JPH0191847A - Tilting and elevating apparatus of operating microscope - Google Patents

Abstract

PURPOSE:To always take the balance of a microscope and to change the orienting or angular position of the microscope by light operating force, by constituting the title apparatus so that the angular moment of the center of gravity of the microscope is negated by the reverse angular moment of an elastic member caused by the elastic force thereof. CONSTITUTION:The first arm 15 is supported on the support 14 erected on a base 13 so as to be freely rotatable around a vertical axial line O9 and the second arm 16 supported so as to be rotatable within the plane crossing the first arm 15 at a right angle in a state freely rotatable around a vertical axial line O10 is provided to the other end of the first arm 15. When a microscope 1 is desired to be moved, the switch provided on the handle mounted to the microscope 1 is operated to release the braking action of electromagnetic brakes 12alpha, 12beta. By this constitution, the microscope 1 can be regulated so as to take a desired inclined posture at a three-dimensionally free position in a state suspended on the base 13 through the arms 15, 16, the mount member 8 and a support means 4.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an elevating device provided on a pedestal or the like for holding a surgical microscope.

[Problems to be solved by conventional techniques and inventions] In recent years, with the remarkable progress of medical science, nine new surgical techniques have been developed. With these advances, even in the surgical field, higher performance surgical microscopes are required.

Particularly in brain surgery, smoothness and ease of positioning of a surgical microscope are strictly required, and the time required to change the observation angle, which may occur frequently during surgery, must be minimized as much as possible. In other words, a surgical microscope is equipped with a stand or a ceiling suspension so that it can be quickly and accurately positioned at a desired position in the work space without interfering with the surgeon, and can be fixed at that position. It must be supported by the following.

Recently, we have also installed photographic devices on microscopes to record various symptoms, and installed U-shaped devices to educate doctors and nurses.
A TV camera is often attached to the microscope, which results in the weight of the surgical microscope.Therefore, an arm and a pedestal are required to compensate for the load of the surgical microscope while maintaining the above-mentioned operability.

In order to meet these demands, for example,
Publication No. 116 discloses a link mechanism supported on a fixed support via a 3-axis flexible force link mechanism that enables free combined rotation around three axes orthogonal to each other by a handle, and a three-dimensional space. An optical observation instrument is attached to the end member of the link mechanism that can freely change its angular position within the IF! A stand device for section II is disclosed, and in the three-axis flexible force link mechanism used in this device, an optical observation instrument or a microscope (preferably the center of gravity of the microscope) is located at the intersection of three mutually orthogonal rotation axes. It is important to support the microscope so that
Each arm that makes up the 3-axis flexible force link mechanism not only has a complicated shape and is expensive, but also the presence of the cardan arm near the microscope makes the entire stand device large, and the space that can be used freely for operation is significantly reduced. I end up getting beaten up. Furthermore, since each rotating shaft is balanced by a counterweight, the weight of the weight is the same as the weight of the microscope, and the inertia of the entire apparatus that occurs when moving the microscope becomes significantly large. Therefore, once the microscope starts working, it is very difficult to stop the microscope quickly and reliably at a desired position.

Therefore, the main object of the present invention is to provide an elevating device for a surgical microscope that can change the orientation or angular position of the surgical microscope in a balanced state and with a light operating force. be.

Another object of the present invention is to provide an elevating device for a surgical microscope that is relatively small in size yet can secure a large operating space for surgery.

Still another object of the present invention is to provide an elevating device for a surgical microscope that has a simple structure and can be manufactured at low cost.

[Means and effects for solving the problem] The elevating device according to the present invention includes a mounting member to be suspended movably in three dimensions on a mount, a first rotating shaft tilting downward, and the first rotating shaft. 1
a second shaft located on one end of the rotating shaft and perpendicular to the first rotating shaft;
and a third rotating shaft located on an intermediate portion of the first rotating shaft, parallel to the second rotating shaft, and rotating in synchronization with the second rotating shaft; The other end of the shaft is rotatably attached to the attachment member, and the microscope is attached to the second rotation shaft, and the arm member is attached to the third rotation shaft, and the attachment member is connected to the support member. an elastic member connected to the supporting member, so that the rotational moment due to the weight of the microscope accompanying the rotational movement of the center of gravity of the microscope via the support member is canceled by the opposite rotational moment due to the elastic force of the elastic member. As a result, the force and inertial mass required for operation are reduced, and the device can be constructed from links, coil springs, etc., and the coil springs are provided on the same side as the microscope attachment section.

〔Example〕

Hereinafter, the present invention will be described in detail based on an illustrated embodiment.

