, as shown in FIG.
In the method of performing vertical movement, horizontal movement, front-back and left-right tilt movement of 6, it is possible to perform fine movement adjustment as appropriate, but since complicated switch operation corresponding to each movement is required, The operation of the switch is very troublesome, and also requires skill, and the position adjustment work takes time. In other words, it takes a long time before the operation under the operating microscope is started, so that the patient's condition easily changes suddenly during this time, which is a problem.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and has as its object to enable the observation means to be automatically and quickly positioned at a predetermined position by a simple and easy operation. An operating microscope is provided.

[0014]

SUMMARY OF THE INVENTION The present invention relates to a surgical microscope which is capable of observing an operation portion at an arbitrary magnification and is capable of moving observation means having a predetermined observation optical axis three-dimensionally. Relative of the current position and the current observation direction of the observation means with respect to the planned position at which the observation means is to be arranged and the planned direction at which the observation optical axis is to be directed to the surgical site at this planned position. A coordinate detecting means for detecting coordinates, and a calculation for calculating a moving direction and a moving amount for arranging the observing means at the predetermined position and directing the observation means in the predetermined direction based on a detection result by the coordinate detecting means Means, based on a calculation result by the calculation means,
A movement control unit that moves the observation unit to the scheduled position and arranges the observation direction of the observation unit in the observation direction, and the observation unit is provided separately from the observation unit; An instructing means for instructing in advance the scheduled position where the object is to be arranged and the scheduled direction in which the observation optical axis is to be directed to the surgical site at the scheduled position; and the observation means instructed by the instruction means. Information output means provided in the instructing means for outputting to the coordinate detecting means the scheduled position and the scheduled information relating to the scheduled direction in which the observation optical axis is to be directed to the surgical site at the scheduled position; It is characterized by having.

[0015]

According to the present invention, the information output means outputs scheduled information on the planned position at which the observation means indicated by the instruction means is to be arranged and the planned direction at which the observation optical axis is to be directed to the operative site at this planned position. Then, the current position and the current observation of the observation means are performed by the coordinate detection means with respect to the planned position at which the observation means is to be arranged and the planned direction at which the observation optical axis is to be directed to the operation site at this planned position. The relative coordinates of the directions are detected. Then, based on the detection result, the calculating unit calculates the moving direction and the moving amount for arranging the observation unit at the predetermined position and for orienting the observation unit in the predetermined direction. Further, based on the result of the calculation, the movement control means moves the observation means to the planned arrangement position, and arranges the observation direction of the observation means in the observation planned direction.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A surgical microscope according to a first embodiment of the present invention will be described below with reference to FIGS.
As shown in FIGS. 1 to 3, the surgical microscope according to the present embodiment includes a position control mechanism 8, an angle (direction) control mechanism 10 attached to the position control mechanism 8, and an angle control mechanism 10. And a mirror body 12 attached thereto.

The position moving mechanism 8 has a caster 14 at the bottom.
The base 16 to which is attached, and the base 1
A column 18 also serving as an arm seat extending vertically upward from 6
A support arm 20 movably supported in the vertical direction by the support column 18, a first arm seat 22 attached to a tip end of the support arm 20, and the first arm seat 22 supporting the support arm 20. A first arm 24 movably supported in a horizontal direction perpendicular to the movement direction of the arm 20, a second arm seat 26 attached to a tip end of the first arm 24, and a second arm The seat 26 is provided with a second arm 28 movably supported in a horizontal direction orthogonal to the moving direction of the first arm 24. The second arm 28 is moved by the position moving mechanism 8.
An object attached to the tip of the camera, that is, the angle control mechanism 10 and the mirror unit 12 can move three-dimensionally.

A constant pressure spring 30 having a biasing force capable of canceling out the total weight of the support arm 20 and the components mounted on the support arm 20 is built in the column 18. Each of the arms 20, 24, 28 is smoothly and quickly applied to each moving portion of the position moving mechanism 8 with a small force.
The guide means such as a ball guide or the like (not shown) is incorporated so as to move.

On the other hand, the angle control mechanism 10 has a first rotating seat 32 attached to the tip of the second arm 28, and rotates about the first axis (A) with respect to the first rotating seat 32. A first rotating shaft 34 freely supported, a second rotating seat 36 attached to a tip end of the first rotating shaft 34,
A second rotation shaft 38 rotatably supported on the second rotation seat 36 about a second axis (B), and a third rotation shaft 38 attached to the tip of the second rotation shaft 38. Rotating seat 40
And a third rotating shaft 42 rotatably supported on the third rotating seat 40 about a third axis (C).

The first to third axes (A, B,
C) are configured to intersect each other at one point P as shown in FIG. 3, and the mirror body 12 rotates around each axis (A, B, C) about this point P. It has become.

