JPH02104349A - Medical microscope for operation - Google Patents

Abstract

PURPOSE:To provide a focusing range in which acceptable focusing is obtained at all times after adjustment of the angle and position of a microscope for medical operation by moving its lens cylinder to the preset intermediate position of the focusing range of a focusing mechanism when a coarse motion mechanism is in operation. CONSTITUTION:When a signal from a coarse motion mechanism sensing part 32 is received to result in a judgement that a coarse motion mechanism is in operation, a drive control part 31 compares the output from a focusing position sensing device 35 with the reset position of the focusing part 34 of an initial setting part 33 to send a drive signal in the direction of lessening the difference between the two, and this focusing part 34 is driven to the set position. For example, a focusing sensing device 38 of active type generates a signal when focusing is obtained while the coarse motion mechanism is in operation. Upon receiving this signal, the drive control part 31 stops driving of the focusing part 34 to its reset position. Because the focusing part 34 is moving to the reset position, the operator can drive a focusing motor 36 of the focusing part 34 with a foot switch, etc., in the condition put certainly in the focusing range, to accomplish accurate focusing.

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention relates to a support device suitable for a surgical microscope for magnifying and observing a surgical site when a doctor performs a microscopic surgery.

(Prior Art) Entities *ttt are widely used for medical purposes such as surgeries and examinations, research purposes, and industrial purposes. A surgical microscope used primarily for performing microsurgery in medical applications is generally referred to as a surgical microscope, but in neurosurgical microsurgery in particular, the positioning of the surgical microscope, smooth focusing on the affected area, Ease of use is particularly demanding, and the time required to change the observation angle frequently during surgery must be minimized, i.e., the surgical microscope must be positioned at the desired position in the workspace without interfering with the surgeon. It must be supported on a stand or ceiling suspension so that it can be positioned quickly and accurately and securely fixed in that position.More recently, it has also been used to take photographs with a surgical 1711I microscope to record various cases during surgery. For the purpose of installing equipment and educating doctors and nurses, it is becoming increasingly common to attach a TV camera to a surgical microscope and project the procedure on a monitor inside the operating room.

As a result, the surgical microscope becomes heavy, so 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 requirements, for example, US PATENTN.
o 37627! :16 and 3762797 allow free composite rotation around three mutually orthogonal axes.

The link 4 consists of a link mechanism supported on a fixed support via a 3-axis flexible force link mechanism and can freely change its angular position within the body space! ! structure is used, and an optical ffl? Place a where I installed the 7A appliance
A stand device for im is disclosed. In this device, the microscope is well balanced at any arbitrary position and angle, so it is possible to move the microscope with light operating force and to securely fix it at any arbitrary position.

(Problems to be Solved by the Invention) However, when performing surgery using the apparatus shown in the prior art, the braking force of the braking bearing of each arm rotation shaft is released by a switch provided on the operating handle, and the
After adjusting the position angle of lt, the switch applies the braking force of the braking bearing of each arm to fix each arm rotation axis and maintain the position and angle of the microscope. However, with the series of operations up to now, it is not possible to finely focus the am part, and in reality, after the above series of operations, the focus is adjusted by operating a foot switch or the like to move the microscope along its observation optical axis. It is necessary to drive the lens to achieve accurate focusing.

Particularly in neurosurgery, the surgery often lasts a long time, and the above operations are frequently repeated many times. Movement of the focusing unit along the observation optical axis of the microscope is performed by driving a motor etc. installed in the focusing unit, but since the range of movement is limited, the focusing operation as described above is The disadvantage is that as you repeat this process, you reach the limit of the range of movement, making it impossible to focus.

In view of the above-mentioned problems, the present invention aims to maintain a sufficient focusing range (after adjusting the position and angle of the microscope).
The purpose of the present invention is to provide a surgical microscope with excellent operability and a good focusing range.

