JP6778434B2 - Automatic weight balance adjustment method and structure of operating microscope - Google Patents

Description

The present invention relates to a method and structure for automatically adjusting the weight balance of a surgical microscope.

The operating microscope used in neurosurgery and the like is supported by the support arm of the stand device. The operating microscope is a stereomicroscope provided with a pair of left and right eyepieces on the front side, and is rotatably supported around a horizontal rotation axis set in the attachment portion of the support arm in the left-right direction. A cross-shaped electric slide mechanism is interposed between the operating microscope and the rotation axis, and the operation microscope can slide back and forth and up and down with respect to the rotation axis by this electric slide mechanism.

This electric slide mechanism is for aligning the center of gravity of the operating microscope with the axis of rotation. By aligning the center of gravity with the axis of rotation, the weight balance around the axis of rotation of the operating microscope becomes even, and the operating microscope's Regardless of the rotation position of the operating microscope with the rotation axis freed and the hand released, the operating microscope will stop at that rotation position. There is no resistance no matter how the operating microscope is rotated, and it is easy to perform surgery while changing the orientation of the operating microscope (see, for example, Patent Document 1).

Two operations are required to align the center of gravity of the operating microscope with the axis of rotation of the support arm. First, with the operating microscope lying down, the weight balance in the anteroposterior direction around the rotation axis is made uniform by sliding it with an electric slide mechanism. Next, the operating microscope is manually rotated by 90 degrees to make it vertical, and in that state, the weight balance in the front-rear direction around the rotation axis is again slid by the electric slide mechanism to equalize. Since the center of gravity of the operating microscope completely matches the rotation axis by these two operations, the weight of the operating microscope can be balanced at any angle around the free rotation axis, and the operating microscope can be weight-balanced. The operating microscope does not rotate even if you take your hand off.

Japanese Patent No. 4504081

However, in such a conventional technique, the operation is troublesome because it requires two operations to align the center of gravity of the operating microscope with the rotation axis. Also, as the second operation, the operating microscope is rotated 90 degrees to make it vertical, so when an accessory is attached to the rear of the operating microscope, the accessory is swung significantly upward, and a part of the support arm of the stand device, etc. May interfere with.

The present invention has been made by paying attention to such a conventional technique, and it is necessary to automatically align the center of gravity of the operating microscope with the rotation axis by one operation and to rotate the operating microscope by 90 degrees. It provides a method and structure for automatically adjusting the weight balance of a surgical microscope.

According to the technical aspect of the present invention, an operating microscope having a pair of left and right eyepieces on the front side is attached to an attachment portion installed on the tip end side of the support arm of the stand device in the vertical direction and the anteroposterior direction of the operating microscope itself. An automatic weight balance adjustment method for operating microscopes that can be rotatably attached together with the electric slide mechanism by an electric drive unit with a clutch centered on a horizontal rotation axis along the left-right direction via each slideable electric slide mechanism. Then, by operating the switch, the operating microscope is rotated together with the electric slide mechanism by the electric drive unit around the rotation axis to make it horizontal, and when the operating microscope is in the horizontal state, the rotation axis is made rotation-free and the electric slide. The front-rear weight balance of the operating microscope including the mechanism is detected, and if the front-rear weight balance is unbalanced, the operating microscope is slid in the balanced direction by the electric slide mechanism, and when the front-rear weight balance is in the balanced state, the electric drive unit is used. Rotate the operating microscope together with the electric slide mechanism around the rotation axis to make it slanted, and when the operating microscope is in the slanted state, make the rotation axis rotation-free to balance the weight of the operating microscope including the electric slide mechanism. When it is detected and the front-rear weight balance is unbalanced, the operating microscope is slid in a diagonally balanced direction by the electric slide mechanism to align the center of gravity of the operating microscope including the electric slide mechanism with the rotation axis. It is a feature.

According to the technical aspect of the present invention, the center of gravity of the operating microscope can be automatically aligned with the rotation axis simply by operating the switch, so that the weight balance of the operating microscope can be easily adjusted. Instead of the conventional method of rotating 90 degrees, it is only rotated diagonally, so even if it is automated, the time required for rotation can be shortened. Since it is not rotated by 90 degrees as in the conventional case but only slanted, there is no possibility that a part of the operating microscope protrudes upward and interferes with a part of the structure supporting the operating microscope.