The first to third rotating shafts 34, 3
8, 42 and the members attached thereto are weight-distributed so that no rotational moment is generated around the first to third axes (A, B, C). In addition, guide means such as bearings (not shown) is incorporated in each of the rotary seats 32, 36, and 40 so that each of the rotary shafts 34, 38, and 42 can be smoothly and quickly rotated by a light force. .

The mirror body 12 attached to the tip of the third rotating shaft 42 has an objective lens 44 that can be controlled in focus and an eyepiece 46 that can observe an image guided through the objective lens 44. Are provided. Also, this mirror part 1
2, a handle 48 used for moving the mirror unit 12 is attached.
An ultrasonic receiver 50 capable of receiving an ultrasonic signal oscillated from an ultrasonic position sensor 98 (see FIG. 9) described later is provided.

FIG. 4 shows a mechanism which is incorporated in each of the rotary seats 32, 36 and 40 of the angle control mechanism 10 and which rotates the corresponding rotary shafts 28, 34 and 42, respectively. is there. That is, the rotating shafts 28, 3
4 and 42 are provided with a gear 33, respectively.
A driving pinion gear 35 meshes with 3. The pinion shaft 37 of the pinion gear 35 is connected to a driving unit (see FIG. 6) described later. By actuating this drive unit to rotate the pinion shaft 37, the corresponding rotating shafts 28, 34, 42 individually rotate.

FIG. 5 shows each arm 2 in the position moving mechanism 8.
A mechanism for axially moving 0, 24, 28 relative to the corresponding column 18 and arm seats 22, 26 is shown as an example. This is for each arm 20, 24,
28. That is, in this mechanism, a part of the peripheral surface of the support arm 20, 24, 28 is cut away along the longitudinal direction to form a flat surface, and the rack 52 is formed on this flat surface. Further, a pinion shaft 54 connected to a drive unit (see FIG. 6), which will be described later, is rotatably supported by the column 18 also serving as an arm seat and the arm seats 22 and 26. ,
A pinion 56 is formed on the peripheral surface. The pinion 56 is engaged with the rack 52,
By operating the drive system to rotate the pinion shaft 54, the support arms 20, 24, 28
And the supporting arm 2
0, 24 and 28 are detented.

FIG. 6 shows the driving section. The driving unit is configured to support the column 18 and the arm seat 2 of the position moving mechanism 8.
2, 26, each rotary seat 32, 36, 4 of the angle control mechanism 10
0 and the pinion shafts 37, 5
4 is connected to one end of the electromagnetic lock 60 via the first coupling 58. The other end of the electromagnetic lock 60 is connected to a drive shaft 64 of a motor 66 via a second coupling 62.
It is connected to. The motor 66 is provided with a rotary encoder 68 so that the rotation of the motor 66 is detected.

When no voltage is applied, the electromagnetic lock 60 is in a connected state, and transmits the driving force of the motor 66 to the pinion shafts 37, 54. On the other hand, when a voltage is applied, the motor is in a separated state, and the driving force of the motor 66 is not transmitted to the pinion shafts 37 and 54.

On the other hand, a compound switch (see FIG. 8A) is built in the handle 48 of the mirror unit 12 as shown in FIG. This composite switch is attached to the housing 70 attached to the mirror body 12 in the direction of arrow S in FIG.
And a switch operating body 72 movably supported in a plane perpendicular to the switch operating body 72.
Reference numeral 2 denotes a first rotating body 74 which is rotatably connected to the first rotating body 74 by a predetermined angle about the axis D, and a predetermined angle about a shaft 76 orthogonal to the axis D with respect to the first rotating body 74. A second rotating body 78 rotatably connected to the second rotating body 78 and a handle body 80 rotatably connected to the second rotating body 78 by a predetermined angle about an axis E are provided. Note that the axis E is orthogonal to the axis D and the axis center of the shaft portion 76.

FIG. 8A is a cross-sectional view taken along the line FF in FIG. 7, and the inner peripheral surface of the housing 70 is divided into four equal parts. Switch 82
Is provided. The switch operating body 72 is always urged away from these switches 82, and by applying an external force to the switch operating body 72,
It is configured to be electrically connectable to a predetermined switch 82.

FIG. 8B is a cross-sectional view taken along the line GG in FIG. 7, and shows a position of the first rotating body 74 where the rotation with respect to the switch operating body 72 is restricted. In addition, a switch 84 similar to the switch 82 described above is provided. The switch 84 is also provided on the second rotating body 78 and the handle main body 80, and unless the external force is applied to the handle main body 80 to rotate each member in a predetermined direction, the switches 82 and 84 operate. In order to prevent this, it is configured to automatically return by means such as a spring (not shown).