11th! 1 is a perspective view of an embodiment of the elevating device according to the present invention, FIG. 2 is a diagram of the principle configuration of the above embodiment, FIG. 3 is a perspective view of a pedestal or stand device for suspending the above embodiment, and FIG. FIG. 5 is an enlarged perspective view of the microscope aiming section of the above embodiment, FIG. 5 is a schematic perspective view for explaining the operation of the above embodiment, and FIG. 6 is a diagram showing the state of the operating moment balance of the above embodiment.

1 and 2, reference numeral 1 denotes a well-known W4 which is supported by an aiming unit 2b so as to be movable up and down along the observation optical axis C.
It is a microscopic mirror. The aiming part 2b is attached to the lower part of the vertical arm 3 so that its relative position can be adjusted as will be described later. . Two mutually parallel link arms 5 and 6 are rotatably connected to the link arm 2a by pivot shafts Os and Oh. The other ends of the link arms 5.6 are rotatably connected to link arms 7 parallel to the link 2a by pivots ○8, 04, respectively. The end of the link arm 5, which is heated a predetermined distance from the pivot OS, is connected to the mounting member 8 so as to be rotatable concentrically with the pivot 03 and the axis 02 perpendicular to the pivot OS. Further, the mounting member 8 is formed such that a protruding arm portion 8a having a top surface perpendicular to the vertical arm 3 and an arm portion 8b rotatably supporting the support means 4 form an angle ψ. When attaching the link arm 5 to the member 8, the end is formed as a hollow cylindrical body 5a, and a link arm 7 whose one end is pivotally attached to the link arm 6 is inserted into the cylindrical body 5a. has been done. At the other end of the link arm 7 is a pivot shaft 0.0, which is rotatably supported by the link arm 5. is fixed, and this axis 0. is held in a fixed state as necessary by a magnetic brake 12α installed in the cylinder 5a.The cylinder 5a has an axis Os
A shaft 12 concentric with is provided. The shaft 12 is rotatably supported by an arm portion 8b of the member 8, and is held in a fixed state by an electromagnetic brake 12β provided inside the member 8 as required. In addition, the above-mentioned vertical arm 3 is attached to the member 8.
The member 8 is attached via a vertical arm 3 so as to be rotatable about an axis 01 perpendicular to the pedestal, which will be described later. An intermediate link arm 19 is provided at the center of the links 5 and 6, parallel to the link arms 2 and 7 and similarly pivotally connected to the link arms 5 and 6. A pivot shaft o8 connecting the intermediate link arm 19 and the link arm 6 has one end fixed to the intermediate link arm 19 and is rotatably supported by the link arm 6.

Axis 0. The other end extends inwardly and has an elongated support member 20 secured thereto extending in the same direction. That is, the support member 20 is integrally connected to the intermediate link 19.

This support member 20 has a screw 21 extending in its longitudinal direction.
is rotatably supported by a bearing, and a column 22 slidably supported by a support member 20 is screwed into this screw 21. Thus, by turning the screw 21, the column 22 can be moved on the support member 20 in its longitudinal direction. Another column 23 is mounted on the column 2-2 so as to be vertically slidable, and this column 23 has a screw 24 extending therethrough in the vertical direction.
are screwed together. The lower end of the screw 24 is rotatably supported by the pillar 22. Therefore, by turning the screw 24, the column 23 can be moved in the vertical direction while being guided by the column 22. A compression spring 18 configured as a gas spring is connected between the extended end 9 of the top of the column 23 and the protruding end 10 of the arm portion 8a of the mounting member 8, with an initial elastic force applied thereto. The extension end 9 and the protruding end 10 are the link arm 7
is on vertical line B when it is in the vertical position shown (initial state B). Also, at this time, the weight F of the microscope 1 applied to the center of gravity G of the microscope 1 and the observation optical axis C are also on the plane H including the parallelogram link 4.
contained within. However, the weight of each other mechanical part is represented by the weight F applied to the center of gravity of the microscope 1. The above axis Or, O
* are oblique to each other, and the axis vAOt and the axis 0. are perpendicular to each other, and when the AM mirror l is moved in three-dimensional space from its initial state using a handle provided on the microscope 1, which will be described later, each pivot axis is oriented at an angle corresponding to the rotation angle and positioned. It will be done.

Next, in Fig. 3, 13 is the base, and 14 is the base 13.
The column 15 erected above has a vertical axis 0.
A first arm 16 is rotatably supported around the first arm.
A second arm 16 is provided at the other end of the arm 15 and is supported so as to be rotatable about a vertical axis 010 and within a plane perpendicular to the first arm 15 . A bearing portion 17 for rotatably bearing the vertical arm 3 of FIG. 1 is provided at the tip of the second arm 16.

The second arm 16 has a built-in balance mechanism (not shown) for balancing the load on the bearing part 17, and the parallel support means 4 allows the operator to vertically move the bearing with a light force. The microscope 1 can be moved three-dimensionally while keeping the arm 3 vertical.