A side view showing an operating microscope supported by a stand device. Perspective view showing a surgical microscope and an opposing mirror. The figure which shows the control structure of a surgical microscope. A side view showing an electric slide mechanism of a surgical microscope. FIG. 4 is a side view corresponding to FIG. 4 showing a state in which a counter mirror is attached to an operating microscope. FIG. 4 is a view corresponding to FIG. 4 showing a state in which the operating microscope is slid back and forth. FIG. 4 is a view corresponding to FIG. 4 showing a state in which the operating microscope is slid up and down. FIG. 4 is a diagram corresponding to FIG. 4 showing a state in which the operating microscope is rotated about a rotation axis. A flowchart showing the procedure of the weight balance automatic adjustment method. Explanatory drawing which shows the state which the operating microscope is rotated and leveled. Explanatory drawing which shows the state which slides the surgical microscope in the anteroposterior direction in a horizontal state. Explanatory drawing which shows the state which slides along a vertical slider in a state where a surgical microscope is slanted. Explanatory drawing of a surgical microscope which shows the conventional method of rotating a surgical microscope by 90 degrees and sliding a surgical microscope.

Hereinafter, embodiments of the present invention will be described with reference to FIGS. 1 to 13. In the above and below, the anterior is the side of the eyepiece 6 of the operating microscope 5, and the opposite is the posterior. The left and right are the left and right as seen from the eyepiece 6 side (see FIG. 2).

First, the stand device 1 will be described. A support arm 2 extending in the lateral direction is formed on the upper portion of the stand device 1, and a hanging arm 3 is provided on the tip end side thereof.

The hanging arm 3 has a substantially L shape having a horizontal portion 3a at the upper portion, and a mounting portion 4 is set at the lower end, and a surgical microscope 5 is mounted on the mounting portion 4. The operating microscope 5 is a stereomicroscope having a pair of left and right eyepieces 6 in the front, and a counter mirror 7 is attached to the rear side as needed.

The right side surface of the operating microscope 5 is attached to the attachment portion 4 of the suspension arm 3 via the electric slide mechanism 8. The electric slide mechanism 8 is composed of a horizontal slider 9 and a vertical slider 10, and both are connected via a frame 11 common to each other.

The horizontal slider 9 is fixed to the right side surface of the operating microscope 5 along the front-rear direction of the operating microscope 5 itself, and the vertical slider 10 is along the vertical direction of the operating microscope 5 itself, and the attachment portion 4 of the hanging arm 3 Can be attached to. However, the vertical slider 10 is not completely fixed to the mounting portion 4, but is rotatably mounted around the rotation shaft S set in the mounting portion 4 (see FIG. 8). The rotation axis S is a horizontal axis along the left-right direction of the operating microscope 5.

Screw rods 12 and 13 provided in the longitudinal direction of the horizontal slider 9 and the vertical slider 10 are screwed into the common frame 11 that connects the horizontal slider 9 and the vertical slider 10, respectively. The screw rods 12 and 13 can be rotated in the forward and reverse directions by the electric motors 14 and 15 provided at the ends thereof. By rotating the screw rod 12 on the side of the horizontal slider 9, the horizontal slider 9 can be slid back and forth with respect to the vertical slider 10 together with the operating microscope 5 (see FIG. 6). By rotating the screw rod 13 of the vertical slider 10, the horizontal slider 9 can be slid up and down along the vertical slider 10 together with the operating microscope 5 (see FIG. 7).

Next, the control structure of the operating microscope 5 will be described with reference to FIG. An electric drive unit 16 with a clutch is assembled to the rotation shaft S set in the attachment unit 4. Therefore, the operating microscope 5 can be rotated together with the electric slide mechanism 8 by the required amount of rotation in the required direction by the driving force of the electric motor, and the rotation axis S is made rotation-free by the clutch mechanism to make the operating microscope 5 free of rotation. The electric slide mechanism 8 can be freely rotated in a state of being separated from the electric drive unit 16. Further, the rotating shaft S is provided with a horizontal sensor 17 for detecting the horizontal state of the operating microscope 5 and a balance sensor 18 for detecting the weight balance of the operating microscope 5 in the front-rear direction centered on the rotating shaft S.

The electric motors 14 and 15, the horizontal sensor 17, the electric drive unit 16, and the balance sensor 18 of the electric slide mechanism 8 are connected to the control unit 19, respectively. The control unit 19 is also connected to the switch 20 that starts the balance adjustment.

Next, a procedure for automatically adjusting the weight balance of the operating microscope 5 will be described.

When the opposing mirror 7 is connected to the rear part of the operating microscope 5, the center of gravity G of the entire operating microscope 5 may be largely deviated from the rotation axis S. If the rotation axis S is made free in this state, the weight balance centered on the rotation axis S is lost, so that the operating microscope 5 cannot be used because it tries to rotate significantly to either side. Therefore, it is necessary to align the center of gravity G of the operating microscope 5 with the rotation axis S prior to using the operating microscope 5.

In order to make the center of gravity G coincide with the rotation axis S, the user only needs to press the switch 20 once. By doing so, the automatic adjustment of the weight balance as shown below is started.