Thus, the handle body 80 is attached to the mirror body 12 so as to be three-dimensionally movable and rotatable about an orthogonal three-axis DEG. The handle body 80 is provided with a clutch switch 86 described later.

FIG. 9 schematically shows the configuration of a point indicating device 1 applied to the surgical microscope of the present embodiment. The pointing device 1 is a device body 8 suitable for carrying.
The apparatus main body 88 includes an objective lens 9.
0, a relay lens 92, and an eyepiece 94 are built in, and an image reflected from an operation section (not shown) can be guided to the eyepiece 94 via the objective lens 90 and the relay lens 92. Further, a transparent parallel flat plate 96 on which a crosshair (not shown) for pointing is printed is interposed at an image point between the objective lens 90 and the relay lens 92.

On the outer peripheral surface of the apparatus main body 88, a pair of ultrasonic position sensors 98, 98 capable of oscillating predetermined ultrasonic waves to the ultrasonic receiving section 50 (see FIG. 1), and functions as a starter of the point pointing device 1. And a point instruction switch 100 to be operated.

FIG. 10 is a block diagram of a control circuit in the surgical microscope according to the present embodiment. That is, the switch signals output from the switches 82 and 84 (see FIG. 8) are input to the selector circuit 102. Further, a predetermined ultrasonic signal oscillated from the ultrasonic position sensor 98 (see FIG. 9) is received by the ultrasonic receiving unit 50, and the received signal is transmitted from the coordinate detecting circuit 104 to the arithmetic circuit 106.
Is input to

The coordinate detecting circuit 104 includes the mirror 12
Point pointing device 1 (see FIG. 1) (see FIG. 9)
Has a function of detecting a relative position and a relative angle of and outputting a detection signal to the arithmetic circuit 106.

The arithmetic circuit 106 calculates the amount of rotation of the corresponding motor 66 (see FIG. 6) and the value of the direction of rotation based on the input detection signal, and outputs the calculation result signal to the selector circuit 102. Has functions.

The selector circuit 102 selects one of the switch signal and the operation result signal to determine a predetermined first signal.
To the driver circuit 108.

The first driver circuit 108 drives the predetermined motor 66 for a predetermined time based on the input signal to move the mirror 12 (see FIG. 1) in a predetermined direction by a predetermined amount. Having. The first driver circuit 108 includes a rotary encoder 68 (see FIG. 6).
Are connected, and a signal indicating the driving amount of the motor 66 is input.

The point instruction switch 100 (FIG. 9)
The first switch circuit 110 that has received the signal output from the selector circuit 102 and the coordinate detection circuit 10
4 has a function of controlling the operation.

The clutch switch 86 (see FIG. 7)
Switch circuit 11 to which the signal output from
Reference numeral 2 has a function of controlling the operation of the selector circuit 102 and a function of controlling the operation of the electromagnetic lock 60 (see FIG. 6) via the second driver circuit 114.

Next, the operation of the surgical microscope according to the present embodiment will be described. First, as shown in FIG.
While looking into the point indicating device 1,
The operation section 120 is observed through 8. Then, after aligning the operative part 120 with the crosshairs of the parallel flat plate 96, the point indicating switch 100 is turned on, and the ultrasonic position sensor 9
8 is operated.

The first switch circuit 110, which has received the ON signal output from the point instruction switch 100, controls the selector circuit 102 to provide an electrical connection between the switches 82 and 84 and the first driver circuit 108. While the state is cut off, the arithmetic circuit 106 is connected to the first driver circuit 108.
Electrically connected to At the same time, the coordinate detection circuit 104 is operated.

As a result, the detection signal output from the coordinate detection circuit 104 is output to the arithmetic circuit 106 and subjected to a predetermined operation, and then output to the predetermined first driver circuit 108 via the selector circuit 102. Is done.

The first driver circuit 108 includes the arithmetic circuit 1
A predetermined motor 66 is driven and controlled based on the calculation result signal output from 06 to move the mirror 12 by a predetermined amount in a predetermined direction. Specifically, the mirror unit 12 is adjusted so that its observation optical axis matches and matches the observation optical axis of the point indicating device 1 when the point indicating switch 100 is turned on, and its eyepiece 46 (see FIG. 1). 12) matches the position of the eyepiece 94 (see FIG. 9) of the point indicating device 1 when the point indicating switch 100 is turned on.
Will be moved to the position.

At this time, since no voltage is applied to the electromagnetic lock 60 (see FIG. 6), the driving force of the motor 66 acts directly on the pinion shaft 54 via the electromagnetic lock 60. In the state of being. As a result, the first driver circuit 108 controls the drive of the predetermined motor 66 based on the operation result signal transmitted via the selector circuit 102, and thereby the position control mechanism 8 and the angle control mechanism 10 (FIG. (See FIG. 2).

