JP4628060B2 - Stand for surgical microscope - Google Patents

Stand for surgical microscope Download PDF

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JP4628060B2
JP4628060B2 JP2004293133A JP2004293133A JP4628060B2 JP 4628060 B2 JP4628060 B2 JP 4628060B2 JP 2004293133 A JP2004293133 A JP 2004293133A JP 2004293133 A JP2004293133 A JP 2004293133A JP 4628060 B2 JP4628060 B2 JP 4628060B2
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link
vertical
counterweight
surgical microscope
stand
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JP2006102155A (en
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勝重 中村
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Mitaka Kohki Co Ltd
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Description

本発明は手術顕微鏡用スタンド装置に関するものである。   The present invention relates to a surgical microscope stand apparatus.

フロア又は天井に設置されたスタンド本体に設けた回動軸に、平行リンク機構を回動自在に支持し、その上辺を延長した支持アームの先端に、手術顕微鏡を吊り下げ支持し、平行リンク機構の回動軸をはさんだ反対側にカウンタウェイトを支持した構造の手術顕微鏡用スタンド装置が知られている。   A parallel link mechanism is supported rotatably on a rotation shaft provided on a stand body installed on the floor or ceiling, and a surgical microscope is suspended and supported on the tip of a support arm extending from the upper side thereof. 2. Description of the Related Art A surgical microscope stand device having a structure in which a counterweight is supported on the opposite side of a rotating shaft is known.

このような手術顕微鏡用スタンド装置は、カウンタウェイトにより回動軸を中心とした重量均衡を図ることにより、平行リンク機構が回動軸を中心に勝手に回動せず、任意の角度で停止させることができる。   In such a surgical microscope stand apparatus, the counter link weight balances the weight around the rotation axis, so that the parallel link mechanism does not rotate around the rotation axis and stops at an arbitrary angle. be able to.

支持アームの先端に吊り下げ支持される手術顕微鏡は、手術内容により、ビデオカメラや、アシスタント用の顕微鏡が着脱されるため、重量が変化する。従って、手術顕微鏡との重量均衡を図るために、カウンタウェイトは、水平方向で移動する第１カウンタウェイトと、垂直方向で移動する第２カウンタウェイトが必要となり、それぞれを互いに連動させて移動させる必要がある。すなわち、平行リンク機構を、回動軸を中心に回動させて、全体の形を変えるため、水平及び垂直の両方向で重量均衡を図る必要がある。   The surgical microscope supported by being suspended from the tip of the support arm has a weight that changes depending on the contents of the operation because a video camera and an assistant microscope are attached and detached. Therefore, in order to achieve a weight balance with the surgical microscope, the counterweight needs a first counterweight that moves in the horizontal direction and a second counterweight that moves in the vertical direction, and they must be moved in conjunction with each other. There is. In other words, in order to change the overall shape by rotating the parallel link mechanism around the rotation axis, it is necessary to achieve weight balance in both the horizontal and vertical directions.

このように、水平及び垂直の両方向で重量均衡を図った結果として、平行リンク機構の形を変え、手術顕微鏡を任意の位置に移動させても、手術顕微鏡はあたかも無重力空間に浮いているように、移動した任意位置で空中停止する（例えば、特許文献１参照）。
特開平６−２６９４６３号公報 As a result of the weight balance in both the horizontal and vertical directions as described above, even if the shape of the parallel link mechanism is changed and the surgical microscope is moved to an arbitrary position, the surgical microscope seems to float in a weightless space. Then, it stops in the air at the moved arbitrary position (for example, see Patent Document 1).
JP-A-6-269463

しかしながら、このような従来の技術にあっては、２種類のカウンタウェイトを水平及び垂直方向に連動して移動させる必要があるため、カウンタウェイトの制御が困難であった。特に、垂直方向での重量均衡を図る第２カウンタウェイトも、水平方向での重量均衡を図る第１カウンタウェイトと一緒に、平行リンク機構の手術顕微鏡とは反対側の端部に設けているため、本来、垂直方向での重量均衡を図るために垂直方向で移動する第２カウンタウェイト自体が、水平方向での重量均衡を図るためのカウンタウェイトとしても機能してしまい、全体としての重量均衡制御が困難であった。   However, in such a conventional technique, since it is necessary to move two types of counter weights in conjunction with the horizontal and vertical directions, it is difficult to control the counter weights. In particular, the second counterweight that balances the weight in the vertical direction is also provided at the end of the parallel link mechanism opposite to the surgical microscope together with the first counterweight that balances the weight in the horizontal direction. Originally, the second counterweight itself that moves in the vertical direction in order to achieve weight balance in the vertical direction also functions as a counterweight for achieving weight balance in the horizontal direction. It was difficult.

