JPH06148528A - Microscope support device for operation - Google Patents

Abstract

PURPOSE:To perform the miro-change by a footswitch, etc., by selectively using a drive part having a fixed means and a micromotion means which are freely rotatable, and a rotary shaft as an output shaft, and a brake part to release electromagnetic locking and fixing to fix rotation of the fixed member and the drive part. CONSTITUTION:An operation grip 25 is gripped, an electromagnetic brake release switch 25a is pushed, electromagnetic brake on a first micro-rotation regulation device 11a is energized and excited, fixture on a stator and an armature is released, and the armature becomes rotatable to a pivotal shaft O3. Through a support means 4 composed as a parallelogram link fixed to the pivotal shaft O3, therefore, an observation position and direction of a microscope 1 for operation can be regulated roughly for a pivotal shaft O5. When the microscope 1 for operation is at the desired sposition in the desired direction, if the electromagnetic brake release switch 25a is released, energization to the first micro-rotation regulation device 11a is disconnected to be deergized.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a surgical microscope supporting device for movably supporting a surgical microscope body.

[0002]

2. Description of the Related Art In recent years, so-called microsurgery, which performs fine surgery while magnifying and observing under a microscope, has become popular, and according to this, fine surgery can be performed accurately. We have achieved great results in various fields including neurosurgery and otolaryngology. In particular, in microsurgery in neurosurgery, positioning of the microscope microscope for operation, smoothness of focusing operation to the affected area, and handiness are particularly strictly required, and it is necessary to change the observation angle frequently performed during surgery. We must shorten the time as much as possible. Therefore, positioning of the surgical microscope microscope body can be performed with a small amount of force, and the fixing force of the surgical microscope microscope body during observation is large so that the observation position does not change carelessly during observation. When both hands are covered with surgical tools, there is a demand for a surgical microscope support device that can electrically operate the surgical microscope microscope body by operating the foot switch, etc. placed on the floor without using the hands. There is.

In order to meet these requirements, as a conventional technique, there is an apparatus described in, for example, Japanese Patent Laid-Open No. 61-204611. This conventional device will be described with reference to FIGS. 8 and 9. FIG. 8 is a side view of a main part of a conventional device, and FIG.
FIG. 4 is a top view showing a cross section of a main part of a conventional device. The surgical microscope body 51 is attached to the front end of the support frame 100, and the support shaft 101 fixed to the rear end of the support frame 100 is rotatably coupled and held to a surgical microscope mount arm (not shown). . On the support frame 100, a focusing portion 52 to which the surgical microscope body 51 is fixed, a first fine movement rotation adjusting device 60 to which the focusing portion 52 is fixed, and a first fine movement rotation adjusting device 60 are fixed. A second fine movement rotation adjusting device 61 having a support shaft 101 fixed to the rear end thereof is provided. Each of the two fine movement rotation adjusting devices 60 and 61 has a rotation center shaft for fine movement rotation adjustment. It makes 90 °. Fine movement rotation adjusting device 60,
Since 61 is almost the same although there is a slight difference in structure, only the fine movement rotation adjusting device 60 will be described below.

The first fine movement rotation adjusting device 60 comprises a holding frame 53 as a first frame body and a support frame 54 as a second frame body. The holding frame 53 is formed in a box shape, and two bushes 55 and 56 are coaxially fixed through the wall of the holding frame 53.
The supporting frame 54 has legs 58 and 59 projecting from both ends of the base portion 57 of the supporting frame 54 in parallel and in the same direction to form a U-shape. Through holes 62, 63 are formed in the distal end portions of the legs 58, 59 at positions facing each other.
Bushings 64 and 65 are respectively fitted and fixed to the. Bushings 55 and 56 fixed to the holding frame 53 and bushes 64 and 65 fixed to the support frame 54 are coaxially arranged, and a short shaft 66 and a connecting shaft 67 are rotatably attached to the bushes. The holding frame 53 and the supporting frame 54 are inserted so that they are relatively rotatable with respect to the short shaft 66 and the connecting shaft 67.