(Means and effects for solving the problems) In order to solve the above-mentioned problems, the present invention provides a surgical microscope ta mirror body for magnifying observation of a surgical site, and the surgical microscope 1! a coarse movement mechanism that changes the position and/or angle of the mirror;
In the surgical microscope, the surgical microscope has a focusing mechanism that moves the surgical microscope mirror body along its observation optical axis and performs focusing, when the coarse movement mechanism is operating. The present invention is characterized in that the surgical microscope m1 is moved to a preset intermediate position of the focusing range.

(Example) Hereinafter, the present invention will be described in detail based on the illustrated example.

FIG. 1 is a perspective view of an elevating arm portion constituting the surgical microscope of the present invention. In FIG. 1, reference numeral 1 designates a well-known microscope supported by a focusing section 2b so as to be movable up and down along an observation optical axis C.

The focusing part 2b is attached to the lower part of the vertical arm 3 so as to be interlocked with a link arm 2a of the support means 4, which is configured as a parallelogram link attached via a member, which will be described later. The link arm 2a has two mutually parallel link arms 5, 6 with pivot shafts 04, 0. are rotatably connected. The other ends of link arms 5 and 6 are connected to link arm 7 parallel to link 2a by pivots ○□ and 04.
and are rotatably connected to each other. The end of the link arm 5, which is recessed by a predetermined distance from the pivot OS, is attached to the member 8.
It is rotatably connected concentrically to an axis LA02 perpendicular to l+oi and 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 portion is formed as a hollow cylindrical body 5a, and this cylindrical body 5a
A link arm 7, one end of which is pivotally connected to the link arm 6, is inserted into the interior of the link arm 7. At the other end of the link arm 7, a pivot shaft ○ is rotatably supported by the link arm 5.
□ is fixed, and this pivot ○ is held in a fixed state as necessary by an electromagnetic brake 12α installed inside the cylinder 5a. A shaft 12 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.

Further, the above-mentioned vertical arm 3 is fixed to the mounting member 8, and the mounting member 8 is rotatably mounted via the vertical arm 3 around an axis 01 perpendicular to the pedestal, which will be described later. At the center of the links 5 and 6, there is a link arm 2a.
and 7, there is provided an intermediate link arm 19 which is also pivotally connected to the link arms 5 and 6.

A pivot shaft 06 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 ○,
The other end extends inwardly and has an elongated support member 20 secured thereto extending in the same direction. That is, the support member 2
0 is integrally connected to the intermediate link 19. A screw 21 extending in the longitudinal direction is rotatably supported on the support member 20, and a column 22 slidably supported by the support member 20 is screwed into the screw 21. Therefore, by turning the screw 21, the column 22 is attached to the supporting member 20.
can be moved along its long plane.

Another column 23 is mounted on the column 22 so as to be slidable in the vertical direction, and this column 23 has an SI? [The screw 24 is screwed in such a way that it penetrates in the direction. The bottom end of the screw 24 is the pillar 2
2 is rotatably supported on a bearing. Therefore, by turning the screw 24, the column 23 can be moved in the vertical direction while being guided by the column 22. The extension part 9 at the top of the column 23 and the mounting member 8
A compression spring 18 configured as a gas spring is connected between the protruding end 10 of the arm portion 8a and the compression spring 18 is applied with an initial elastic force. 28 is a grip, and an electromagnetic brake release switch 28a provided on the operation grip 28
By operating the electromagnetic brakes 12α, 12
The fixed state of β is released. 30α and 30β are the axis of the microscope [1 01. The rotational angular velocity detectors about the axis 02 are each mounted in the cylindrical body 5a and the member 8.

Next, in Fig. 2, 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.
At the other end of the arm 15 is a vertical axis 0□.

A second arm 16 is provided which is rotatable around the second arm 16 and supported so as to be rotatable within a plane orthogonal 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. Inside the second arm 16 there is a bearing section 17.
A balance mechanism (not shown) is built in to balance the load applied to the microscope (not shown), and the parallel support means 4 allows the operator to move the microscope Ml three-dimensionally while keeping the vertical arm 3 vertical with a light force. can be moved to

FIG. 3 shows a block diagram of arm motion control according to the present invention.

