JP4036867B2 - Surgical microscope - Google Patents

Description

  The present invention relates to a surgical microscope used in micro site surgery, particularly neurosurgery.

  In recent years, with the development of surgical techniques and surgical instruments, microsurgery, so-called microsurgery, has been frequently performed. Especially in neurosurgery, it is required to change the observation position and direction frequently. Therefore, there is a need for a pedestal that allows the operator to move and fix the lens body to a desired position angle quickly and reliably with a light force. Yes. A counter balance type gantry having a tilting mechanism and a balanced moving mechanism that can offset the weight and rotational moment of the mirror body part with a balance weight, and can tilt, move up and down, and horizontally with a small amount of force. It is disclosed as Patent Document 1.

  In this counterbalance type pedestal, if the position of a heavy object connected to the mirror unit, specifically, the position of the assistant's side endoscope, is changed, the center of gravity of the mirror unit will shift and the balance will not be balanced. Adjustment is required. As this balance adjustment method, for example, Patent Literature 2 discloses.

In addition, as a method for adjusting the balance by moving the center of gravity of the mirror body part in general, for example, Patent Document 3 discloses.
Japanese Patent Publication No.53-23168 Japanese Patent Laid-Open No. 56-20448 Japanese Examined Patent Publication No. 7-47998

  However, in the balance adjustment disclosed in Patent Document 2, the parallel crank mechanism is moved, the level bubble is set at the center, the adjustment screw is loosened to release the ball joint, and the center of gravity of the microscope is set. After hanging vertically, the work to fix the ball joint with the adjusting screw must be performed again. During the operation, the operation microscope is in a state of being sterilized and sterilized, and a patient is present under the microscope, so that this operation is very difficult to perform. Actually, even if the balance was lost during the operation, it had to be used as it was without adjustment, which required great force to move the microscope, leading to operator fatigue.

  In addition, it has been proposed to adjust the balance related to the tilt of the microscope by rotating the adjustment screw and moving the microscope in the vertical direction. However, the provision of an adjustment mechanism that moves the microscope in the vertical direction leads to an increase in weight and the microscope. This increases the power to move the. Furthermore, since the number of adjustment points increases, the adjustment work becomes cumbersome. If the balance is not adjusted properly by the user, the microscope will naturally move in the direction unintended by the operator when attempting to move the microscope during surgery. It was difficult to operate.

  Further, in Patent Document 3, the balance adjustment is a method in which a member rotating around each rotation axis is moved in parallel so that the center of gravity coincides with the rotation axis. In this method, since the displacement amount of the adjustment portion and the displacement amount of the center of gravity are the same, the adjustment mechanism portion becomes large. If there are large protrusions around the microscope during the operation, the operator's hand will hit or the visual field will be obstructed when the naked eye is directly observing the surgical site or the surrounding area, allowing efficient operation. Therefore, there is a problem that the operation time becomes long.

  The present invention has been made paying attention to the above circumstances, and the object of the present invention is to construct a visual field moving means that can be driven around two inclined axes, so that observation can be performed regardless of the position and posture of the mirror body. It is an object of the present invention to provide a surgical microscope that can be driven in a substantially XY plane with respect to a surface.

In order to achieve the above object, the present invention includes a mirror body 26, an inclination axis A7 for inclining the mirror body 26 in the X-axis direction, and an inclination axis A9 for inclining in the Y-axis direction. In addition, the mirror support mechanism 25 having at least one parallel link mechanism that is supported so as to be pivotable around one pivot axis A8, and the weights of the mirror body 26 and the mirror support mechanism 25 are offset vertically and horizontally. In the surgical microscope provided with the balanced movement mechanism 4 to be moved, an inclination axis A7 is provided on the base end side of the mirror support mechanism 25 and tilts the mirror support mechanism 25 in the X-axis direction and the Y-axis direction. The X-axis motor 49x and the Y-axis motor 49 which can be driven around A9, the input means 10 having first and second input parts for operating and driving the X-axis motor 49x and the Y-axis motor 49 , In the X-axis and Y-axis directions Provided on the axis of the tilt axis A7, A9 to oblique, the X-axis electromagnetic brake 43x and Y-axis electromagnetic brake 43 for fixing and releasing of the tilting axis A7, A9, is inclined in the X-axis and Y-axis directions An X-axis electromagnetic clutch provided on the axes of the tilt axes A7 and A9 and capable of transmitting power from the X-axis motor 49x and the Y-axis motor 49 to the tilt axes A7 and A9 that tilt in the X-axis direction and the Y-axis direction. and 47x and the Y-axis electromagnetic clutch 47, when the operator is placed in portrait or transverse the input means 10, whether the installation direction of the input means 10 for the operator is horizontally or is vertically an installation orientation setting means for setting the X-axis motor 49x based on an input signal from the input means 10, Y-axis motor 49, the X-axis electromagnetic brake 43x, Y-axis electromagnetic brake 43 and the X Electromagnetic clutch 47x, with drives and controls the Y-axis electromagnetic clutch 47, the installation direction according to the set installed orientation by setting means, the second with driving the X-axis motor 49x by an input of the first input unit Control for driving the Y-axis motor 49 by input from the input unit, and control for driving the Y-axis motor 49 by input from the first input unit and driving the X-axis motor 49x by input from the second input unit Drive control units 150 and 155 for selectively switching between and.