When the mirror unit 12 is positioned at a predetermined position, a signal is input from the rotary encoder 68 to the first driver circuit 108, and the motor 66 is driven by a drive amount corresponding to the input signal. To inform.

At this time, the first driver circuit 108
The motor 66 is stopped. In synchronization with this, the electrical connection between the switches 82 and 84 and the first driver circuit 108 is restored via the selector circuit 102.

After these steps, the mirror unit 12 is adjusted so that its observation optical axis is aligned with the observation optical axis of the point indicating device 1 when the point indicating switch 100 is turned on, and its eyepiece. The lens 46 (see FIG. 1) is positioned so as to match the position of the eyepiece 94 (see FIG. 9) of the pointing device 1 when the pointing switch 100 is turned on (see FIG. 12). After this,
Simply by focusing the objective lens 44 (see FIG. 1), the operation can be started.

To move the mirror 12 slightly after the operation is started, the operator 116 (see FIG. 11)
0 (see FIG. 7), a force is applied in the direction in which the mirror body 12 is to be moved. At this time, the switches 82 and 84 in the direction in which the force acts are turned ON, and the ON signal is input to the first driver circuit 108 via the selector circuit 102. The first driver circuit 108 includes the switch 8
The corresponding motor 66 is continuously driven while the second and 84 are kept in the ON state. As a result, the mirror unit 12
The handle can be automatically and delicately moved in the direction of the force applied to the handle main body.

On the other hand, when the mirror body 12 is largely moved during the operation, the operator 116 turns on the clutch switch 86 (see FIG. 7) while holding the handle main body 80, and then moves the mirror body 12. Apply force in the direction you want to move. At this time, the ON signal output from the clutch switch 86 is output to the second switch circuit 112.

The second switch circuit 1 receiving the ON signal
12 controls the selector circuit 102 and switches
The second driver circuit 114 is operated while the electrical connection between the second driver circuit 84 and the first driver circuit 108 is cut off.

At this time, a voltage is applied to the electromagnetic lock 60,
The connection relationship between the pinion shaft 54 (see FIG. 6) and the motor 66 is separated. As a result, by operating the position control mechanism 8 and the angle control mechanism 10 via a manual operation, it becomes possible to move the mirror body 12 lightly and largely in a desired direction.

As described above, according to the present embodiment, by positioning the hand-held pointing device 1 at an arbitrary operation site observation position, the mirror unit 12 is automatically and accurately positioned at the operation site observation position. It is configured to be possible. For this reason, it is possible to provide a surgical microscope that can easily and automatically position the mirror body at a predetermined position with high accuracy.

Further, the operating microscope of this embodiment has a function of moving the mirror body 12 over a wide range and quickly,
There is a function to move it delicately, and both functions are
The selection can be executed only by operating the common handle 48. Therefore, the operability of the mirror unit 12 can be improved.

Hereinafter, a surgical microscope according to a second embodiment of the present invention will be described with reference to FIGS.

First, FIG. 13 shows the switch 82, which is incorporated in the composite switch operated by the handle 48,
84 schematically shows a modified example of FIG. That is,
The switches 82 and 84 of this modification have a housing 122 that is attached to a plurality of switch units described later. The housing 122 has one end 122a closed and the opposite end 122b opened. A first switch contact piece 124 is provided on the inner wall on one end 122a side, and a first compression coil spring 126 is housed inside the one end 122a side.

A moving body 128 is fitted into the opening side of the housing 122 movably in the direction of arrow H in the figure against the urging force of the first compression coil spring 126. A second switch contact 130 is provided on a portion of the inner end surface of the moving body 128 facing the first switch contact 124 described above.
When the first switch contact piece 124 and the second switch contact piece 130 are lowered by a predetermined amount in the direction of arrow H against the urging force of the compression coil spring 126, the first switch contact piece 124 and the second switch contact piece 130 are electrically connected. ing.

The movable body 128 has a hollow portion 128b formed by drilling a predetermined length inward from the upper end surface 128a in the direction of arrow H. The lower end surface of the hollow portion 128b has Three switch contact pieces 132 are provided. Further, the push button member 1 is provided in the hollow portion 128b.
34 is fitted movably in the direction of arrow H. A fourth switch contact piece 136 is provided on the lower end surface of the push button member 134 at a position facing the third switch contact piece 132, and the push button member 134 is moved in the arrow H direction. The fourth switch contact piece 136 is configured to electrically contact the third switch contact piece 132 when lowered by a predetermined amount.

Further, a second compression coil spring 138 is interposed between the push button member 134 and the upper end surface 128a of the moving body 128. In response to the repulsive force from the upper end surface 128a of the
It is biased in the direction away from.