In the box-shaped holding frame 53, a motor 68, a gear 69 which is an input gear fixed to an output shaft 68a of the motor 68, and an output gear fixed to one end of the connecting shaft 67 for fine movement. A deceleration device, which is a fine-movement driving means composed of the gear 70, is arranged and arranged. An engaging toothed wheel 71 is concentrically fixed to the other end of the connecting shaft 67 so as not to rotate, and the supporting frame 54
A spring (not shown) that oscillatably supports a meshing piece 72 that meshes with the engaging toothed wheel 71 and constantly presses the meshing piece 72 in a direction that meshes with the engaging toothed wheel 71, and the compression of this spring. Overcome the force, and engage the engagement piece 72 with the engaging tooth ring 7
The fixing means is composed of a solenoid 74 that is excited in a direction that does not mesh with 1.

In the first fine movement rotation adjusting device 60 configured as described above, a spring (not shown) presses the meshing piece 72, and the meshing piece 71 engages with the engaging toothed wheel 71 fixed to the connecting shaft 67. 7
The holding frame 53 and the supporting frame 54 are fixed by the fixing means for engaging the two.
Is restrained from rotating relative to the connecting shaft 67. Also,
The rotation speed of the motor 68 is reduced by the reduction gear device, and the connecting shaft 6
The fine movement driving means transmitting the fine movement gear 70 fixed to the holding frame 53 causes the holding frame 53 to finely move relative to the support frame 54 about the short shaft 66 and the connecting shaft 67 coaxially fixed to the holding frame 53. It becomes rotatable. When the solenoid 74 is excited, the meshing piece 72 overcomes the compression force of the spring (not shown), the meshing with the engaging toothed wheel 71 is released, and the holding frame 53 and the supporting frame 54 are no longer fixed, and the holding frame 53 is released. Is the short axis 66,
Coarse movement is possible about the support frame 54 around the connecting shaft 67.

As described above, the first fine movement rotation adjusting device 60.
Thus, the holding frame 53 can be selected from the fixed, fine movement, and coarse movement states relative to the support frame 54. The second fine movement rotation adjusting device 61 has a similar mechanism. As a result, the surgical microscope body 51 fixed to the holding frame 53 via the focusing unit 52 has a foot switch (not shown) arranged on the floor when the observation position and direction are largely changed in the three-dimensional space. This can be done by inputting the release of fixation with, for example, and the operator pointing the surgical microscope body 51 in an arbitrary direction. Next,
The observation position and direction can be changed to a small value by inputting the rotation direction with a foot switch or the like. Then, when the surgical microscope microscope body 51 reaches the desired observation position, the surgical microscope microscope body 51 can be fixed by stopping the above two inputs.

[0008]

However, in the above-mentioned conventional apparatus, the fixing of the observing position and the direction of the surgical microscope body 51, that is, the rotation / fixing of the holding frame 53 and the supporting frame 54 is performed by the engaging tooth ring. Since the meshing piece 72 is meshed with 71, when the coarse movement of the observation position and direction of the surgical microscope body 51 is changed, it can be fixed only at the position where the engagement tooth ring 71 meshes with the meshing piece 72. In other words, when the operator roughly changes the position and direction to the desired position and fixes it there, the position where the engaging toothed wheel 71 meshes with the meshing piece 72 coincides with the desired position that the operator matches. Except when it is done, it will be fixed by shifting. Therefore, when the observation position and the direction are changed by coarse movement, the fine movement must be changed except by accident, and it takes time to change the observation position and the direction, which is not preferable in the progress of the operation.

In order to solve this, if the number of teeth of the engaging toothed wheel 71 is made extremely dense, the deviation of the fixed position can be reduced. However, due to the problem of the strength of the engaging toothed wheel 71, there is a limit in reducing the number of teeth and increasing the number of teeth.
As a result, the engaging toothed wheel 71 has no choice but to be large, resulting in an increase in size and complexity of the device.