本発明は、このような従来の技術に着目してなされたものであり、重量均衡制御が容易な手術顕微鏡用スタンド装置を提供するものである。   The present invention has been made paying attention to such a conventional technique, and provides a surgical microscope stand apparatus that can easily control the weight balance.

請求項１記載の発明は、それぞれ平行な２本づつの縦リンクと横リンクを連結軸で連結して縦型の平行リンク機構を構成し、一方向側の縦リンクの途中部位に設定された支持部を、前記一方向側の縦リンクの延伸方向に対して垂直に設置されたスタンド本体の回動軸に回動自在に支持し、上側の横リンクを一方向側へ延長形成した支持アームの先端に手術顕微鏡を吊り下げ支持し、下側の横リンクの他方向側の端部に横リンクに沿って移動自在なカウンタウェイトを設けた手術顕微鏡用スタンド装置であって、前記一方向側の縦リンクに、該縦リ ンクの上下の連結軸をむすぶ基準直線に沿った方向で且つ該縦リンクの支持部を跨いで移動自在な補助カウンタウェイトを設けたことを特徴とする。
The invention according to claim 1 is configured as a vertical parallel link mechanism in which two parallel vertical links and horizontal links are connected by a connecting shaft, and is set in the middle part of the vertical link on one side. A support arm that rotatably supports a support portion on a rotation shaft of a stand main body installed perpendicular to the extending direction of the vertical link on the one-direction side, and extends the upper side link in one direction. A surgical microscope stand device that supports a surgical microscope suspended from the tip of the lower side link, and is provided with a counterweight that is movable along the side link at the other side end of the lower side link. The vertical link is provided with an auxiliary counterweight that is movable in a direction along a reference straight line extending between the upper and lower connecting shafts of the vertical link and straddling the support portion of the vertical link.

請求項２記載の発明は、縦リンクの支持部に、基準直線に沿った方向性を有する直線状のレール部を取付け、該レール部に沿って移動自在で且つ任意位置に停止自在な補助カウンタウェイトを設けたことを特徴とする。 According to a second aspect of the present invention, a linear rail portion having a direction along a reference straight line is attached to a support portion of a vertical link, and the auxiliary counter is movable along the rail portion and can be stopped at an arbitrary position. A weight is provided.

請求項１記載の発明によれば、平行リンク機構の下側の横リンクには、その支持アームとは反対側の端部に、横リンクに沿って移動するカウンタウェイトだけを設け、このカウンタウェイトにより水平方向での重量均衡を図るようにした。そして、回動軸に支持した方の縦リンクに、縦リンクの上下の連結軸をむすぶ基準直線に沿った方向に移動自在な補助カウンタウェイトを設けたため、この補助カウンタウェイトにより垂直方向での重量均衡を図ることができる。補助カウンタウェイトが、純粋に垂直方向においてだけ重量均衡機能を発揮するため、全体としての、重量均衡制御が容易になる。   According to the first aspect of the present invention, the lower side link of the parallel link mechanism is provided with only the counterweight that moves along the side link at the end opposite to the support arm. To achieve a weight balance in the horizontal direction. Since the auxiliary link weight that is movable in the direction along the reference straight line that connects the upper and lower connecting shafts of the vertical link is provided on the vertical link supported by the rotating shaft, the weight in the vertical direction is provided by the auxiliary counterweight. Balance can be achieved. Since the auxiliary counterweight exhibits the weight balance function only in the vertical direction, the weight balance control as a whole becomes easy.

また、補助カウンタウェイトが縦リンクの支持部を跨いで移動自在であるため、補助カウンタウェイトによる重量均衡効果が大きい。 Further , since the auxiliary counterweight is movable across the support portion of the vertical link, the weight balance effect by the auxiliary counterweight is great.

請求項２記載の発明によれば、縦リンクの支持部に設けたレール部に補助カウンタウェイトをに支持するようにしたため、補助カウンタウェイトの支持構造が簡単で、製造が容易である。
According to the second aspect of the invention, since the auxiliary counterweight is supported by the rail portion provided on the support portion of the vertical link, the support structure of the auxiliary counterweight is simple and the manufacture is easy.

以下、本発明の最良の実施形態を図１〜図８に基づいて説明する。尚、図１中、矢示Ａを前側（一方向側）とし、矢示Ｂ側を後側（他方向側）として説明する。   Hereinafter, the best embodiment of the present invention will be described with reference to FIGS. In FIG. 1, the arrow A will be described as the front side (one direction side), and the arrow B side will be described as the rear side (the other direction side).