The urging force of the first compression coil spring 126 is
It is set to be stronger than the urging force of the second compression coil spring 138. Therefore, when the push button member 134 is normally pressed in the direction of the arrow H, first, the push button member 13 is pressed.
4 descends in the cavity 128b against the biasing force of the second compression coil spring 138. As a result, the first switch operation in which the fourth switch contact piece 136 contacts the third switch contact piece 132 is performed. This first switch operation corresponds to the switch operation of the switches 82 and 84 incorporated in the composite switch in the first embodiment.

When the push button member 134 is strongly pressed, the moving body 128 resists the urging force of the first compression coil spring 126 with the third and fourth switch contact pieces 132 and 136 in contact with each other. To descend inside the housing 122. As a result, the second switch operation is performed in which the second switch contact piece 130 contacts the first switch contact piece 124. This second switch operation is a function that replaces the clutch switch 86 described above. That is, the second
Has the function of controlling the release operation of the electromagnetic lock 60 (see FIG. 16) via the driver circuit 114 of the first embodiment. Therefore,
In this embodiment, the clutch switch 86 is unnecessary.

As described above, when the handle 48 provided on the mirror body portion 12 is operated, the push button member 134 is appropriately pressed by the switch operating body 72, and is similar to the switches 82 and 84 incorporated in the composite switch described above. In addition to performing the switch operation, by strongly pressing the push button member 134, the movement of the release operation of the electromagnetic lock 60 in the corresponding direction is released, and the mirror unit 12 can be moved lightly and largely in that direction. it can.

In this embodiment, a head-mounted point indicating device 1 as shown in FIGS. 14 and 15 is used. In describing this, the description of the same configuration as that of the first embodiment may be omitted.

As shown in FIG. 14, the pointing device 1 of this embodiment uses a headband 141 to
6 is mounted on the head. In addition, half mirror 1 inside
The operator 116 is provided with the half mirror 14.
The operative part 120, which can directly observe the outside through 0, can be directly observed. Further, an ultrasonic oscillator 98 is attached similarly to the first embodiment.
The point instruction switch 100 is not provided, and is replaced with a foot switch 150 described later.

FIG. 15 shows the vicinity of the observation eye 143 of the operator 116 in the point pointing device 1 and the half mirror 1.
3 schematically shows a configuration of a portion behind 40.
That is, the infrared light emitting unit 145 is disposed near the observation eye 143 of the operator 116, and the infrared spot light generated by the infrared light emitting unit 145 directly enters the observation eye 143 of the operator 116, The reflected infrared spot light from the observation eye 143 is passed through the dichroic filter 147 to the convex lens 149.
To reach. The dichroic filter 147 selectively passes infrared rays.

Further, the convex lens 149 condenses the infrared spot light that has passed therethrough and shines on a self-scanning image sensor (not shown) of the camera circuit unit 151 as a small real image of the infrared spot light. Generate. That is, the infrared light emitting section 145, the dichroic filter 147, the convex lens 149, and the camera circuit section 151 constitute an eye camera. The bright spot is the observation eye 143 of the operator 116.
The camera circuit unit 151 captures an image of a luminescent spot (gaze point) corresponding to the direction of the sight line, and outputs a video signal and a signal for generating coordinates to the luminescent spot coordinate detection unit 153.
To supply.

The bright point coordinate detecting section 153 extracts the coordinate value of the bright point in the camera circuit section 151 from the supplied signal. Further, the coordinate value of the bright point is converted into a coordinate value in the direction of the line of sight and supplied to the microcomputer 155. Microcomputer 155
Is based on the coordinate data, and a distance measuring unit 157 to be described later is used.
The driving unit 131 of the semi-fixed mirror 159 is controlled.

The distance measuring unit 1 in the point pointing device 1
57 is configured as follows. That is, a mirror 161 is provided on the object side portion of the point pointing device 1 at a predetermined base line distance from the half mirror 140, and light incident from the field of view is reflected by the half mirror 140 and the mirror 161. The incident light reflected by the half mirror 140 is reflected by the above-mentioned semi-fixed mirror 159, and the incident light reflected by the mirror 161 is reflected by the vibrating mirror 163, and respectively corresponds via the prism 165 and the lenses 169 and 171. Light is incident on light receiving sections (light receiving element arrays) 173 and 175. Here, the semi-fixed mirror 159 is basically set in accordance with the center axis direction of the finder.

Therefore, the distance measuring unit 157 moves the vibrating mirror 163 so that the images that are incident on the two light receiving units 173 and 175 and form an image coincide with each other. Vibrating mirror 1 at this time
From the rotation angle of 63 and the base line distance, the distance to the observation operation part is obtained.