As shown in FIG. 4, the other end of the pivot shaft OS of the link arm 2a is rotatably supported on the side wall of the focusing section 2b, and a worm is attached to the tip of the pivot shaft O1 that protrudes inside the focusing section 2b. A wheel 25 is fixed. Inside the focusing section 2b, a worm 26 that meshes with the worm wheel 25 and a worm wheel 27 integrated therewith are rotatably supported, and a worm 28 that meshes with the worm wheel 27 is rotatably supported. There is. warm 28
A handle 2 is attached to the end of the rotating shaft protruding to the outside of the focusing section 2b.
9 is fixed. Therefore, normally the link arm 2
a and the focusing part 2b move together, but when the handle 29 is turned, the rotation is transmitted to the worm wheel 25, so the focusing part 2b moves by an angle corresponding to the rotation angle of the worm wheel 25. This results in rotation around the . This means that by turning the handle 29, the microscope 1 can be moved and the position of the center of gravity G can be moved.

Next, the operation of the above-mentioned elevating device will be explained with reference to FIG.

FIG. 5 is a drawing in which the links and axes are aligned to simplify the explanation, and shows a state in which the microscope l has been slightly rotated around the axis Os and the pivot OS in the apparatus of FIG.

First, the rotational moment caused by the load F applied to the center of gravity G of the microscope 1 will be explained. That is, the microscope 1 is aligned with the axis Ot.
and rotation axis 0. By rotating the arm 5 around the point Pt or the center of gravity G, the arm 5 moves spherically around the point Pl of the arm 5 as the center of rotation. Considering an orthogonal coordinate system x-y-z including the X-coordinate axis and the X-coordinate axis, which are perpendicular to the two coordinate axes, with the point P1 as the origin and the axis parallel to the vertical line, that is, in the same direction as gravity, as the two coordinate axes, the rotational moment is It can be explained by breaking it down into the X coordinate axis component and the X coordinate axis component.

Here, Weight acting on center of gravity F F Distance from origin P+ to center of gravity G j! Rotation angle around the IRX axis α y ″
The projected image of βR onto the y-z plane is x-zsRβ of RaR, and the rotation moments acting on the X-axis and y-axis are M,
, M, it can be expressed as M++ -F-Ra·sin a, M, -F-Ra·sin β.

However, the above formulas M and Mv are sin a and sin β, respectively
is primary and is changing. Figure 6 shows M when α is constant (α-a) and β is continuously changed.
(moment).

Next, link 6 when moving the public mall as above
Point P on the extension of link 19 connected to.

Consider the rotational moment acting on the spring 18 due to its elasticity. That is, when the u-shaped mirror 1 is rotated around the axis 0□ and the pivot 03, the extension end 9 of the link 19 is at the intersection point P between the axis 02 and vAB that connects the extension end 9 and the protruding end 10 in the initial state. The extended end 9 moves spherically with the distance R1 as a radius. In this case, as in the previous case, the origin is the intersection point P4, and the axis parallel to the vertical line, that is, in the same direction as gravity, is the 2' coordinate axis, and the orthogonal coordinate system x includes the X' coordinate axis and the y' coordinate axis, which are perpendicular to the 2' coordinate axis. Considering '-y'-z', spring 18
The rotation moment acting on point P due to the elastic force of
It can be considered that the rotation moments acting on the X' axis and the y' axis are combined.

here, Elastic force of spring 18 F.

Distance R from origin P4 to tip 9 of link 19.

Rotation angle αy′ about the X′ axis
β spring length LRl y,”
-z' Projection image of RsaR1 x
'-z'y' of R1#L
Z'LaL's x
' -z ' Ls to Z
and the X' axis due to the elastic force F of the spring 18.

The rotational moments about the y′ axis are M and ′, respectively.

If My ′, then Mx ′ = F s −Rsa−sin θ
αMv'-Fm ・RsJ-sin 0 houses However, Fl = K (L-L, > ) +p.

K: Spring constant of spring 18 Lo: Free length of spring 18 Po: Initial elasticity of spring I8 and since the spring 18 is a compression spring, m cos　(/L=　- ■.

I cosdip"□.Here, if Z is increased and R8 is decreased, cos 47 wards ζ1 cos+t/p#1, and M++ '#F-RB・sin θαMy'"
+ F −R51−sin θ〆.

The above formulas M, ', M, and ' are also sinθa and sinθ!
is included in the first order form. Also, when θ becomes α→0 or when β→0, θη becomes θη −α or θ−→β.

FIG. 6 shows M due to the center of gravity when β is changed when α-a, and M when the variable θI is replaced by the variable β in parallel to the curve showing the change in (moment).

′ is shown. A similar curve can be used for M,,M,'.

