JPH0244738Y2 - - Google Patents

Description

[Detailed Description of the Invention] (Industrial Application Field) The present invention relates to an operating handle of a manipulator device for a phototherapy device such as a laser scalpel device or a laser coagulator device. The operating handle of the manipulator device according to the present invention is particularly suitable for a manipulator device for a laser coagulator device, which is useful when incorporated into the illumination device of a slit lamp device.

(Prior Art) A laser coagulator device for treating retinal detachment or diabetic retinal disease generally uses a slit lamp device for illuminating the treated area and observing at high magnification. When a therapeutic laser light guide system is incorporated into this slit lamp device, the laser scanning mirror is placed near the illumination light exit mirror of the illumination optical system of the slit lamp, and this scanning mirror is aligned with the horizontal axis. It is configured to freely rotate around both vertical axes. A manipulator device is then used to move this mirror. The operating handle of this manipulator device is preferably disposed near a joystick handle for slightly moving the slit lamp device itself up and down, back and forth, and left and right.

Furthermore, since it is desirable that the illumination field of the treatment area and the laser irradiation area move in the same way, it is preferable that the scanning mirror be attached to the illumination device of the slit lamp. Must be built into the device.

However, in the case of a slit lamp device, the illumination section and the microscope section are each supported by independent support arms, and both arms can be rotated independently of each other around a common axis, so the manipulator device If it is built into the illumination device and its operating handle is placed near the joystick handle, there is a risk that the operating handle of the manipulator device may come into contact with the microscope arm or the operating handle itself may be damaged. There is. Contact of the arm with the operating handle is directly linked to the movement of the laser irradiation point, which means that normal tissue outside the treatment area is destroyed by the laser beam,
Particularly in a coagulator device for treating the eye, this is a serious drawback as it can lead to blindness in the eye to be treated.

(Objective of the Present Invention) An object of the present invention is to eliminate the above-mentioned drawbacks and to provide an operating handle for a manipulator device that has excellent safety and operability.

(Structure of the present invention) The gist of the present invention for achieving the above object is an operating handle for a manipulator device for scanning therapeutic light beams, which comprises an operating rod having a base and a bent portion. , providing attachment means on the base so that the bent portion can be placed on either the first side or the second side;
The operating handle of a manipulator device for a phototherapy device is characterized in that the operating rod is selectively attached to either the first side or the second side.

(Effects of the present invention) The operating handle of the manipulator device according to the present invention employs a bent part (for example, a bent part bent in the direction of the rotation trajectory of the microscope part of a phototherapy device) as the operating rod, so it can be used as a support arm for the microscope part. It is possible to reliably prevent contact with the operating rod when it rotates.
Further, a mounting means for the operating rod is provided at the base of the operating handle so that the bending direction of the bent portion of the operating rod can be selectively arranged to the first side (for example, the right hand side) or the left hand side, thereby allowing the arrangement of the lighting device. It is possible to provide an operating handle for a manipulator device that is highly safe and allows the operating handle to be operated accurately regardless of its position.

(Example) An example of the present invention will be described below with reference to the drawings. Note that although a laser coagulator will be described as an example, the present invention is not limited to this example.

FIG. 1 is a schematic perspective view showing an example of the optical arrangement of the illumination optical system of the laser coagulator according to the present invention. The illumination unit 1 for illuminating the treated eye E includes:
An arm 2, which is schematically shown in the figure, allows rotation about a vertical axis _A1 . This vertical axis
A microscope section 3 for magnifying observation of the treated area of the eye E to be treated is also rotatably attached to A1 via another arm ₄ . These arms 2,
4 is configured to be relatively rotatable.

The illumination section 1 is roughly divided into an observation illumination system 10 and a laser irradiation system 100. The observation illumination system 10 includes an illumination lamp 11, a condenser lens 12, a slit diaphragm 13, and a projection lens 14, similar to the illumination system of a known Goldmann type slit lamp device.
and a reflecting mirror 15.

The reflecting mirror 15 has two mirrors 15a and 15b inclined at 45 degrees with respect to the illumination optical axis _O1 . These mirrors 15a and 15b are arranged at a predetermined interval in the direction of the optical axis _O1 .

On the other hand, the laser irradiation system 100 includes an optical fiber 101 that guides laser light from a laser tube (not shown), a collimator lens 102, a collimator lens 103, a reflection prism 104, a zoom lens system 105, a projection lens 106, and a scanning mirror 107. , (an example of an optical member for reflecting therapeutic light). The scanning mirror 107 is rotatable around a horizontal rotation axis _A2 and a vertical rotation axis _A3 . By rotating the scanning mirror 107, a laser beam is irradiated onto an arbitrary position of the eye E to be treated.