フロアにはスタンド本体１が設置されている。スタンド本体１には回動軸２が設定され、この回動軸２に平行リンク機構３が回動自在に支持されている。平行リンク機構３は、機構的には、それぞれ平行な２本づつの縦リンク４、５と、横リンク６、７、を４点の連結軸ａ、ｂ、ｃ、ｄで連結した縦型構造をしている。上側の横リンク６の一部はブラケット８により形成されている。下側の横リンク７は重量を増すように断面積が大きい。   A stand body 1 is installed on the floor. A rotation shaft 2 is set on the stand body 1, and a parallel link mechanism 3 is rotatably supported on the rotation shaft 2. The parallel link mechanism 3 is a vertical structure in which two parallel vertical links 4 and 5 and horizontal links 6 and 7 are connected by four connection axes a, b, c, and d in terms of mechanism. I am doing. A part of the upper lateral link 6 is formed by a bracket 8. The lower lateral link 7 has a large cross-sectional area so as to increase the weight.

２本の縦リンク４、５うち、前側の縦リンク４の途中部位には支持部９が設定され、該支持部９がスタンド本体１の回動軸２に回動自在に支持されている。   Of the two vertical links 4, 5, a support portion 9 is set in the middle of the front vertical link 4, and the support portion 9 is rotatably supported on the rotation shaft 2 of the stand body 1.

上側の横リンク６は前側に延長されて支持アーム１０になっている。支持アーム１０の先端には先端リンク１１が設けられている。先端リンク１１は、上端が２本のサブアーム１２、１３とＬ形のクランクレバー１４を介してスタンド本体１に連結されることにより、例えば、図３のように平行リンク機構３を回動させても、常に垂直状態が維持されている。このように垂直状態が維持された先端リンク１１に、支持リンク機構１５を介して手術顕微鏡１６が吊り下げ支持される。   The upper side link 6 is extended to the front side to form a support arm 10. A distal end link 11 is provided at the distal end of the support arm 10. The tip link 11 has an upper end connected to the stand body 1 via two sub-arms 12 and 13 and an L-shaped crank lever 14 to rotate the parallel link mechanism 3 as shown in FIG. 3, for example. However, the vertical state is always maintained. The surgical microscope 16 is suspended and supported via the support link mechanism 15 on the distal end link 11 in which the vertical state is maintained in this way.

下側の横リンク７の後側の端部からはシャフト１７が延びており、そのシャフト１７に沿って手動により移動自在なカウンタウェイトＣ１が設けられている。   A shaft 17 extends from the rear end portion of the lower lateral link 7, and a counterweight C <b> 1 that is manually movable along the shaft 17 is provided.

そして、縦リンク４の支持部９は平坦な側面を有し、その支持部９にレール部１８が固定されている。レール部１８は、縦リンク４の上下の連結軸ａ、ｂをむすぶ基準直線Ｌに沿っており、そのレール部１８に補助カウンタウェイトＣ２が移動自在且つ所定位置で停止自在に支持されている。レール部１８は、基準直線Ｌに完全に合致するのが好ましいが、この実施例では、基準直線Ｌが円形パイプ形状をした縦リンク４の内部を通過するため、基準直線Ｌに近接した状態で、縦リンク４の外側で基準直線Ｌに沿った方向性で移動するようにしている。   The support portion 9 of the vertical link 4 has a flat side surface, and a rail portion 18 is fixed to the support portion 9. The rail portion 18 is along a reference straight line L that connects the upper and lower connecting shafts a and b of the vertical link 4, and the auxiliary counterweight C <b> 2 is supported on the rail portion 18 so as to be movable and stoppable at a predetermined position. Although it is preferable that the rail portion 18 completely matches the reference straight line L, in this embodiment, since the reference straight line L passes through the inside of the vertical link 4 having a circular pipe shape, the rail portion 18 is close to the reference straight line L. In addition, it moves in the direction along the reference straight line L outside the vertical link 4.

レール部１８は支持部９を跨いだ状態で上下に延びており、そのレール部１８に抱きつく形で補助カウンタウェイトＣ２が移動自在に支持されている。補助カウンタウェイトＣ２には、図５に示すように、スプリング１９によりレール部１８側へ付勢されたストッパピン２０があり、このストッパピン２０の先端を、レール部１８に所定間隔ごとに設けられた凹部２１へ係合させることにより、補助カウンタウェイトＣ２を任意の位置に停止させることができる。   The rail portion 18 extends vertically in a state of straddling the support portion 9, and the auxiliary counterweight C <b> 2 is movably supported so as to hug the rail portion 18. As shown in FIG. 5, the auxiliary counterweight C <b> 2 has a stopper pin 20 that is biased toward the rail portion 18 by a spring 19, and the tip of the stopper pin 20 is provided on the rail portion 18 at predetermined intervals. By engaging with the recessed portion 21, the auxiliary counterweight C2 can be stopped at an arbitrary position.