In view of the above-mentioned circumstances, the present invention makes it possible to change finely the observation position and the direction of the surgical microscope body to a position desired by the operator by means of a foot switch or the like arranged on the floor surface. Moreover, it is an object of the present invention to provide a surgical microscope support device having a simple structure, which can be fixed at a desired position of an operator without fail even when coarse movement is changed.

[0011]

SUMMARY OF THE INVENTION A surgical microscope supporting apparatus of the present invention comprises at least one in order to arbitrarily change the observing position and direction of a surgical microscope body for magnifying and observing an operating part in a three-dimensional space. A support member is rotatably connected to the fixed member at one of the rotating shafts, and fixing means for preventing the support member from rotating relative to the fixed member at the rotating shaft; In a surgical microscope supporting device having a fine movement means for allowing a support member to make fine movement rotation with respect to the fixing member, the fixing means and the fine movement means are rotatable with respect to the rotation shaft and are rotatable. A drive unit having a shaft as an output shaft, an electromagnetic lock that locks the rotation of the fixing member and the drive unit on the rotating shaft, and a frictional braking unit that can release the lock are selectively used. Characterized in that There.

[0012]

The surgical microscope supporting apparatus of the present invention is provided with a fixing member that constitutes the microscope supporting apparatus in order to arbitrarily and arbitrarily change the observation position and direction of the surgical microscope body within the three-dimensional space. On the other hand, the support member of the surgical microscope body is rotatably connected to at least one rotation shaft. The drive source of the drive unit for changing the observation position and direction is an electric motor, an ultrasonic motor that also constitutes a fine movement unit, or the like, and these motors are configured to rotate in both forward and reverse directions. The output shaft of the motor is connected to a rotating shaft, to which a supporting member of the surgical microscope body is rotatably connected, via a worm gear that constitutes fine movement means, an electromagnetic brake and an electromagnetic clutch that constitute fixing means. ing. The electromagnetic brake is a non-excitation operated friction type electromagnetic brake, and the electromagnetic clutch is an excitation operated type.

When the fixing means is constructed by using only the electromagnetic brake, when the electromagnetic brake is in an excited state, the observation position and direction of the surgical microscope body is roughly adjusted with respect to a predetermined axis via the support member. it can. When the electromagnetic brake is in the non-excitation state, the armature of the electromagnetic brake cannot rotate and the worm gear is self-locking.
The surgical microscope body is fixed about a predetermined axis. Even if the electromagnetic brake is in the non-excited state, when the fine movement direction is input by the foot switch, the output shaft of the motor rotates and the worm gear also rotates, so that the surgical microscope body is rotated in the desired observation direction about the predetermined axis. Finely rotated. When the drive source is an ultrasonic motor, the worm gear is not necessary because the output shaft of the motor can rotate at low speed.

In the case where the driving source is a motor and the fixing means is composed of an electromagnetic brake and an electromagnetic clutch, when the electromagnetic brake is in an excited state, the surgical microscope microscope body is observed about a predetermined axis via the support member. The position and orientation can be roughly adjusted. On the other hand, the electromagnetic clutch is not excited, but its operation will be described in the embodiment described later. When the electromagnetic brake is in the non-excited state, the surgical microscope body is fixed about a predetermined axis. Also in this case, the fine adjustment of the observation position and the direction is performed by inputting the fine movement direction by the foot switch.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS (First Embodiment) FIGS. 1 to 4 relate to a first embodiment of the device of the present invention. FIG. 1 is a perspective view of a raising and lowering arm which constitutes a surgical microscope supporting device of the present invention. is there. In FIG. 1, reference numeral 1 denotes a well-known surgical microscope microscope body which is supported by a focusing unit 2b so as to be vertically movable along an observation optical axis c. The focusing part 2b is attached to the link arm 2a of the supporting means 4 configured as a parallelogram link attached to the lower part of the vertical arm 3 via an attachment member described later, and interlocks with the link arm 2a. Link arm 2
One ends of two mutually parallel link arms 5 and 6 are rotatably connected to a by pivots O ₅ and O ₆ , respectively. Further, the other ends of the link arms 5 and 6 are respectively connected to the axis O.
A link arm 7 that is parallel to the link arm 2a is rotatably connected by ₃ and O ₄ .