In the entire adjustment process of vertically moving and rotating the microscope 1, the state in which the rotational moment is balanced is as follows: M X + M 11 ' = O and M, +M,
=0. That is, x(x'
) axis and the y (y') axis as long as the rotational moment due to the weight of the movable part of the device and the rotational moment due to the elasticity of the spring 18 are balanced. Here, if conditions are determined appropriately, M, M, ', M, and My' can be balanced at the same time over a certain range at arbitrary rotation angles α and β, as shown in Figure 6. can. FIG. 6 shows the state of M8 and M8' or M, and M,', that is, the balanced state, when α is fixed as a and β is continuously varied.Here, for comparison, M, The signs of ', M,' are shown inverted. As can be seen from this figure, a very good balance is achieved within a certain range. If there is a slight imbalance, the friction force is applied in the direction of rotation of the shaft using the conventional weighting mechanism (not shown in Figure 1) to neutralize it, but since the balancing force of the spring is at work, A minimum amount of friction needs to be applied, so that the microscope 1 can be raised and lowered with very little force.

Next, a method of operating the above-mentioned elevating device will be explained. First microscope 1
When you want to move the tm brake 1, operate the switch on the handle attached to the microscope 1.
The braking action of 2α and 12β is canceled. This results in
The microscope 1 has arms 15 and 16. The mounting is suspended on the pedestal 13 via the member 8 and the support means 4, and adjusted so as to take a three-dimensionally free position and a desired tilted posture. Such an adjustment operation can be performed extremely easily, since no unbalanced force is applied to each rotating shaft due to the balance between the rotation moment due to the weight of the microscope 1 and the counter-rotation moment due to the compression spring 1B, and the balance can be maintained. Unlike conventional devices that use weights to hold the microscope, the inertial mass is small, making it easy to stop the microscope at a desired position. Thus, when the microscope 1 is brought to a desired position and in a desired tilted posture, the AM mirror 1 can be maintained in that state by operating the switch again to activate the electromagnetic brakes 12α and 12β.

Further, according to this embodiment, since the various accessories described above are attached to the microscope 1, the position of the center of gravity G deviates from the normal position (the position shown in the figure), and the relationship explained in FIG. 5 does not hold. Even if it is missing, the relationship shown in FIG. 5 can be maintained by turning the screws 21 and 24 to move the extension end 9, or by turning the handle 29 to move the entire WA mirror 1. It is possible to make fine adjustments to maintain the best balance at all times.

〔Effect of the invention〕

As mentioned above, the surgical microscope elevating device according to the present invention has the following features:
The orientation or angular position of the surgical microscope can always be changed in a well-balanced state with light operating force, and despite its relatively small size, a large surgical operation space can be secured, and the configuration is simple and inexpensive. It has the important practical advantage of being easily manufactured.

[Brief explanation of the drawing]

Fig. 1 is a perspective view of an embodiment of the elevating device according to the present invention, Fig. 2 is a diagram of the principle configuration of the above embodiment, Fig. 3 is a perspective view of a pedestal or stand device for suspending the above embodiment, and Fig. 4 The figure is an enlarged perspective view of the microscope aiming part of the above embodiment, FIG. 5 is a schematic perspective view for explaining the operation of the above embodiment, and FIG. 6 is a diagram showing the state of balance of the operating moment of the above embodiment. be. 1...Microscope, 2a, 5, 6.7...Link arm, 2b...Sighting section, 3...Vertical arm, 4
...Supporting means, 5a...Cylindrical body, 8...Mounting member, 9...Extension end, 10...Protruding end, 12
...shaft, 12α, 12β ... electromagnetic brake, 13 ... base, 14 ... pillar, 15 ...
...First arm, 16...Second arm, 17...
・Bearing is part, 1B... Compression spring, 19... Intermediate link arm, 20... Support member, 21.24...
...Screw, 22.23...Column, 25.27...
Worm wheel, 26.28... Worm, 29
····handle. Figure 1 Figure 3 01 Figure 5 □ Procedural amendment (voluntary) October 14, 1988

Claims (2)

[Claims] (1) A mounting member to be suspended three-dimensionally movably on a pedestal, a first rotating shaft tilting downward, and a mounting member located on one end of the first rotating shaft and perpendicular to the first rotating shaft. and a third rotating shaft located on an intermediate portion of the first rotating shaft, parallel to the second rotating shaft, and rotating in synchronization with the second rotating shaft, a support member having the other end of the first rotating shaft rotatably attached to the mounting member and a microscope being attached to the second rotating shaft; an arm member attached to the third rotating shaft and the mounting member; and an elastic member connected between the supporting members so that the rotational moment due to the weight of the microscope due to the rotational movement of the center of gravity of the microscope is canceled by the opposite rotational moment due to the elastic force of the elastic member. Elevation device for a surgical microscope. (2) The elevating device according to claim (1), wherein the intersection of the first rotation axis and the third rotation axis is located on a vertical line passing through the attachment point of the elastic member to the attachment member.