  According to the configuration of the first aspect, by configuring the visual field moving means that can be driven around the two tilt axes, it is possible to drive the XY plane with respect to the observation surface regardless of the position and orientation of the mirror body.

  According to the configuration of the second aspect, it is possible to recognize the direction to be driven with reference to the microscope observation field of view, and it is possible to drive in that direction.

  According to the configuration of the third aspect, even if the input means is installed in accordance with the operator's preference, the microscope observation visual field can be moved in a desired direction by an operation input based on the operator.

  According to the fourth aspect of the present invention, since the shaft fixing unit operates after the inclined shaft is held by the power transmission unit, the power transmission unit and the shaft fixing unit are not released simultaneously. In other words, since the tilt axis is not opened, the mirror body moves unexpectedly even in an unbalanced state, and the visual field is not lost, and the operation is not hindered.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  1 to 5 show a first embodiment. In FIG. 1, reference numeral 1 denotes a base of a surgical microscope that can move in an operating room, and a support 2 is erected on the base 1. The support column 2 is provided with a link seat 3 supported so as to be rotatable about the vertical axis A1 with respect to the support column 2.

  The link seat 3 is provided with a first parallelogram link 4. The first parallelogram link 4 rotates around the axes A2, A3, A4, and A5 that are perpendicular to the vertical axis A1 and parallel to each other at the ends of the plurality of links 5, 6, 7, and 8, respectively. It is connected freely and is supported by the link seat 3 so as to be rotatable around an axis A6 parallel to the axis A2.

  Further, the weight of a mirror body 26, a body connecting arm 25, a first parallelogram link 4 and a second parallelogram link 15 to be described later are provided at the ends of the links 7 constituting the first parallelogram link 4. An equilibrium weight 31 is provided to cancel the rotational moment due to the above and maintain an equilibrium state.

  The support column 2 is provided with a control box 9 having a built-in electrical system, and the control box 9 is connected to a foot switch 10 capable of operating an electric visual field movement described later.

  Further, an electromagnetic brake 11 capable of locking the rotation of the link seat 3 around the vertical axis A <b> 1 with respect to the column 2 is provided at the tip of the column 2, and the link 6 is rotated around the vertical axis A <b> 6 with respect to the link seat 3. The link 7 is provided with an electromagnetic brake 13 that can lock the rotation about the axis A5 with respect to the link 6.

  A second parallelogram link 15 is provided on the link 5 constituting the first parallelogram link 4. The second parallelogram link 15 rotates around a plurality of links 16, 17, 18, 19, 20, and 21 at their respective ends and at an intermediate point between the links 18 and 19 around an axis perpendicular to the paper surface. It is configured by connecting freely.

  The second parallelogram link 15 can be rotated around the axis A7 with respect to the first parallelogram link 4 and can be fixed by an electromagnetic brake (described later) built in a housing 14 installed in the link 5. Has been. An electric visual field moving mechanism in the X + to X− directions in FIG. 1 is built in the housing 14. Further, the second parallelogram link 15 supports a later-described mirror connecting arm 25 with respect to the link 21 so as to be rotatable about the turning axis A8 and to be fixed by an electromagnetic brake 29.

  Further, the link 17 constituting the second parallelogram link 15 has an electromagnetic brake (to be described later) that can lock the rotation of the link 18 with respect to the link 17 and an electric field of view movement to be described later in the Y + to Y- directions in FIG. A housing 22 incorporating the mechanism is provided.

  In the present embodiment, the second parallelogram link 15 constitutes a mirror body support mechanism, and the first parallelogram link 4 constitutes an equilibrium movement mechanism.

  A mirror body 26 is supported below the mirror body connecting arm 25. Further, a point C in FIG. 1 indicates a combined center of gravity of the member that rotates about the turning axis A8, that is, the mirror body 26 and the mirror body connecting arm 25. The point C can be adjusted by the mirror connecting arm 25 described later so that the point C always coincides with the turning axis A8, that is, is in an equilibrium state with respect to the turning axis A8.

  The mirror body 26 is provided with a grip 27 held by an operator, and the grip 27 is provided with a switch 28. The switch 28 is connected to a control unit in the control box 9. Further, the observation body 30 for the assistant is provided in the body 26, and the position angle of the observation body 30 can be changed with respect to the body 26 during the operation.

  Next, a detailed configuration of the Y + to Y− direction electric visual field moving mechanism built in the housing 22 shown in FIG. 1 will be described with reference to FIG. 2. FIG. 2 is a cross-sectional view taken along the axis A9 as seen from the direction of arrow B in FIG.

  A rotation shaft 40 is fixed to the link 18 constituting the second parallelogram link 15, and the rotation shaft 40 is supported by bearings 41a and 41b so as to be rotatable coaxially with the axis A9 with respect to the link 17. A housing 22 is fixed to the link 17.