28a is the electromagnetic brake release switch shown in Fig. 2;
The fixed state of the electromagnetic brakes α and 12β is released, and a signal is sent to the drive control unit 31.

Further, 30α and 30β are also rotational angular velocity detectors shown in FIG. A signal corresponding to the rotational angular velocity regarding the axis 0□ is output to the drive control section 31. Through the above steps, the coarse movement mechanism detecting section 32 is planted.

The drive control section 31 performs a rough fIl movement t! Ili! Depending on the output of the J detection unit 32, it is determined whether the coarse movement mechanism is operating.

The initial setting unit 33 provides initial information to the outer control unit 31 in advance, such as criteria for determining whether the coarse movement mechanism is operating, reset position n of the focusing unit, reset driving speed of the focusing unit, etc. Make settings.

The drive control unit 31 is a drive unit for immediately moving the focusing unit motor based on output signals from the coarse movement mechanism detection unit 32, the initial setting unit 33, the reset stop signal generation unit 37, and the focusing unit 34. It outputs a signal. When the drive control section 31 receives a signal from the coarse movement movement mechanism detection section 32 and determines that the coarse movement movement mechanism is operating, the drive control section 31 activates the focusing section 3.
The output of the focusing unit position detector 35 in 4 and the initial setting unit 3
If there is a difference between the two while comparing with the reset position of the focusing section No. 3, a drive signal is sent to the focusing section motor 36 in a direction in which the difference becomes smaller, and the focusing section is driven to the reset position.

37 is a reset stop signal generating section. Reference numeral 38 denotes, for example, an active type focus detector provided in the surgical microscope body, which generates a signal when the coarse movement mechanism is in focus while in operation. Upon receiving this signal, the drive control section 3
1 stops driving the focusing section 34 to the reset position. As shown in FIG. 4, reference numeral 39 denotes an observer detector consisting of, for example, a reflective photoelectric detector, which is provided in the binocular l@i 42 of the surgical microscope, as shown in FIG.

When an observer looks at the surgical microscope, it generates a signal.

Even with this signal, the drive control section 31 stops driving the focusing section 34 to the reset position.

Either one of the focus detector 38 and the observer detector 39 described above may be provided.

Next, the effects of the present invention will be explained.

First, the operator grips the operation grip 28 of the elevating arm shown in FIG. 1 and presses the electromagnetic brake release switch 28a in order to roughly adjust the position and observation angle to the observation site. Adjust. At this time, the angle of the surgical microscope body 1 is adjusted about the pivot axis 0st11i so z in FIG.
Since the balance is maintained by the reaction force of the surgical microscope body 1, the amount of force needed to raise and lower the surgical microscope body 1 is light, and the position of the surgical microscope body 1 can be adjusted vertically.

0□. This is accomplished by movement in the horizontal plane by the shaft 01 to which the elevating arm section is attached and by vertical movement of the second arm 16. At this time as well, the position can be adjusted with a light operating force by means of a balance mechanism (not shown).

Through the above series of operations, the coarse movement movement mechanism is activated, and through this series of operations, a predetermined signal is output from the electromagnetic brake release switch 28a and the rotational angular velocity detectors 30α and 30β to the drive control unit 31. Focusing motor 3
6, the sharp focusing section 34 starts to move to the reset position. Then, the surgeon roughly locates the NlfA site,
When the angle adjustment is completed and the electromagnetic brake release switch 28a of the operating grip 28 is stopped being pressed, the elevating arm portion is fixed. And electromagnetic brake release switch 28
The output signals of a and the rotational angular velocity detectors 30α and 30β are stopped, and the movement of the focusing unit 34 to the reset position is stopped.

Thereafter, the operator drives the focusing unit motor 3b of the focusing unit 34 using a foot switch or the like to achieve accurate focusing. At this time, the focusing section 34 moves toward the reset position! Since it uses IJ, it is possible to perform accurate focusing operations while ensuring a sufficient target range.