Leveling (Fig. 10)
FIG. 10 shows a state in which the center of gravity G of the operating microscope 5 is displaced by a in the horizontal direction and b in the vertical direction by connecting the counter mirror 7 to the rear portion of the operating microscope 5. The opposing mirror 7 is simply illustrated, and in the initial state, the operating microscope 5 may not be horizontal as a whole but may be slightly tilted.

When the switch 20 is pressed, the horizontal sensor 17 is activated first, and when the horizontal sensor 17 detects that the operating microscope 5 is not horizontal, the electric drive unit 16 rotates the operating microscope 5 together with the electric slide mechanism 8 to bring it into a horizontal state. .. When the operating microscope 5 becomes horizontal, the horizontal sensor 17 detects the horizontal state and stops the rotation of the operating microscope 5.

Slide with horizontal slider (Fig. 11)
After the operating microscope 5 is in the horizontal state, the rotation shaft S is separated from the electric drive unit 16 to make it rotation-free, and the balance sensor 18 is operated. Then, the balance sensor 18 detects the weight balance in the front-rear direction centered on the rotation shaft S. When the weight balance in the anteroposterior direction is unbalanced, the operating microscope 5 is slid in the equilibrium direction by the horizontal slider 9. For example, in the case of FIG. 11, since the center of gravity G is located behind the rotation axis S and the weight W2 at the rear is larger than the weight W1 at the front, the operating microscope 5 is moved forward and rotated with the center of gravity G. Align the front-back position of the moving axis S. However, in this state, only the front-back position matches and the top-bottom position does not match yet.

Slide with a vertical slider after rotating 45 degrees (Fig. 12)
After the center of gravity of the operating microscope 5 coincides with the rotation axis S in the front-rear direction, the electric drive unit 16 rotates the operating microscope 5 forward together with the electric slide mechanism 8 by 45 degrees.

By rotating 45 degrees, the deviation of the center of gravity G with respect to the rotation axis S also becomes an oblique direction, but since the vertical slider 10 is also rotated 45 degrees, the deviation direction of the center of gravity G is the directionality of the vertical slider 10. It remains in agreement. That is, the operating microscope 5 is obliquely rotated together with the electric slide mechanism 8 while maintaining the state in which the center of gravity of the operating microscope 5 and the rotation axis S are aligned in the front-rear direction.

Since the deviation direction of the center of gravity G is oblique to the vertical, the deviation component c in the front-rear direction also appears in the deviation of the center of gravity G as shown in FIG. Therefore, the weight W3 on the front side of the rotation axis S of the operating microscope 5 is larger than the weight W4 on the rear side.

Next, the rotation shaft S is made rotation-free to operate the balance sensor 18. The balance sensor 18 detects the deviation component c and slides the operating microscope 5 along the vertical slider 10 in a direction in which the weight imbalance is corrected. Since the angle of the vertical slider 10 is 45 degrees and coincides with the deviation direction of the center of gravity G, by sliding it diagonally along the vertical slider 10, the deviation component c in the front-rear direction disappears, and the center of gravity G is rotated. Can be matched with S.

Since the center of gravity G and the rotation axis S coincide with each other, the rotation axis S is made rotation-free and the operating microscope 5 is in any rotational state, and the weight is balanced. However, the operating microscope 5 is maintained as it is. The operation is very easy because the center of gravity G of the operating microscope 5 can be automatically aligned with the rotation axis S simply by pressing the switch 20 first.

As described above, the offset of the center of gravity G from the position of the rotation axis S is the sum of the lateral deviation a and the vertical deviation b, but the lateral deviation a is already in equilibrium. The shift component c reflects only the vertical shift b. Therefore, even if the deviation direction of the center of gravity G is not horizontal with respect to the rotation axis S, the equilibrium of the deviation b in the vertical direction can be realized.

In this embodiment, since the rotation is performed by 45 degrees, the time required for the rotation is short even if it is automated, and the rotation operation is completed in a short time. Further, since the rotation is only 45 degrees, the counter mirror 7 connected to the rear part of the operating microscope 5 does not protrude upward and interfere with the horizontal part 3a of the hanging arm 3.

For example, as shown in FIG. 13, when the operating microscope 5 is rotated by 90 degrees as in the conventional case, it takes a long time to complete the rotation when the electric drive unit 16 tries to rotate the microscope 5. Further, since the opposing mirror 7 attached to the rear part of the operating microscope 5 faces directly upward, there is a possibility of interference with the horizontal portion 3a of the hanging arm 3.