  A flange 40 a is provided integrally with the rotary shaft 40, and a non-excited operation type Y-axis electromagnetic brake 43 is provided between the flange 40 a and the link 17 at the base end portion of the rotary shaft 40. The Y-axis electromagnetic brake 43 includes an armature 43b connected to the flange 40a of the rotary shaft 40 via a leaf spring 43a so as to be movable only in the direction of the axis A9, and a permanent magnet (not shown). The stator 43c is configured to attract and fix 43b, cancel the magnetic force of the permanent magnet by a magnetic field generated by an internal coil (not shown) when energized, and release the attraction of the armature 43b.

  Further, a narrow diameter portion 40b is formed at the tip of the rotary shaft 40, and a gear ring 44 is supported on the small diameter portion 40b so as to be rotatable around an axis A9 by bearings 45a and 45b. A spur gear 44 a is formed at the left end of the gear ring 44, and movement in the direction of the axis A <b> 9 is restricted by the ring 46.

  A Y-axis electromagnetic clutch 47 is provided inside the housing 22 fixed to the link 17. The Y-axis electromagnetic clutch 47 includes a rotor 47a that is integrally fixed to the rotary shaft 40 by a key 48 that is press-fitted into the notch groove 40c of the rotary shaft 40, and a shaft spring 47b that is connected to the gear ring 44 via a leaf spring 47b. The armature 47c is movably connected only in the A9 direction, and the stator 47d is integrally attracted and fixed to the rotor 47a by a magnetic field generated by an internal coil (not shown) only when energized.

  Further, a Y-axis motor 49 having an encoder 51 is fixed inside the housing 22. A spur gear 50 that meshes with the spur gear 44 a of the gear ring 44 is fixed to the output shaft 49 a of the Y-axis motor 49.

  The aforementioned Y-axis electromagnetic brake 43, Y-axis electromagnetic clutch 47, and Y-axis motor 49 are connected to drive circuits in the control box 9, respectively. The configuration of the X + to X− direction electric visual field moving mechanism built in the housing 14 in FIG. 1 is the same as that of the Y + to Y− direction described above, and the description is omitted by adding x after the number. .

  Next, a detailed configuration of the mirror connecting arm 25 will be described with reference to FIG. In the present embodiment, the mirror connecting arm 25 forms a slider crank mechanism 59.

  A first arm 60 is provided on the link 21 constituting the second parallelogram link 15 so as to be pivotable about the turning axis A8. The first arm 60 is provided with an L-shaped second arm 61 connected to be rotatable about an axis A10 orthogonal to the turning axis A8. The second arm 61 is provided with a third arm 62 rotatably connected about an axis A11 orthogonal to the pivot axis A8 and the axis A10, and the mirror body 26 is supported on the third arm 62. . In the figure, point D indicates the intersection of the pivot axis A8, the axis A10, and the axis A11.

  A first groove 61a extending in a direction perpendicular to the axis A10 is formed in the second arm 61, and a first slide block 63 that is movable only in the longitudinal direction is fitted into the first groove 61a. The first slide block 63 is supported by the second arm 61 so as to be rotatable about the axis A12 and is screwed with a screw 64 that is restricted from moving in the axial direction of the axis A12. Are provided integrally.

  A second groove 61b extending in a direction parallel to the axis A10 is formed in the second arm 61, and a second slide block 63a that is movable only in the longitudinal direction is fitted into the second groove 61b. Similar to the first slide block 63, the second slide block 63a is screwed with a screw 64a, and a handle 65a is integrally provided on the screw 64a.

  Further, between the first arm 60 and the first slide block 63, a connecting link 66 that is rotatable around an axis A13 and an axis A14 parallel to the axis A10 is connected. A connection link 66a is connected between the third arm 62 and the second slide block 63a.

  Further, in FIG. 1, the combined center of gravity E of the members rotating around the axis A7 (second parallelogram link 15, mirror connecting arm 25, mirror 26) is always on the axis A7 or below the axis A7. The first arm 60 of the mirror body connecting arm 25 is configured to be positioned.

  Next, the operation of the first embodiment will be described. When the operator presses the switch 28 of the grip 27, an operation signal is input from the switch 28 to the control unit, and the six electromagnetic brakes 11, 12, 13, 29 and the Y-axis electromagnetic brakes 43, X in the housings 14, 22 are input. The shaft electromagnetic brake 43x is energized, the lock around each shaft is released, and the operator can move the mirror body 26 to an arbitrary position and angle.

  Here, if the position of the assistant's observation lens barrel 30 is changed, the center of gravity C will be displaced from the turning axis A8. Therefore, it is necessary to adjust the body connecting arm 25 to make the center of gravity C coincide with the turning axis A8 again. There is. The operation will be described with reference to FIGS. 3, 4A and 4B.

  First, when the handle 65 is rotated in one direction, the first slide block 63 moves along the first groove 61 a of the second arm 61. That is, the mirror body 26 is moved in the left-right direction around the axis A10 by deformation of a triangular link formed by the first arm 60, the second arm 61, and the connecting link 66 connected by the axes A10, A13, A14. It is possible.

  Next, when the handle 65a is rotated, the mirror body about the axis A11 is deformed by the deformation of the triangular link formed by the second arm 61, the third arm 62, and the connecting link 66a by the same action as in the left-right direction described above. 26 can be moved in an arc.