The end of the link arm 5 which is separated from the pivot O ₅ by a predetermined distance is attached to the attachment member 8 by pivots O ₃ , O _5.
Is concentrically and rotatably connected to an axis O ₂ orthogonal to the axis O ₂ . Further, the mounting member 8 is formed such that a projecting arm portion 8a having a top surface orthogonal to the vertical arm 3 and an arm portion 8b that rotatably supports the supporting means 4 form an intersecting angle of 45 °. . The attachment end of the link arm 5 to the attachment member 8 is formed as a hollow cylindrical body 5a, and inside the hollow cylindrical body 5a, the link arm 7 has one end pivotally attached to the link arm 6. Has been inserted. The other end of the link arm 7, have been fixed link arm 5 pivot O ₃ that is bearing so as to rotate, the pivot O ₃ is first fine movement to be described later is attached to the cylindrical body 5a It is connected to the rotation adjusting device 11a.

The cylindrical body 5a is provided with a shaft 12 concentric with the axis O ₂ . The shaft 12 is rotatably supported by the arm portion 8b of the attachment member 8 and has a second fine movement rotation adjustment device having the same structure as the first fine movement rotation adjustment device 11a provided inside the attachment member 8. It is connected to 11b. Further, the vertical arm 3 is fixed to the mounting member 8, and the mounting member 8 is
It is rotatably attached to the below-mentioned mount via an axis O ₁ perpendicular to the frame. The center portions of the link arms 5 and 6 are parallel to the link arm 2a and the link arm 7, and are linked by pivots O ₇ and O ₈ respectively.
An intermediate link arm 19 pivotally attached to the 6 is provided.

The pivotal axis O ₈ 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. The other end of the axis O ₈ extends inward, and an elongated support member 20 extending in the same direction is fixed to the other end. The support member 20 has a screw 21 extending in its longitudinal direction.
Is rotatably supported, and a support member 22 slidably supported by the support member 20 is screwed into the screw 21. Therefore, when the screw 21 is turned, the support member 2
2 moves on the support member 20 in its longitudinal direction. A screw 24 extending in a longitudinal direction perpendicular to the longitudinal direction of the supporting member 20 is rotatably supported by the supporting member 22, and a moving member 23 slidably supported by the supporting member 22 is supported by the screw 24. Are screwed together. Therefore, when the screw 24 is turned, the moving member 23 moves on the supporting member 22 in the longitudinal direction thereof.

A compressed gas is enclosed between the extended end 9 of the top of the moving member 23 and the protruding end 10 of the protruding arm portion 8a of the mounting member 8, and the compressibility of this gas is used for the spring. The gas compression spring 18 for effecting the operation is connected in a state where the initial elastic pressure is applied. An operation grip 25 is provided with an electromagnetic brake release switch 25a for an electromagnetic brake which will be described later. As is clear from the above,
The support means 4 for the surgical microscope microscope body 1 and the focusing portion 2b that supports the surgical microscope microscope body 1 so as to be movable up and down is mainly composed of the following parts. Two parallel link arms 5 and 6 which form the elevation arm and a screw 2
Support members 20, 22 and 23 capable of giving a two-dimensional displacement to the link arms 5 and 6 by the action of 1 and 24, a mounting member 8 including a cylindrical body 5a, and the link arms 5 and 6.
Link arm 2 that forms a parallelogram link with
and a, 7 and the intermediate link 19, and the like pivot O _5, O _8, O ₃ that pivotally supports the parallelogram link respectively focusing unit 2b the supporting member 20 and the cylindrical body 5a.