FIGS. 2 to 4 are diagrams showing an example of the configuration of a manipulator device used in a coregulator according to the present invention.

As clearly shown in FIG. 3, the scanning mirror 107 has a pedestal 107a and a pedestal 107a.
The mirror 107b is attached to the inclined portion of the mirror 107b. A shaft member 201 is installed on the side surface of the pedestal 107a so as to be coaxial with the horizontal rotation axis _A2 . This shaft member 201 is rotatably fitted into a mirror holding member 203. The mirror holding member 203 itself has a shaft member 202 provided coaxially with the vertical rotation axis _A3 , and is rotatably fitted into the casing (not shown) of the illumination unit 1.

The mirror holding member 203 also has a horizontal rotation axis.
An L-shaped arm 205 that can pivot around an axis parallel to A ₂ is rotatably attached by a shaft member 204 . A pin 206 is implanted on the side surface of the L-shaped arm 205 near the bent portion in parallel with the shaft member 204 . This pin 206 extends between and engages a bifurcated piece 208 attached to the side surface of the base 107a. Furthermore, L-shaped arm 2
05 has a pin 20 with a drum-shaped center part at the bottom end.
9 have been planted. Two pins 210 protruding from the upper side wall of the connecting portion 211 are engaged with the inner portion of this pin 209.

As shown in FIG. 2, the connecting rod 211 (an example of a connecting member) is fitted into a cylindrical bearing 313 formed in the projecting portion 301 from the housing of the lighting unit 1, and its shaft It can be slid in the direction of A ₄ (that is, up and down in the figure), and the axis A ₄
It is designed to be able to rotate around the center. A collar 212 is formed in the middle of the connecting rod 211, and a spring 213 is fitted between the collar 212 and a partition plate 214 of the housing. Due to the action of this spring 213, the connecting rod 211 is constantly pressed downward.

An L-shaped first arm 3 is attached to the lower end of the connecting rod 211.
One end of 02 is fixed. First arm 302
is pivoted about axis _A4 by rotation of connecting rod 211.

A vertical shaft member 311 is rotatably supported on an overhanging bearing portion 312 of the casing about a vertical axis _A6 . The upper part of the shaft holding member 310 is attached to the lower end of this vertical shaft member 311. A horizontal shaft member 309 having a horizontal axis A ₅ perpendicular to the vertical axis A ₆ is implanted and fixed to the shaft holding member 310 . The distal end portion of the horizontal shaft member 309 is formed as a spherical portion 317 . Further, an L-shaped second arm 306 is rotatably supported on the horizontal shaft 309 with the horizontal axis _A5 as a rotation axis. A pin 308 having a spherical head is implanted on the upper surface of one end 307 of the second arm 306 . This pin 308 is connected to the first arm 3
It is arranged so as to be able to come into contact with the lower surface of one end portion of 02. The other end of the second arm 306 has a stepped pin 3.
14 have been planted. A spring 315 is connected between this pin 314 and the other end 304 of the first arm 302.
is stretched out. Due to the tensile force of the spring 315, the side surface of the spherical portion 317 of the horizontal shaft member 309 is configured to be in constant contact with the tip side wall portion 303 of the first arm 302.

An operating handle 4 is provided in the middle part of the second arm 306.
The base 406 of 05 is fixed. its base 4
06 is provided with a mounting portion 401 to which an operating rod 403 is attached.

As shown in FIGS. 2 and 4, the second arm 30
A headed screw 501 having a conical concave portion 503 on the side surface of the bent portion of No. 6, the center axis of which is an axis A ₇ that is perpendicular to the horizontal axis A ₅ and the vertical axis A ₆ and intersects with the intersection of these two axes A ₅ and _A 6. (an example of a conical concave member) is screwed. The conical concave surface portion 503 of this headed screw 501 has a cylinder 50 formed on the wall of the housing.
The rod-shaped head of a piston 502 sliding inside the piston 4 is constantly pressed against the spring 505. These piston 502 and spring 505 are examples of elastic members.