  By combining the movement of the mirror body 26 in the X direction and the Y direction, it is possible to make the combined center of gravity C of the mirror body 26 and the mirror connection arm 25 coincide on the turning axis A8. At that time, when the center of gravity C is made coincident with the turning axis A8, the combined center of gravity E of the members (second parallelogram link 15, mirror body connecting arm 25, mirror body 26) rotating around the axis A7 is obtained. Since it is always positioned above the axis A7 or below the axis A7, the switch 28 of the grip 27 is pushed to release the fixing of the Y-axis electromagnetic brake 43, and the mirror body 26 is connected to the second parallelogram link 15. When the body 26 is inclined in the left-right direction around the axis A7, the body 26 always receives a force in a direction to restore the inclination in the state shown in FIG. 1 (direction in which the body 26 is suspended downward). It does not move naturally in the direction that the surgeon does not intend.

  Also in the front-rear direction, the combined center E of the mirror 26, the mirror connecting arm 25, and the second parallelogram link 15 is located below the axis A7, that is, below the axis A9. Therefore, when the Y-axis electromagnetic brake 43 is released from the fixed state as in the left-right direction, the mirror 26 always applies a force in a direction to restore the inclination to the state shown in FIG. 1 (the direction in which the mirror 26 hangs downward). Therefore, it does not move spontaneously in the direction that the surgeon does not intend during surgery.

Next, the operation of the electric visual field moving mechanism capable of moving the visual field without using a hand with a foot switch will be described with reference to FIGS. FIG. 2 shows a state in which the rotation of the arm 18 around the axis A9 is fixed by the Y-axis electromagnetic brake 43 and the electric visual field moving mechanism is not input.

  When an electric field of view movement is input in the front-rear direction Y + to Y− as viewed from the operator by the foot switch 10, an operation signal is input to the control unit, and the control unit outputs a drive signal to the Y-axis electromagnetic clutch 47. To do. The Y-axis electromagnetic clutch 47 receives this output signal, energizes a coil (not shown) in the stator 47d, and adsorbs the armature 47c to the rotor 47a against the force of the leaf spring 47b. As a result, the gear ring 44 is integrated with the rotary shaft 40 via the leaf spring 47b, the armature 47c, the rotor 47a, and the key 48, and can rotate about the axis A9.

  Next, the control unit outputs a drive signal to the Y-axis electromagnetic brake 43. The Y-axis electromagnetic brake 43 receives this output signal, energizes a coil (not shown) in the stator 43c, and separates the armature 43b attracted by a permanent magnet (not shown) from the stator 43c by the force of the leaf spring 43a. As a result, the rotary shaft 40 can rotate with respect to the link 17 via the bearings 41a and 41b.

  Subsequently, the control unit outputs a drive signal to the Y-axis motor 49, rotates the Y-axis motor 49, and the gear ring 44 is rotated by the meshing of the spur gear 44a formed on the spur gear 49 and the gear ring 44. By rotating the Y-axis motor 49 by these actions, the link 18 rotates about the axis A9 with respect to the link 17. By rotating the link 18, the mirror body 26 is inclined in the Y + to Y− directions by the action of the second parallelogram link 15 shown in FIG. As seen from the surgeon, the X + to X-direction is the same as the Y + to Y-direction because the second parallelogram link 15 can rotate about the axis A7 and the visual field can be moved. Description is omitted.

  In this embodiment, the balance adjustment of the mirror connecting arm 25 can be tilted in the front-rear and left-right directions around the intersection D of the rotation axes A8, A10, A11. Since the balance is not lost, adjustment work can be performed easily and reliably, and the effect is that the surgeon's fatigue is reduced and the operation time is shortened.

  6 and 7 show a second embodiment. Since this embodiment is different from the first embodiment only in the lens connecting arm 90, only the lens connecting arm 90 will be described. A first arm 80 supported so as to be rotatable around a turning axis A8 with respect to the link 21 in the first embodiment, and rotated in the left-right direction around an axis A10 orthogonal to the turning axis A8 with respect to the first arm 80. An L-shaped second arm 81 that is movably connected, and a third arm 82 that is connected to the second arm 81 so as to be pivotable in the front-rear direction around an axis A11 orthogonal to the pivot axis A8 and the axis A10. Thus, the mirror body 26 is supported below the mirror body connecting arm 90. In the figure, the point D indicates the intersection of the turning axis A8, the axes A10, and A11. Point C indicates the combined center of gravity of the member rotating around the turning axis A8, that is, the mirror body 26 and the mirror body connecting arm 90.

  The second arm 81 is provided with a handle 83, and the third arm 82 is provided with a handle 84. A worm wheel 85 is provided inside the second arm 81, which is integrally formed coaxially with the axis A9 by a key 87 on a rotary shaft 86 that is integrally fixed to the first arm 80 coaxially with the axis A10. It is fixed.

  The handle 83 is provided with a worm 88 that meshes with the worm wheel 85. The worm 88 is supported by the second arm 81 so as to be rotatable around the axis A20 and restricted in movement in the axial direction of the axis A20. In addition, in the connection part of the 2nd arm 81 and the 3rd arm 82, the structure of the inclination mechanism part rotated in the front-back direction around the axis | shaft A11 is the same as that of the above-mentioned left-right direction, and description is abbreviate | omitted.