On the other hand, if the line of sight of the surgeon 116 is deviated from the direction of the center axis of the finder, the driving unit 131 of the semi-fixed mirror 159 is actuated accordingly to rotate the semi-fixed mirror 159 and correct it. I do. As a result, a distance measurement operation that matches the line of sight of the operator 116 is performed. That is, the distance to the operative site that the operator 116 is actually looking at is determined. Further, the line of sight of the operator 116 deviated from the center axis direction of the finder is also obtained. Therefore, the point indicating device 1 of the present embodiment can determine the line-of-sight direction of the operation section 120 that the operator 116 is actually looking at and the distance from the observation eye.

Further, the mirror portion used in the present embodiment is configured so that the focal length of the objective lens can be changed electrically by a motor (not shown) provided with an encoder (not shown). In addition, the observation point of the eyepiece is moved from the end of the eyepiece to the point pointing device 1.
Are set at a distance apart by the thickness of.

FIG. 16 is a block diagram of a control circuit applied to the present embodiment. The same components as those in the first embodiment are denoted by the same reference numerals and description thereof is omitted. . The first to fourth switches 124, 130, 132, 136 operated by the movement of the handle 48 are the first switches.
A first driver circuit 108 similar to that of the first embodiment via a selector circuit 102 for selecting either an input signal due to the switch operation of the above or an input signal from an arithmetic circuit 106 described later. It is connected. A motor 66 is connected to the selector circuit 102 via a third driver circuit 142 in order to change the focal length of the objective lens 44 (see FIG. 1) of the mirror unit 12.

When the moving distance is instructed to the third driver circuit 142, the rotary encoder 1 having a function of detecting the driving amount of the objective lens moving motor 144 is provided.
46 is connected to the third driver circuit 142.

In the present embodiment, the position of the observation eye 143 of the operator 116 and the operation
Observation position detection circuit 14 for detecting a distance between zero and zero
The observation position signal output from the observation position detection circuit 148 is input to the arithmetic circuit 106. The arithmetic circuit 106 calculates the observation position signal and the coordinate detection circuit 1
The rotation amount and the rotation direction of the plurality of motors 66, 144 are calculated based on the detection signal output from the detection circuit 04, and the calculation result signal is output to the selector circuit 102.

On the other hand, the foot switch 150 used as a substitute for the point indicating switch is connected to the first switch circuit 110.
10 is a selector circuit 102, an observation position detection circuit 148
And a function of controlling the operation of the coordinate detection circuit 104.

The first to fourth switches 124, 124
130, 132, and 136 are connected to an OR circuit 152. The OR circuit 152 is connected to a second one of the first to fourth switches 124, 130, 132, and 136.
Has a function of detecting which switch has been operated in order to transmit an input signal due to the switch operation of. Such an OR circuit 152 is connected to the second switch circuit 112.

Next, the operation of the surgical microscope according to the present embodiment will be described with reference to FIGS. At the start of the operation, when positioning the mirror unit 12 (see FIG. 1) at an optimal position when observing the operation unit 120, the operator 116 first mounts the point indicating device 1 on the head thereof (FIG. 14). reference). Then, the surgeon 116 turns on the foot switch 150 in a state where the operation section 120 can be observed via the point indicating device 1.

The first switch circuit 110 which has received the ON signal of the foot switch 150 is connected to the selector circuit 10.
2 to control the switches 124, 130, 132, 13
While the electrical connection between the first driver circuit 108 and the first driver circuit 108 is cut off, the arithmetic circuit 106 is electrically connected to the first driver circuit 108. And at the same time,
The coordinate detection circuit 104 and the observation position detection circuit 148 are operated.

The coordinate detecting circuit 104 detects the position of the operator 1 with respect to the position of the mirror 12 based on a signal input from the ultrasonic position sensor 98 via the ultrasonic receiving section 50 (see FIG. 1).
The coordinate detection circuit 104 is operated to detect the positions of the 16 observation eyes as coordinates. The detection signal is sent to the arithmetic circuit 10
6 is output.

The observation position detection circuit 148 detects the position of the operation section 120 with respect to the line of sight of the operator 116 and outputs a detection signal to the arithmetic circuit 106.

The arithmetic circuit 106 calculates the rotation amount and the rotation direction of the corresponding motor 66 based on the input detection signal, and sends the calculation result signal to the first driver circuit 108 via the selector circuit 102. Output.

The first driver circuit 108 includes the arithmetic circuit 1
A predetermined motor 66 is driven and controlled based on the calculation result signal output from 06 to move the mirror 12 by a predetermined amount in a predetermined direction.

More specifically, the observation optical axis of the mirror unit 12 coincides with the line connecting the eye position of the surgeon 116 and the operation unit 120 when the foot switch 150 is turned on, and the point indicating device 1 The arithmetic circuit 106 calculates the rotation amount and the rotation direction of the motor 66 based on the input detection signal so that the eyepiece of the lens unit 12 comes immediately before the operation, and outputs the calculation result signal to the selector. The signal is output to the first driver circuit 108 via the circuit 102.