FIG. 2 is a perspective view of other arms that engage with the vertical arm 3 shown in FIG. 1 and its support base. In the figure, 13 is a base, 14 is a column that stands upright on the center of the base 13, and 15 is a first arm that is rotatably supported around the vertical axis O ₉ at the upper end of the column 14 at one end. . Reference numeral 16 denotes a hollow second arm which is supported at one end thereof so as to be rotatable about a vertical axis O ₁₀ at the other end of the first arm 15 and rotatable about a horizontal axis O ₁₁ . The other end of the second arm 16 is provided with a bearing portion 17 for rotatably bearing the vertical arm 3 shown in FIG. 1 around the vertical axis O ₁ . Inside the second arm 16, a balance mechanism for balancing the load applied to the bearing portion 17 is incorporated (not shown), and
The parallelogram link is configured so that it can rotate in a plane orthogonal to the first arm 15 while keeping the bearing portion 17 vertical.

FIG. 3 is a sectional view of the first fine movement rotation adjusting device 11a fixed inside the cylindrical body 5a shown in FIG. 1, and FIG. 4 is a view taken along the line AA of FIG. Is. The second fine movement rotation adjusting device 11b is the first fine movement rotation adjusting device 1.
Since it has the same structure as 1a, the illustration is omitted. In the figure,
Reference numeral 27 denotes a fixing plate fixed inside the cylindrical body 5a perpendicularly to the axis. A stator 26 a of a known non-excitation actuated friction electromagnetic brake 26, which is positioned concentrically with the axis O ₃ by a bearing 32, is fixed to a fixed plate 27. Reference numeral 28 denotes a rotating plate, which is pivoted by a bearing 33 on the axis O ₃
Is concentrically positioned and rotatable, and is fixed to the armature 26b of the electromagnetic brake 26. Two
9 is a worm wheel fixed concentrically to the axis O ₃ , and 30 is a worm. A motor mounting plate 31b is fixed to the rotary plate 28, and the motor 31 is fixed to the motor mounting plate 31b so that the worm 30 concentrically fixed to the motor rotating shaft 31a meshes with the worm wheel 29. There is.

The operation of the first embodiment of the device of the present invention will be described. First, the surgeon grasps the operation grip 25 and presses the electromagnetic brake release switch 25a to roughly adjust the observation position and direction of the surgical microscope body 1 to a desired position and direction. The electromagnetic brake 26 of the adjusting device 11a is energized / excited to release the fixing of the stator 26a and the armature 26b, and the armature 26b.
Is rotatable with respect to the axis O ₃ . Therefore, the observation position and direction of the surgical microscope body 1 with respect to the axis O ₅ can be roughly adjusted via the support means 4 configured as a parallelogram link fixed to the axis O ₃ .

Further, when the surgical microscope body 1 is at the desired position and direction, the electromagnetic brake release switch 25a.
When the state is released, the electromagnetic brake 26 of the first fine movement rotation adjusting device 11a is de-energized and is not excited. Therefore,
The stator 26a and the armature 26b are fixed, and the armature 26b cannot rotate about the pivot O ₃ . Since the worm 30 and the worm wheel 29 are self-locking, the surgical microscope body 1 can be fixed about the axis O ₅ via the support means 4 fixed to the axis O ₃ . The same applies to the second fine movement rotation adjusting device 11b, so that the observation position and direction of the surgical microscope body 1 about the axis O ₂ can be roughly adjusted. In this way, the rough adjustment of the observation position and direction of the surgical microscope body 1 is performed three-dimensionally with respect to the axes O ₂ and O ₅ .