  Next, the operation of this embodiment will be described. When the position of the combined center of gravity C of the body 26 and the body connection arm 90 deviates from the turning axis A8 during the operation, the center of gravity is adjusted independently in the front-rear direction and the left-right direction as in the first embodiment. I do.

  When the handle 83 is rotated, the worm 88 rotates coaxially with the axis A20. Since the worm wheel 85 meshing with the worm 88 is fixed integrally with the first arm 80 by the rotary shaft 86 and the key 87, the second arm 81 is integrated with the worm 88 and the first arm around the axis A10. Rotate relative to 80. The mirror body 26 moves in the left-right direction integrally with the third arm 82 by the rotation of the second arm 81.

  When the handle 84 is rotated, the mirror body 26 can be moved in the front-rear direction integrally with the third arm 82 about the axis A11 with respect to the second arm 81 in the same manner as in the left-right direction described above.

  Therefore, the combined center of gravity C of the mirror body connecting arm 90 and the mirror body 26 can be made to coincide on the axis A8 by the combination of the inclination of the mirror body 26 in the front-rear and left-right directions.

  In the present embodiment, since the tilt mechanism of the mirror body 26 of the mirror body connecting arm 90 is constituted by the worm wheel 85 and the worm 88, the structure is simple and there is an effect that it does not interfere with the operator during surgery.

  FIG. 8 shows a third embodiment, in which the arrangement of the rotation shaft of the mirror connecting arm 100 is changed with respect to the second embodiment. A first arm 101 supported by a link 21 constituting the second parallelogram link 15 so as to be rotatable around a turning axis A8, and rotating around an axis A10 which does not intersect the turning axis A8 at a right angle with respect to the first arm 101. The second arm 102 is movably connected, and below the second arm 102, the mirror body 26 is supported so as to be rotatable about an axis A11 which is perpendicular to the pivot axis A8 and the axis A10 and does not intersect. . Reference numerals 103 and 104 denote handles, which are connected to a worm and a worm wheel mechanism as in the second embodiment. A description of the worm and worm wheel mechanism is omitted.

  Next, the operation of this embodiment will be described. When the position of the combined center of gravity C of the mirror body 26 and the body connecting arm 100 deviates from the turning axis A8 during the operation, the center of gravity is adjusted independently in the front-rear direction and the left-right direction as in the first embodiment. I do.

  That is, when the handle 103 is rotated, the second arm 102 rotates with respect to the first arm 101 about the axis A10. The mirror body 26 is integral with the second arm 102 and tilts in the left-right direction.

  When the handle 104 is rotated, the mirror body 26 is inclined about the axis A11 with respect to the second arm 102, that is, in the front-rear direction. The combined center of gravity C of the mirror body connecting arm 100 and the mirror body 26 can be made to coincide on the turning axis A8 by the combination of the inclination of the mirror body 26 in the front-rear and left-right directions.

  According to the present embodiment, since the pivot axis A8, the axis A10, and the axis A11 are arranged so as not to intersect with each other, the body connection arm 100 can be configured in a shape that does not interfere with the surgeon. Specifically, since the second arm 102 is disposed far away (opposite side) from the operator, the side of the mirror body 26 does not protrude and does not hinder the operation. Further, since the mirror body 26 is directly inclined in the front-rear direction with respect to the second arm 102, the number of components is small and the configuration of the mirror body connecting arm 100 is simple.

  9 to 11 show a fourth embodiment. As described in the first embodiment, the body 26 of the surgical microscope is supported by the body connecting arm 25 and is rotatable about the pivot axis A8. The orientation of the mirror body 26 with respect to the link 21 is detected by a potentiometer 152 as shown in FIG. 9, and the detection signal is input to the drive direction discrimination circuit 150 via the A / D converter 151.

  Further, the operation signals of the foot switch 10 and the grip switch 28 are input to the drive direction discriminating circuit 150 via the interface circuit 154, and the vertical and horizontal orientations of the foot switch 10 are determined from the foot switch setting unit 153. Entered.

  The drive direction discriminating circuit 150 is connected to an arm control circuit 155. The arm control circuit 155 includes electromagnetic brakes 11, 12, 13, 29, a Y-axis electromagnetic brake 43, a Y-axis electromagnetic clutch 47, a Y-axis motor 49, an encoder 51, and the like. Control signals are input to the X-axis electromagnetic brake 43x, the X-axis electromagnetic clutch 47x, the X-axis motor 49x, and the encoder 51x.

  As shown in FIG. 10, the potentiometer 152 detects the positional relationship around the axis A <b> 8 of the mirror body 26 with respect to the link 21. In other words, when 360 ° is divided into 8 portions by 45 ° to obtain the A to H regions, each region is set to perform the same drive in a range of ± 22.5 °.