At the same time, the arithmetic circuit 106 calculates the amount and direction of movement of the motor 144 for moving the objective lens to a position where the operating section 120 should be focused after the mirror section 12 has moved, and inputs this. The signal is converted into a signal and sent to the third driver circuit 142 via the selector circuit 102. Then, based on the calculation result signal, the motor 1
44 is driven and controlled. As a result, the position of the mirror unit 12 is controlled, and the objective lens 44 is focused on the operation unit 120.

At this time, the electromagnetic lock 60 (FIG. 6)
Since no voltage is applied to the reference position (see FIG. 1), the position control mechanism 8 and the angle control mechanism 10 (see FIGS. 1 and 2) operate in accordance with the driving of the predetermined motor 66.

When the mirror unit 12 is positioned at a predetermined position, a signal is input from the rotary encoder 68 to the first driver circuit 108, and the motor 66 is driven by a drive amount corresponding to the input signal. To inform.

At this time, the first driver circuit 108
The motor 66 is stopped. In synchronization with this, the switches 124, 130, 13
The electrical connection state between the second driver circuit 136 and the first driver circuit 108 is restored.

After such a process, the observation optical axis of the mirror section 12 coincides with the line connecting the eye position of the surgeon 116 and the operation section 120 when the foot switch 150 is turned on. . In addition, the eyepiece 46 is used to
When the foot switch 150 is turned on, the camera is positioned immediately before the point pointing device 1 when the focus is brought to a state where the focus is adjusted to 0. Therefore, at this time, the operation can be started immediately.

Next, when the mirror body 12 is delicately moved after the operation is started, the surgeon 116 holds the handle 48 and applies a weak force in a direction in which the mirror body 12 is to be moved. Then, the first switch operation as described above is performed, and thereafter, the operation according to the first embodiment can be performed.

When the mirror body 12 is largely moved during the operation, the operator 116 holds the handle 48 and
A strong force is applied in a direction in which the mirror unit 12 is to be moved. Then, the second switch operation as described above is performed, and the OR circuit 152 receiving this signal switches the second switch circuit 1
A signal is input to the second unit 12 and the second driver circuit 114 is driven to unlock the electromagnetic lock 60, so that the mirror unit 12 can be moved lightly in a large desired direction.

As described above, according to the present embodiment, the operator 116
Can control the movement of the mirror body unit 12 without using the hand at all through the point indicating device 1 mounted on the head and by merely sending a line of sight to the operation unit 120.
Since the focusing can be performed automatically, a surgical microscope with more operability can be provided.

Further, in the surgical microscope according to the present embodiment, it is possible to arbitrarily move the mirror unit 12 in a desired direction only by changing the force acting on the handle 48 and changing the direction of the force.

Hereinafter, an operation microscope according to a third embodiment of the present invention will be described with reference to FIG. In the description of the present embodiment, the same components as those of the above-described embodiment are denoted by the same reference numerals, and description thereof will be omitted.

As shown in FIG. 17, the operating microscope according to the present embodiment has a mirror 12 capable of observing the operation section 120 (see FIGS. 11 and 12) at a predetermined magnification, and the mirror 12 has A monitor 154 for displaying the image being observed,
The mirror unit 12 and the monitor 154 are connected to the ceiling 15 via the corresponding position control mechanism 8 and angle control mechanism 10, respectively.
Hanging from 6.

Note that an image pickup device 158 is built in the mirror unit 12, and an image photographed by the image pickup device 158 is transmitted to the monitor 154 as an image signal,
It is configured to be displayed on the monitor 154.
The monitor 154 is provided with a monitoring ultrasonic receiving unit 160 having the same function as the ultrasonic receiving unit 50.

The operating microscope according to the present embodiment can be used in combination with the point indicating device 1 applied to the first embodiment or the head mounted point indicating device 1 applied to the second embodiment. The body part 12 and the monitor 154 can be arranged at desired positions and angles. Note that other configurations and operations are the same as those of the above-described embodiment, and thus the description thereof is omitted.

According to this embodiment, the mirror unit 12 and the monitor 1
By providing the monitor 54 and the monitor 54 separately, it is possible to control only the monitor 154 to an arbitrary position and an arbitrary angle. To be free for 12 positions,
Surgery can be performed in an easy posture, and an image of the operation section 120 can be smoothly and easily presented to a third party. For this reason, the operation can be speeded up and smoothed.