FIG. 5 shows the aforementioned operating handle 405 in more detail. The operating rod 403 has a U-shaped bending structure and is connected to the arm 4 for the microscope section 3.
(Fig. 1) are designed so that they do not come into contact even if they are rotated by a small angle around the axis _A1 . A pin 404 is vertically inserted near the tip of the operating rod 403, and a male thread 408 is formed at the tip. On the other hand, the attachment part 401 of the base part 406 has a symmetrical structure in FIG. 5, and a through hole 411 that penetrates in the horizontal direction is formed in the center. Attached portions 407, 407 are formed. Furthermore, V-shaped notches 410 are formed at the stepped portions 407, 407, respectively. and operation rod 4
03 through the through hole 411 from one side, and insert the pin 40
The operating rod 403 is attached to the base 406 by bringing the operating rod 403 into contact with the V-shaped notch 410 and screwing and fixing the mounting nut 402 onto the male screw 408 from the other side.

Since the mounting portion 401 has a bilaterally symmetrical structure in this manner, the operating rod 403 can be easily attached from either the right side or the left side (in FIG. 5) of the mounting portion 401. As a result, the U-shaped bent portion of the operating rod 403 can be positioned on either the left or the right depending on the arrangement positions of the illumination section 1 and the microscope section 3 according to the convenience of illumination, irradiation, and observation of the eye E to be treated. Therefore, the operating handle 405 is not obstructed by the illumination section 1 or the microscope section 3 during operation.

Note that the mounting portion 401 of the operating handle 405 is not limited to the structure shown in FIG. 5. For example, as shown in FIG. 6, a rectangular parallelepiped pedestal 420 is provided at the tip of the base 406, a male screw 408 implanted in the pedestal 420 is passed through a hole 423 formed in the operating rod 403, and the end of the operating rod 403 is Abutting surface 421 formed on the side surface of pedestal 420,
The nut 402 may be screwed and fixed to the male thread 408.

Furthermore, in the illustrated embodiment, in the event that the arms 2 and 4 come into contact with the operating rod 403 of the operating handle 405 due to the relative movement of the illumination section 1 and the microscope section 3 during the operation of the coagulator, the aim of the laser beam may be prevented. Arm 2,
A mechanism is provided to limit the rotation of 4.

That is, as shown in FIGS. 7 and 8, a mounting seat 601 is fixed to the housing bottom plate 600 of the illumination unit 1 with screws 607. A screw 603 having a cylindrical pin at the tip and a male thread at the middle is screwed onto the mounting seat 601. A cylindrical pin 604 at the tip of the screw 603 is fitted into a hole 606 formed in a U-shaped stopper lever 605. The two arms 608 of the stopper lever 605 have a length relative to the arm 4 for the microscope section 3, and the inner surface 60 of these arms 608
9 is brought into contact with the side surface of the arm 4 to limit the amount of rotation of the arm 4. In addition, if you want to make a large turn of the arm 4 as necessary, use the stopper lever 6.
05 is flipped up as shown by an imaginary line 605' in FIG. 8 to avoid contact with the arm 4.

The operation of the manipulator device explained above is explained in the ninth section.
This will be explained with reference to the schematic diagram shown in FIG.

9A to C are scanning mirrors 107
FIG. 3 is a diagram showing the movement of each component of the manipulator for giving movement around the vertical rotation axis _A3 of the machine.

First, from the reference position of FIG. 9A, operate the operating handle 4.
05 to the right as shown in FIG. 9B, the second arm 306 and horizontal shaft member 309 are rotated counterclockwise about the vertical axis _A6 .
At that time, the spherical portion 317 of the horizontal shaft member 309
Since the end side wall 303 of the arm 302 is in contact with the tensile force of the spring 315, the horizontal shaft member 3
09 counterclockwise rotation causes the first arm 302 to
rotates counterclockwise about axis _A4 .
When the first arm 302 is rotated counterclockwise in this manner, the connecting rod 211 fixed thereto is also rotated by the same amount in the same direction. Therefore, pin 21
Rotate 0 counterclockwise. As a result, pin 2
The pin 209 that is engaged with the mirror holding member 20 is also pushed counterclockwise;
As a result, the mirror holding member 203 rotates clockwise around the vertical rotation axis _A3 . As a result, the scanning mirror 107 rotates clockwise, and the laser beam l is swung to the right side, that is, to the side on which the operating handle 405 is moved.