  FIG. 11 shows an example in which the mirror body 26 is in the area A shown in FIG. 10. (A) shows the case where the foot switch 10 is placed vertically, and (b) shows the foot switch 10 placed horizontally. This is the case. When the foot switch 10 is placed vertically, the four operation units for controlling the moving direction in the observation field are circle numbers 1, 2, 3, and 4 in order of upper, right, lower, and left, and the operator can use the mirror 26. If, for example, the foot switch 10 is operated while the operation unit of the numeral 1 is operated, the Y + direction is turned ON, and a drive signal is input to the arm control circuit 155 via the drive direction determination circuit 150. Therefore, the excitation signal is input to the Y-axis electromagnetic clutch 47 to enter the connected state, and the excitation signal is input to the Y-axis electromagnetic brake 43 from the arm control circuit 155 to enter the brake released state. Further, a drive signal is input to the Y-axis motor 49.

  When a drive signal is input to the X-axis motor 49, the X-axis motor 49 rotates, and the gear ring 44 is rotated by meshing of the spur gear 44a formed on the spur gear 50 and the gear ring 44. Therefore, the rotating shaft 40 rotates and the link 18 rotates around the axis A9 with respect to the link 17. By rotating the link 18, the mirror body 26 is inclined in the Y + direction by the action of the second parallelogram link 15, and the field of view can be moved.

  In addition, when the circle numbers 1 and 2 on the operation unit are operated at the same time, the X + and Y + directions are simultaneously turned ON, and the X-axis motor 49x and the Y-axis motor 49 are simultaneously driven to synthesize the mirror body 26 with the X + and Y + directions. It is possible to move in the designated direction (upper right direction).

In addition, when the foot switch 10 is placed horizontally as shown in (b), the four operation units for operating the moving direction in the observation field of view are circle numbers 4, 1, 2 in the order of top, right, bottom and left. , 3 and the operator operates the foot switch 10 while looking into the mirror body 26, for example, operates the operation portion of the circled numeral 4, the X + direction is turned ON, and the arm control circuit 155 is connected via the drive direction determination circuit 150. A drive signal is input to the. Therefore, an excitation signal is input to the X-axis electromagnetic clutch 47x to enter a connected state, and an excitation signal is input from the arm control circuit 155 to the X-axis electromagnetic brake 43x to enter a brake released state. Further, a drive signal is input to the X-axis motor 49x.

  When a drive signal is input to the X-axis motor 49x, the X-axis motor 49x rotates, and the gear ring 44 rotates due to the engagement between the spur gear 50 and the spur gear 44a formed on the gear ring 44. Therefore, the rotating shaft 40 rotates and the link 18 rotates around the axis A9 with respect to the link 17. The rotation of the link 18 causes the mirror body 26 to tilt in the X + direction by the action of the second parallelogram link 15 so that the visual field can be moved.

  Further, when the circle numbers 1 and 2 on the operation unit are simultaneously operated, the X + and Y− directions are simultaneously turned on, and the X-axis motor 49x and the Y-axis motor 49 are simultaneously driven to move the mirror body 26 in the X + and Y− directions. It is possible to move in the direction (lower right direction) where

  Therefore, the surgeon can move the visual field by tilting the mirror body 26 in an arbitrary direction by operating the operation part of the foot switch 10, and the foot switch 10 can be placed vertically according to the operator's preference. However, even if it is placed horizontally, the operation is the same, and it is not necessary to change the operation direction, and the operability can be improved.

図１２及び図１３は第５の実施形態を示すもので、図１２は電動視野移動機構の制御回路、図１３はタイミングチャートである。第４の実施形態で説明した駆動方向判別回路１５０と接続するアーム制御回路１５５は電磁ブレーキ１１，１２，１３及び２９に接続されている。 In FIG. 11, the case where the positional relationship between the mirror connecting arm 25 and the mirror 26 is the A region has been described, but Table 1 shows the case of the B to H regions.

12 and 13 show the fifth embodiment. FIG. 12 is a control circuit of the electric visual field moving mechanism, and FIG. 13 is a timing chart. The arm control circuit 155 connected to the drive direction discrimination circuit 150 described in the fourth embodiment is connected to the electromagnetic brakes 11, 12, 13 and 29.

  The arm control circuit 155 is connected to a Y-axis motor 49 via a Y-axis motor control circuit 161, and the Y-axis motor 49 is provided with an encoder 51 for inputting a rotation amount to the Y-axis motor control circuit 161. ing.

  Further, the arm control circuit 155 is connected to the Y-axis electromagnetic clutch 47 via the Y-axis clutch control circuit 162 and is provided with a current detection unit 163 to determine whether or not current actually flows. 155 is fed back. In addition, the arm control circuit 155 is connected to the Y-axis electromagnetic brake 43 via the Y-axis brake control circuit 164 and is provided with a current detection unit 165 to determine whether or not current is actually flowing. 155 is fed back.

  The X-axis motor, electromagnetic clutch, and electromagnetic brake are connected to the arm control circuit 155, but are the same as those on the Y-axis side.