Further, the rotational angular velocity detectors 30α and 30β are connected to each vertical axis 0.0. ．． 0 engineering. It may also be provided at the rotation axis of the vertical movement of the second arm 16, and it may be determined whether the coarse movement section of the surgical microscope is operating based on the combination of the outputs of the respective detectors.

Next, when the focus detector 38 is used in the reset stop signal generating section 37, the focus detector 38 provided on the surgical microscope Sn body
8 detects the focus position when adjusting the approximate position and angle to the retranslation N1 detection site, the movement of the focusing unit 34 to the reset position is stopped. Normally, when the coarse movement section is operated and the position of bin 1 approaches, the coarse movement section is operated slowly, so it is better to stop the movement of the focusing section 34 to the reset position. Also, as shown in FIG. 4, if the observer detector 39 is used in the reset signal generating section 37, when the operator has set the surgical microscope to PA status, the focusing section 34 is not moved to the reset position. This is also easy to use because the coarse movement movement part operates slowly in the tin match where the position and angle are adjusted using aQ.

Further, when the ROM card 40 is used, the initial setting section 33 connects the card reader 41 of the ROM card 40 to the drive control section 31. The ROM 40 stores the initial setting items such as the criteria for determining whether the coarse movement mechanism is operating, the focusing unit glue set position, the reset drive speed of the focusing unit, etc., and the drive control unit 31 It reads the measurement contents of the ROM card 40, outputs a motion signal according to the settings of the ROM card 40, and drives the control section. This makes it easy to change initial settings.

(Effects of the Invention) As described above in the embodiments, according to the present invention, after adjusting the position and angle of the surgical microscope, a sufficient focusing range (focusing range) can be obtained at all times, and operability is improved. A very good surgical microscope can be achieved.

[Brief explanation of the drawing]

FIG. 1 is a perspective view of an elevating arm that constitutes the surgical microscope of the present invention, FIG. 2 is an overall view of the surgical microscope, FIG. 3 is a block diagram of arm drive control of the present invention, and FIG. 4 FIG. 3 is a diagram showing an embodiment including an observer detector. 1... Microscope 2b, 34... Focusing section 4...
Support means 7...Link arms 12α, 12β...
・Electromagnetic brake 2B...operation grip 28a...electromagnetic brake release switch 30α, 30β
... Rotation speed detector 31 ... Drive control section 35 ... Focusing section position detector 32 ... Coarse movement movement mechanism detection section 33 ... Initial setting section 36 ... Focusing section motor 39
... a Prefecture name detector 40 ... Card in RO Fig. 2 Fig. 4

Claims (1)

[Claims] 1. A surgical microscope body for magnifying observation of a surgical site;
In a surgical microscope, the surgical microscope has a coarse movement mechanism that changes the position and/or angle of the surgical microscope body, and a focusing mechanism that moves the surgical microscope body along its observation optical axis and performs focusing. . A surgical microscope comprising: a control device that moves the surgical microscope mirror body to a preset intermediate position of the reference range of the focusing mechanism when the coarse movement mechanism is in operation. 2. The coarse movement movement mechanism is provided with a braking member that controls and releases the rotating shaft for moving the surgical microscope body, and when the rotating shaft is released by operating the braking member. 2. The surgical microscope according to claim 1, further comprising a control device for operating said coarse movement mechanism. 3. The coarse movement movement mechanism is provided with a detector that outputs a predetermined signal when it is operating, and a determination circuit that determines whether the coarse movement movement mechanism is operating based on the output of the detector. A surgical microscope according to claim 1, comprising: 4. The surgical microscope body is provided with a focus position detector, and the movement of the surgical microscope body to a preset intermediate position of the reference range is stopped in response to a focus signal from the focus position detector. A surgical microscope according to claim 1. 5. A detector for detecting the area being observed by the observer is provided in the surgical microscope body, and according to the output of the detector,
2. The surgical microscope according to claim 1, wherein the surgical microscope mirror body stops moving to a preset intermediate position in the reference range when the observer is observing.