In addition, as shown in FIG. 9C, the operating handle 40
5 to the left, the second arm 306 and the horizontal shaft member 309 rotate clockwise about the axis _A6 . Such clockwise rotation of the second arm 306 causes the spring 31 to be attached to the second arm 306.
The first arm 302 connected to the first arm 302 via the horizontal shaft member 309 also rotates clockwise about the axis A ₄ with its side wall surface 303 always in contact with the spherical portion 317 of the horizontal shaft member 309 . This first arm 302
The clockwise rotation of the mirror holding member 203 is transmitted to the clockwise rotation of the mirror holding member 203 in the same manner as described above in FIG. 9B. As a result, contrary to the case shown in FIG. 9B, the mirror holding member 203 rotates counterclockwise around the vertical rotation axis _A3 , and the scanning mirror 107 rotates counterclockwise, thereby causing the laser beam to emit light. l is swung to the left (ie, in the direction in which the operating handle is moved).

In addition, in both cases of FIG. 9B and C,
Conical concave portion 5 attached to second arm 306
03 is engaged with the piston 502, and the spring 50
Since the piston 502 is pushed against the elastic force of FIG. Return to standard position.

Next, with reference to FIGS. 10A to 10C, the operation of each component when swinging the scanning mirror 107 in the vertical direction will be described.

First, when the operating handle 405 is lowered from the reference position of FIG. 10A as shown in FIG. 10B, the second arm rotates about the horizontal axis _A5 and pushes the pin 308 upward. This causes the first arm 302 in contact with the pin 308 to rise. As a result, the connecting rod 211 fixed to the first arm 302 is lifted up against the elastic force of the spring 213. As the connecting rod 211 rises, the pin 210 lifts the pin 209, thereby causing the lever 205 to rotate counterclockwise about the shaft 204. At the same time, the pin 206 fixed to the lever 205 also pivots counterclockwise, causing the forked piece 208 engaged therewith to pivot clockwise. As a result, the scanning mirror 107 to which the bifurcated piece 208 is attached rotates clockwise about the horizontal rotation axis _A2 . As a result, the laser beam l is swung downward, that is, in the direction of movement of the operating lever 405.

Conversely, as shown in FIG. 10C, the operating handle 40
5, the second lever 306 rotates around the horizontal axis _A5 , and the pin 308 descends,
As a result, due to the elasticity of the spring 213, the first arm 3
02 and the connecting rod 211 are lowered. When the connecting rod 211 descends in this way, the pin 210 descends,
This causes the lever 205 to rotate clockwise about the axis 204, and at the same time, the pin 206 rotates the scanning mirror 107 counterclockwise about the rotation axis _A2 via the fork 208.
Therefore, the laser beam l is swung upward, that is, in the direction of movement of the operating handle 405.

In addition, in both cases of FIG. 10 B and C,
The conical concave portion 503 connects the piston 502 to the spring 505.
The spring 213 is pushed against the elastic force of the spring 213.
are in a compressed or expanded state, so when you release your hand from the operating handle 405, these springs 5
Due to the restoring force of 05,213, each component becomes the 10th
It is returned to the reference position shown in Figure A.

[Brief explanation of the drawing]

FIG. 1 is a perspective view showing an example of the optical arrangement of the illumination device in the laser coagulator device, FIG. 2 is a perspective view showing the transmission mechanism of the operating handle of the manipulator device according to the present invention, and FIG. 3 is the present invention. A perspective view showing the transmission mechanism on the scanning mirror side of the manipulator device according to the invention, FIG. 4 is a plan view showing the mutual relationship between the first arm, the second arm, and the horizontal shaft member, and FIG. 5 is the configuration of the operating handle. , FIG. 6 is a diagram showing another embodiment of the mounting portion of the operating handle, FIG. 7 is a front view showing an example of the arm restriction mechanism, FIG. 8 is a side view thereof, and FIGS. 9A and B. ,C
and FIGS. 10A, B, and C are schematic diagrams showing the operation of the manipulator device. 107... Scanning mirror, 201... Horizontal rotating shaft, 202... Vertical rotating shaft, 211... Connecting rod, 302... First arm, 306... Second arm, 309... Horizontal shaft member, 311... ... Vertical shaft member, 315 ... Spring, 405 ... Operation handle, 501 ... Headed screw, 503 ... Conical concave portion, 502 ... Piston, 505 ... Spring, 40
6... Base, 401... Mounting part, 403... Operating rod.

Claims (1)

[Scope of utility model registration request] An operating handle for a manipulator device for scanning a therapeutic light beam, which comprises a base and an operating rod having a bent portion, the bent portion being able to be disposed on either the first side or the second side. An operation handle for a manipulator device for a phototherapy device, characterized in that a mounting means is provided on the base so that the operation rod can be selectively attached to either the first side or the second side.