  Next, the operation will be described. The Y-axis side and the X-axis side are the same, and the Y-axis side will be described. As shown in FIG. 13, when a drive signal is input, the Y-axis electromagnetic clutch 47 is turned on (connected state), and when the current detection unit 163 detects the clutch current, the Y-axis electromagnetic brake 43 is turned on (released state). It becomes. At the same time as the Y-axis electromagnetic brake 43 is turned ON, the Y-axis motor 49 is turned ON, and the Y-axis motor 49 is driven. Further, when the Y-axis motor 49 is turned off by the drive signal, the Y-axis electromagnetic brake 43 is turned off (fixed state), and when the current detection unit 165 detects that the brake current is cut off, the Y-axis electromagnetic clutch 47 is turned off ( The current detection unit 163 detects that the clutch current is disconnected.

  Thus, by providing the current detection unit 163 that detects the clutch current and the current detection unit 165 that detects the brake current, it is confirmed that the Y-axis electromagnetic clutch 47 is connected, and the Y-axis electromagnetic brake 43 is After confirming that the Y-axis electromagnetic brake 43 is connected, the Y-axis electromagnetic clutch 47 can be released, and the electromagnetic brake and the electromagnetic clutch are not released simultaneously. That is, the mirror body moves unexpectedly even in an unbalanced state, the visual field is not lost, and the operation is not hindered.

  FIG. 14 shows a modification of the fifth embodiment, and shows both the X-axis side and the Y-axis side. This is a case where the X drive signal and the Y drive signal are input from the arm control circuit 155 with a time difference.

  First, when an X drive signal is input, the X-axis electromagnetic clutch 47x is turned on (connected state), and when the current detection unit 163x detects the clutch current, the X-axis electromagnetic brake 43x is turned on (released state). At the same time as the X-axis electromagnetic brake 43x is turned on, the X-axis motor 49x is turned on, and the X-axis motor 49x is driven.

  At the same time, the Y-axis electromagnetic clutch 47 is turned on by the input of the X drive signal, and when the current detection unit 163 detects the clutch current, the Y-axis electromagnetic brake 43 is turned on. When the Y-axis electromagnetic brake 43 is turned on, the current detection unit 165x detects the brake current. Thereafter, when a Y drive signal is input, the Y-axis motor 49 is turned on and the Y-axis motor 49 is driven.

  Further, when the X-axis motor 49x is turned off by the X drive signal, the X-axis motor 49x stops. When the Y-axis motor 49 is stopped by the Y drive signal, the Y-axis electromagnetic brake 43 is turned off (fixed state). When the current detection unit 165 detects that the brake current has been cut off, the Y-axis electromagnetic clutch 47 is turned off (disengaged), and the current detection unit 163 detects that the clutch current has been cut off. At the same time, when the X-axis electromagnetic brake 43x is turned off and the current detection unit 165x detects that the brake current is cut off, the X-axis electromagnetic clutch 47x is turned off and the current detection unit 163x detects that the clutch current is cut off. .

  That is, as in the fourth embodiment, the electromagnetic clutch and the electromagnetic brake are not released simultaneously. Furthermore, even when only the drive signal in the X direction is input, the Y-axis electromagnetic brake and the Y-axis electromagnetic clutch are also operated in the same manner as in the X direction. Therefore, even if the drive in the Y direction is additionally input during the X direction drive. There is no need to newly operate the Y-axis electromagnetic brake and the Y-axis electromagnetic clutch. That is, during the electric visual field movement, the visual field shift and the shaking due to the sound and vibration caused by the operation of the electromagnetic brake and the electromagnetic clutch do not occur, and the electric electric visual field movement can be performed smoothly, and there is no trouble for the operator.

  According to the embodiment described above, the following configuration is obtained.

  (Supplementary Note 1) The weight of the mirror body, the mirror body support mechanism that supports the mirror body so that the mirror body can be tilted around two tilt axes and can be swung around one pivot axis, and the weight of the mirror body and the mirror body support mechanism. In a surgical microscope provided with an equilibrium moving mechanism that cancels and moves in the horizontal direction, and an adjustment mechanism that can move the center of gravity of the mirror body on the pivot axis, the adjustment mechanism is perpendicular to the pivot axis. A surgical microscope characterized by being a tilting mechanism that can move the center of gravity by tilting the mirror body around two axes that are perpendicular to each other.

  (Supplementary note 2) The surgical microscope according to supplementary note 1, wherein the tilt mechanism includes a combination of a worm and a worm wheel meshing with the worm.

  (Supplementary note 3) The surgical microscope according to supplementary note 1, wherein the tilt mechanism includes a slider crank mechanism.

  (Appendix 4) A mirror body, a mirror body support mechanism that supports the mirror body so that it can be tilted around two tilt axes and can be swung around one pivot axis, and a movement that moves the mirror body vertically and horizontally In a surgical microscope provided with a mechanism and an adjustment mechanism capable of moving the center of gravity of the mirror body on the pivot axis, the adjustment mechanism relates to the inclination of the mirror body around the two tilt axes within an adjustment range, A surgical microscope comprising biasing force adding means for generating a biasing force that always restores the mirror body in a specific direction.

  (Additional remark 5) The said adjustment mechanism is an inclination mechanism which can move the said gravity center by inclining the said mirror body about the two axes | shafts which make a right angle with the said turning axis and make a right angle mutually. 4. The surgical microscope according to 4.