In this embodiment, an example of rotating 45 degrees is shown, but the present invention is not limited to this. The angle is not limited, but 30 degrees or more is preferable because the deviation component in the front-rear direction can be easily detected. Further, in this embodiment, an example is shown in which the horizontal slider 9 is on the operating microscope 5 side and the vertical slider 10 is on the rotation axis S side, but the reverse may be performed.

1 Stand device 4 Mounting part 5 Operating microscope 8 Electric slide mechanism 9 Horizontal slider 10 Vertical slider 16 Electric drive unit 17 Horizontal sensor 18 Balance sensor 19 Control unit 20 Switch S Rotation axis G Center of gravity

Claims (4)

A surgical microscope having a pair of left and right eyepieces on the front side is attached to a mounting portion installed on the tip side of the support arm of the stand device via an electric slide mechanism that can slide in the vertical direction and the front-back direction of the surgical microscope itself. This is an automatic weight balance adjustment method for a surgical microscope that can be rotatably attached together with the electric slide mechanism by an electric drive unit with a clutch around a horizontal rotation axis along the horizontal direction.
By operating the switch, the operating microscope is rotated around the rotation axis by the electric drive unit together with the electric slide mechanism to make it horizontal.
When the operating microscope is in the horizontal state, the rotation axis is made rotation-free to detect the anteroposterior weight balance of the operating microscope including the electric slide mechanism.
If the front-rear weight balance is unbalanced, the operating microscope is slid in the balanced direction by the electric slide mechanism.
When the front-rear weight balance is in equilibrium, the operating microscope is rotated around the rotation axis by the electric drive unit together with the electric slide mechanism to make it slanted.
When the operating microscope becomes slanted, the rotation axis is made rotation-free to detect the anteroposterior weight balance of the operating microscope including the electric slide mechanism.
When the front-rear weight balance is unbalanced, the operating microscope is slid in an oblique direction by an electric slide mechanism to align the center of gravity of the operating microscope including the electric slide mechanism with the rotation axis. Automatic weight balance adjustment method for operating microscopes. The side surface of the operating microscope having a pair of left and right eyepieces on the front side is horizontal along the left-right direction set on the mounting portion with respect to the mounting portion set on the tip side of the support arm extending laterally from the stand device. Along with rotatably supporting the rotating shaft
An electric slide mechanism that allows the operating microscope to slide in the vertical and anteroposterior directions of the operating microscope itself with respect to the rotation axis is interposed between the operating microscope and the mounting portion.
The mounting part is provided with an electric drive part with a clutch that allows the operating microscope to rotate around the rotation axis together with the electric slide mechanism and to be free to rotate when necessary.
The rotating shaft is provided with a horizontal sensor that detects the horizontal state of the operating microscope and a balance sensor that detects the weight balance in the anteroposterior direction of the operating microscope including an electric slide mechanism centered on the rotating shaft.
Based on the horizontal sensor and the balance sensor, the operating microscope is rotated around the rotation axis together with the electric slide mechanism by operating the switch, and the center of gravity of the operating microscope is adjusted while sliding the operating microscope with respect to the rotation axis by the electric slide mechanism. It is a weight balance automatic adjustment structure of a surgical microscope provided with a control unit that matches the rotation axis.
The control unit
By operating the switch, the operating microscope is rotated around the rotation axis by the electric drive unit together with the electric slide mechanism based on the horizontal sensor to make the operating microscope horizontal.
When the operating microscope is in the horizontal state, the rotation axis is made rotation-free and the balance sensor detects the front-rear weight balance of the operating microscope including the electric slide mechanism.
If the front-rear weight balance is unbalanced, the operating microscope is slid in the balanced direction by the electric slide mechanism.
When the front-rear weight balance is in equilibrium, the operating microscope is rotated around the rotation axis by the electric drive unit together with the electric slide mechanism to make it slanted.
When the operating microscope becomes slanted, the rotation axis is turned free and the balance sensor detects the front-rear weight balance of the operating microscope including the electric slide mechanism.
When the front-rear weight balance is unbalanced, the operating microscope is slid in an oblique direction by an electric slide mechanism to align the center of gravity of the operating microscope including the electric slide mechanism with the rotation axis. Weight balance automatic adjustment structure of the operating microscope. The weight balance automatic adjustment structure of the surgical microscope according to claim 2, wherein the oblique state of the surgical microscope is an angle of 30 degrees or more with respect to the horizontal. The electric slide mechanism consists of a horizontal slider along the front-back direction of the operating microscope itself and a vertical slider orthogonal to the horizontal slider.
One of the horizontal slider and the vertical slider is fixed to the operating microscope side, and the other is rotatably mounted on the mounting part side around the rotation axis, and the horizontal slider is movable along the vertical slider. The weight balance automatic adjustment structure of the surgical microscope according to claim 2 or 3, wherein the vertical slider is movable along the horizontal slider.

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