このようなカウンタウェイトＣ１、補助カウンタウェイトＣ２、手術顕微鏡１６などを装備した平行リンク機構３全体を、スタンド本体１の回動軸２に支持した場合、その平行リンク機構３は全体として、回動軸２を中心にした、水平方向での重量均衡（Ｗ１＝Ｗ２）と、垂直方向での重量均衡（Ｗ３＝Ｗ４）が維持されなければならない。つまり、平行リンク機構３は、全体として、図６に示すように、そのままの状態で、回動軸２を中心にした両側の重量Ｗ１、Ｗ２同士が釣り合っていなければならず、平行リンク機構３の全体を９０°変換しても、回動軸２を中心にした両側の重量Ｗ３、Ｗ４同士が釣り合っていなければならない。   When the entire parallel link mechanism 3 equipped with the counterweight C1, the auxiliary counterweight C2, the surgical microscope 16, and the like is supported on the rotation shaft 2 of the stand body 1, the parallel link mechanism 3 rotates as a whole. A weight balance in the horizontal direction (W1 = W2) around the axis 2 and a weight balance in the vertical direction (W3 = W4) must be maintained. That is, as shown in FIG. 6, the parallel link mechanism 3 as a whole must have the weights W <b> 1 and W <b> 2 on both sides centered on the rotation shaft 2 balanced as shown in FIG. 6. Even if the whole is converted by 90 °, the weights W3 and W4 on both sides around the rotating shaft 2 must be balanced.

水平方向での重量均衡は、カウンタウェイトＣ１の横リンク７に沿った方向での移動により調整される。垂直方向での重量均衡は、補助カウンタウェイトＣ２のレール部１８に沿った方向での移動により調整させる。その機能は、図８に示す概略図から容易に理解することができる。   The weight balance in the horizontal direction is adjusted by the movement of the counterweight C1 in the direction along the lateral link 7. The weight balance in the vertical direction is adjusted by the movement of the auxiliary counterweight C2 in the direction along the rail portion 18. Its function can be easily understood from the schematic diagram shown in FIG.

この実施例によれば、平行リンク機構３の下側の横リンク７には、その横リンク７に沿って移動するカウンタウェイトＣ１だけを設け、このカウンタウェイトＣ１により水平方向での重量均衡を図るようにした。そして、回動軸２に支持した方の縦リンク４に、基準直線Ｌに沿った方向に移動自在な補助カウンタウェイトＣ２を設けたため、この補助カウンタウェイトＣ２により垂直方向での重量均衡を図ることができる。補助カウンタウェイトＣ２が、水平方向において基準直線Ｌから離れておらず、純粋に垂直方向においてだけ重量均衡機能を発揮するため、全体としての、重量均衡制御が容易になる。   According to this embodiment, the horizontal link 7 on the lower side of the parallel link mechanism 3 is provided with only the counterweight C1 that moves along the horizontal link 7, and the counterweight C1 achieves weight balance in the horizontal direction. I did it. Further, since the auxiliary link weight C2 that is movable in the direction along the reference straight line L is provided on the vertical link 4 supported by the rotating shaft 2, the weight balance in the vertical direction is achieved by the auxiliary counterweight C2. Can do. Since the auxiliary counterweight C2 is not separated from the reference straight line L in the horizontal direction and exhibits the weight balance function only in the vertical direction, the weight balance control as a whole becomes easy.

また、補助カウンタウェイトＣ２が縦リンク４の支持部９を跨いで移動自在であるため、補助カウンタウェイトＣ２による重量均衡効果が大きい。   Further, since the auxiliary counterweight C2 is movable across the support portion 9 of the vertical link 4, the weight balance effect by the auxiliary counterweight C2 is great.

更に、縦リンク４の支持部９に設けたレール部１８に補助カウンタウェイトＣ２をに支持するようにしたため、補助カウンタウェイトＣ２の支持構造が簡単で、製造が容易である。   Further, since the auxiliary counterweight C2 is supported on the rail portion 18 provided on the support portion 9 of the vertical link 4, the support structure of the auxiliary counterweight C2 is simple and easy to manufacture.