  (Additional remark 6) The said specific direction is a direction which hangs down the said mirror body to the perpendicular direction, The surgical microscope of Additional remark 4 characterized by the above-mentioned.

  (Additional remark 7) The said urging | biasing force addition means is the weight distribution by which the synthetic | combination center of gravity of the member rotated about the said 2 inclination axis | shafts is always located in the said mirror body side with respect to the said 2 inclination axis | shafts. The surgical microscope according to Supplementary Note 4.

  (Supplementary note 8) The supplementary note 4 is characterized in that the urging force adding means is a weight distribution in which the combined center of gravity of the members rotating around the two inclination axes is always located below the two inclination axes. The surgical microscope described.

  (Supplementary Note 9) The weight of the mirror body, the mirror body support mechanism that supports the mirror body so that the mirror body can be tilted about two tilt axes and can be swung about one swivel axis, and the weight of the mirror body and the mirror body support mechanism. For surgical operation having an equilibrium moving mechanism that cancels and moves horizontally, an adjustment mechanism that can move the center of gravity of the mirror body on the pivot axis, and an electromagnetic lock that fixes and releases each rotating shaft In the microscope, each of the two inclined shafts includes a connection drive unit that selectively connects the electric drive mechanism unit and the electric drive function, and a rotation angle detection unit is provided on the one turning shaft. And a control circuit means for selectively driving and controlling each of the electric drive mechanisms provided on the two inclined shafts and each of the connection drive units according to the output state.

  (Supplementary note 10) The surgical circuit unit according to supplementary note 9, wherein the control circuit means selectively drives the electric drive mechanism section and the connection drive section by the state detection means of the operation input device and the rotation angle detection means. microscope.

  (Supplementary note 11) A supplementary note 9, characterized in that it has a drive circuit for providing operation detection means for the connection drive unit, and releasing the electromagnetic lock of the corresponding rotating shaft and controlling the fixation according to the detection output. Surgical microscope.

1 is a perspective view of a surgical microscope showing a first embodiment of the present invention. The vertical side view of the electric visual field movement mechanism of the embodiment. The perspective view of the inclination mechanism of the embodiment. Action | operation explanatory drawing of the inclination mechanism of the embodiment. Action | operation explanatory drawing of the visual field movement of the embodiment. The perspective view of the mirror body connection arm and mirror body of the 2nd Embodiment of this invention. The perspective view of the inclination mechanism of the embodiment. The perspective view of the mirror body connection arm and mirror body of the 3rd Embodiment of this invention. The control block diagram of the electric visual field movement mechanism which shows the 4th Embodiment of this invention. The figure which shows the positional relationship of the mirror with respect to the mirror support arm of the embodiment. The figure which shows the direction and drive direction of the foot switch of the embodiment. The control block diagram of the electric visual field movement mechanism which shows the 5th Embodiment of this invention. The timing chart figure of the embodiment. The timing chart figure which shows the modification of the same embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 4 ... 1st parallelogram link, 15 ... 2nd parallelogram link, 25 ... Mirror body connection arm 26 ... Mirror body, 31 ... Balance weight, 43 ... Electromagnetic brake, 47 ... Electromagnetic clutch, 49 ... Motor, 59 ... Slider crank mechanism, 150, 155, drive control unit

Claims (1)

Mirror body,
A mirror support mechanism having at least one parallel link mechanism that has a tilt axis that tilts the mirror body in the X-axis direction and a tilt axis that tilts the mirror body in the Y-axis direction, and that is pivotally supported around one pivot axis. When,
An equilibrium moving mechanism that cancels the weight of the mirror body and the mirror body supporting mechanism and moves the mirror body vertically and horizontally;
In a surgical microscope equipped with
An X-axis motor and a Y-axis motor that are provided on the base end side of the mirror support mechanism and that can be driven around an inclination axis that tilts the mirror support mechanism in the X-axis direction and the Y-axis direction ;
Input means having first and second input units for operating and driving the X-axis motor and the Y-axis motor ;
An X-axis electromagnetic brake and a Y-axis electromagnetic brake which are provided on the axis of an inclination axis which is inclined in the X-axis direction and the Y-axis direction, and which fixes and releases the inclination axis;
Provided on the axis of the tilt shaft to be inclined in the X-axis and Y-axis directions, X that allows transmitting the power by the X-axis motor and the Y-axis motor to the tilting axis to tilt to the X-axis and Y-axis directions A shaft electromagnetic clutch and a Y-axis electromagnetic clutch ;
If the operator is placed in portrait or transverse said input means, an installation orientation setting means disposed facing said input means for the operator to set whether it is horizontally or is upright,
Based on the input signal from the input means, the X-axis motor, the Y-axis motor, the X-axis electromagnetic brake, the Y-axis electromagnetic brake, the X-axis electromagnetic clutch, the Y-axis electromagnetic clutch are driven and controlled, and the installation direction setting means The X-axis motor is driven by the input of the first input unit and the Y-axis motor is driven by the input of the second input unit, and the first input unit A drive control unit that selectively switches between driving the Y-axis motor by input and driving the X-axis motor by input from the second input unit;
A surgical microscope characterized by comprising:

Images