Further, in the angle control mechanism 10 of the first embodiment and the tilt drive mechanism as shown in FIG.
For example, as the planar operation portion 120 is gradually tilted from the state of being observed from directly above, a problem arises that the visual field appears to move gradually and quickly. However, FIG.
If a mechanism as shown in FIG. 8 is used, this can be removed. That is, without directly meshing the worm 226 and the worm wheel 227, the rotating arm 230 is attached to the rotating shaft 228, and the tip of the rotating arm 230 is screwed into the worm 226 and the long hole 2
32 and a pin member 231 having a pin 233. As a result, it is possible to display on the monitor 154 such that the field of view moves at a constant speed, and high-precision observation of the operation section 120 is enabled.

[0098]

As described above, according to the present invention, in an operating microscope, it is possible to quickly and automatically position an observation means to a predetermined position by a simple and easy operation. .

[Brief description of the drawings]

FIG. 1 is a side view schematically showing a configuration of a surgical microscope according to a first embodiment of the present invention.

FIG. 2 is a plan view schematically showing the configuration of the surgical microscope according to the first embodiment of the present invention.

FIG. 3 is a schematic diagram of a position moving mechanism of a mirror unit in the operating microscope according to the first embodiment of the present invention.

FIG. 4 is a cross-sectional view of a movable drive unit of the angle control mechanism in the surgical microscope according to the first embodiment of the present invention.

FIG. 5 is a sectional view schematically showing a configuration of a movement control mechanism applied to the surgical microscope shown in FIGS. 1 and 2;

FIG. 6 is a sectional view schematically showing a configuration of a drive system for driving the angle control mechanism and the movement control mechanism.

FIG. 7 is a partial cross-sectional view schematically showing a configuration of a handle applied to the surgical microscope shown in FIGS. 1 and 2;

8A is a sectional view taken along line FF in FIG. 7;
(B) is sectional drawing which follows the GG line of FIG.

FIG. 9 is a cross-sectional view schematically showing a configuration of a point pointing device applied to the surgical microscope shown in FIGS. 1 and 2;

FIG. 10 is a block diagram of a control circuit applied to the surgical microscope shown in FIGS. 1 and 2;

FIG. 11 is a diagram showing a state where the pointing device shown in FIG. 9 is arranged with respect to an operation site;

FIG. 12 is a diagram showing a state in which the mirror unit shown in FIG. 1 is arranged with respect to an operation site;

FIG. 13 is a sectional view schematically showing a configuration of a switch mechanism applied to an operation microscope according to a second embodiment of the present invention.

FIG. 14 is a diagram showing a state in which a head-mounted point indicating device applied to a surgical microscope according to a second embodiment of the present invention is mounted on the head of an operator.

FIG. 15 is a schematic configuration diagram of a head-mounted point indicating device applied to a surgical microscope according to a second embodiment of the present invention.

FIG. 16 is a block diagram of a control circuit applied to a surgical microscope according to a second embodiment of the present invention.

FIG. 17 is a view schematically showing a configuration of a surgical microscope according to a third embodiment of the present invention.

FIG. 18 is a sectional view showing a modification of the angle movement drive mechanism.

FIG. 19 is a front view of a general position moving mechanism.

FIG. 20 is a sectional view of an angle movement drive mechanism in a general position movement mechanism.

FIG. 21 is a sectional view showing an arrangement position of a mirror unit in a conventional microscope.

[Explanation of symbols]

8 position control mechanism, 10 angle control mechanism, 12 mirror unit, 48 handle, 50 ultrasonic receiver.

Continuation of the front page (58) Field surveyed (Int. Cl. ⁷ , DB name) G02B 19/00-21/00 G02B 21/04-21/36 A61B 19/00

Claims (1)

(57) [Claims] 1. An operating microscope in which an operation section can be observed at an arbitrary magnification and an observation means having a predetermined observation optical axis can be moved three-dimensionally. Coordinate detection means for detecting a current position of the observation means and a relative coordinate of a current observation direction with respect to a predetermined position and a predetermined direction in which the observation optical axis is to be directed to the surgical site at the predetermined position; Calculating means for arranging the observation means at the predetermined position and calculating a moving direction and an amount of the movement for orienting the observation means in the predetermined direction based on a detection result by the coordinate detecting means; Movement control means for moving the observation means to the scheduled position based on the result, and for orienting the observation direction of the observation means in the planned observation direction, and the observation means Is provided separately, and instructing means for instructing in advance the scheduled position at which the observation means is to be arranged and the scheduled direction at which the observation optical axis is to be directed to the surgical site at the scheduled position. Outputting, to the coordinate detecting means, the scheduled position at which the observing means instructed by the instructing means is to be arranged and the scheduled information relating to the scheduled direction at which the observing optical axis is to be directed to the surgical site at the scheduled position. An operation microscope, comprising: information output means provided in the instruction means.