尚、以上の実施例では、縦リンク４に１つのレール部１８と補助カウンタウェイトＣ２を設ける例を示したが、複数のレール部及び補助カウンタウェイトを設けても良い。また、補助カウンタウェイトは、円形パイプ状の縦リンク４の内部に収納し、縦リンク４の内部で移動するようにしても良い。補助カウンタウェイトＣ２の移動は手動でも電動でも良い。   In the above embodiment, the example in which one rail portion 18 and the auxiliary counterweight C2 are provided in the vertical link 4 is shown, but a plurality of rail portions and auxiliary counterweights may be provided. Further, the auxiliary counterweight may be housed inside the circular pipe-shaped vertical link 4 and moved inside the vertical link 4. The auxiliary counterweight C2 may be moved manually or electrically.

手術顕微鏡用スタンド装置を示す側面図。The side view which shows the stand apparatus for surgical microscopes. 手術顕微鏡用スタンド装置を示す正面図。The front view which shows the stand apparatus for surgical microscopes. 平行リンク機構を回動させた状態を示す手術顕微鏡用スタンド装置の側面図。The side view of the stand apparatus for surgical microscopes which shows the state which rotated the parallel link mechanism. 補助カウンタウェイト部分を示す側面図。The side view which shows an auxiliary counterweight part. 補助カウンタウェイト部分を示す断面図。Sectional drawing which shows an auxiliary counterweight part. 水平方向での重量均衡を示す平行リンク機構の側面図。The side view of the parallel link mechanism which shows the weight balance in a horizontal direction. 垂直方向での重量均衡を示す平行リンク機構の側面図。The side view of the parallel link mechanism which shows the weight balance in a perpendicular direction. 機構的に示した手術顕微鏡用スタンド装置の概略図。The schematic of the stand apparatus for surgical microscopes shown mechanically.

符号の説明Explanation of symbols

１ スタンド本体
２ 回動軸
３ 平行リンク機構
４、５ 縦リンク
６、７ 横リンク
９ 支持部
１０ 支持アーム
１１ 先端リンク
１６ 手術顕微鏡
１８ レール部
Ａ 前側（一方向側）
Ｂ 後側（他方向側）
ａ〜ｄ 連結軸
Ｌ 基準直線
Ｃ１ カウンタウェイト
Ｃ２ 補助カウンタウェイト DESCRIPTION OF SYMBOLS 1 Stand main body 2 Rotating shaft 3 Parallel link mechanism 4, 5 Vertical link 6, 7 Horizontal link 9 Support part 10 Support arm 11 Tip link 16 Operating microscope 18 Rail part A Front side (one direction side)
B Rear side (other direction side)
ad Coupling shaft L Reference straight line C1 Counter weight C2 Auxiliary counter weight

Claims (2)

それぞれ平行な２本づつの縦リンクと横リンクを連結軸で連結して縦型の平行リンク機構を構成し、一方向側の縦リンクの途中部位に設定された支持部を、前記一方向側の縦リンクの延伸方向に対して垂直に設置されたスタンド本体の回動軸に回動自在に支持し、
上側の横リンクを一方向側へ延長形成した支持アームの先端に手術顕微鏡を吊り下げ支持し、下側の横リンクの他方向側の端部に横リンクに沿って移動自在なカウンタウェイトを設けた手術顕微鏡用スタンド装置であって、
前記一方向側の縦リンクに、該縦リンクの上下の連結軸をむすぶ基準直線に沿った方向で且つ該縦リンクの支持部を跨いで移動自在な補助カウンタウェイトを設けたことを特徴とする手術顕微鏡用スタンド装置。 Two parallel vertical links and two horizontal links are connected by a connecting shaft to form a vertical parallel link mechanism, and the support portion set in the middle of the vertical link on one direction side is connected to the one direction side. It is rotatably supported on the rotation shaft of the stand body installed perpendicular to the extending direction of the vertical link of
The surgical microscope is suspended and supported at the tip of a support arm that is formed by extending the upper side link in one direction, and a counterweight that can move along the side link is provided at the other side end of the lower side link. A stand device for a surgical microscope,
An auxiliary counterweight that is movable in a direction along a reference straight line that connects the upper and lower connecting shafts of the vertical link and straddling the support portion of the vertical link is provided on the vertical link on the one-direction side. Stand device for surgical microscope. 請求項１記載の手術顕微鏡用スタンド装置であって、The surgical microscope stand device according to claim 1,
縦リンクの支持部に、基準直線に沿った方向性を有する直線状のレール部を取付け、該レール部に沿って移動自在で且つ任意位置に停止自在な補助カウンタウェイトを設けたことを特徴とする手術顕微鏡用スタンド装置。A linear rail portion having a directivity along a reference straight line is attached to a support portion of a vertical link, and an auxiliary counterweight that can move along the rail portion and stop at an arbitrary position is provided. Stand device for operation microscope.
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