Further, at this time, since the reaction force of the gas compression spring 18 is balanced, the two lifting / lowering operation forces are small. The adjustment of the observation position of the surgical microscope body 1 is not only performed three-dimensionally about the axis O ₂ and the axis O ₅ by the elevation arm portion, but also the vertical axes O ₉ and O _10.
And the vertical axis O ₁ for attaching the elevation arm portion in the horizontal plane and the vertical movement of the second arm 16 as well. At this time as well, the observation mechanism is adjusted with a light operation force by the balance mechanism (not shown). Be seen.

Next, for fine adjustment of the observation position and direction, when the fine movement direction is input by a foot switch (not shown), the electromagnetic brake 26 remains unexcited and the stator 26a
Since the armature 26b is fixed, the worm 30 is driven and rotated when the motor rotation shaft 31a rotates,
The worm wheel 29, and thus the pivot shaft O _3, is finely rotated at a predetermined reduction ratio. When the pivot axis O ₃ is pivoted, the operating microscope microscope body 1 about the pivot axis O _{5 is} moved via the support means 4 fixed to the pivot axis O ₃ and configured as a parallelogram link.
Is finely rotated in a desired observation direction.

When the input of a foot switch (not shown) is stopped when the surgical microscope body 1 is oriented in a desired direction, the support means 4 fixed to the pivot O ₃ is used to stop the input.
The surgical microscope body 1 can be fixed about the axis O ₅ . The same applies to the second fine movement rotation adjusting device 11b, so that the observation direction of the surgical microscope body 1 about the axis O ₂ can be finely adjusted. In this way, the fine adjustment of the observation direction of the surgical microscope body 1 is performed three-dimensionally about the axes O ₂ and O ₅ .

The first embodiment of the device of the present invention having the above-mentioned structure and operation has the following effects. Since the observation position and the direction of the surgical microscope body 1 are fixed by using the non-excitation actuated friction type electromagnetic brake 26, the structure is simple, and when roughly adjusting the observation position and the direction, the stator 26a is used. Since the armature 26b can be fixed at any position and fine adjustment is not required, the operation time can be shortened. Further, since the reaction force of the gas compression spring 18 is balanced, the amount of operating force is light and the operator's fatigue is small.

(Second Embodiment) FIG. 5 shows a second embodiment of the device of the present invention.
It relates to an example. Instead of the worm 30, the worm wheel 29, and the motor 31 (see FIGS. 3 and 4) of the deceleration mechanism of the fine movement rotation adjusting device 11a in the first embodiment, in the second embodiment, as shown in FIG. The sound wave motor 34 is used. The other structure is the same as that of the first embodiment, and the second fine movement rotation adjusting device 1 is also used in the second embodiment.
1b has the same structure as the first fine movement rotation adjusting device 11a. In FIG. 5, the ultrasonic motor 34 is fixed to the armature 26b of the electromagnetic brake 26 concentrically with the axis O ₃ . In addition, the motor rotation shaft 34 of the ultrasonic motor 34
The a is concentrically fixed to the axis O ₃ via the connecting member 35.

The ultrasonic motor 34 has the same function as the worm 30 and the worm wheel 29 of the first embodiment because the motor rotating shaft 34a is locked when the ultrasonic motor 34 is not energized. Similar to the embodiment, the rough adjustment of the observation position and direction of the surgical microscope body 1 is performed by the axis O ₂ ,
It is performed three-dimensionally about the axis O ₅ . Next, in the fine adjustment of the observation position and direction, when the fine movement direction is input by a foot switch (not shown), the motor rotation shaft 34a of the ultrasonic motor 34 is rotated with a large torque and a low rotation speed. As a result, the axis O ₃ is finely rotated. other than that,
Since it is the same as the first embodiment, the fine adjustment of the observation direction of the surgical microscope body 1 is performed three-dimensionally about the axis O ₂ and the axis O ₅ . According to the second embodiment of the device of the present invention having the above-described configuration and operation, in addition to the effect of the first embodiment, there is an effect that the device can be made simple, small in size, and low in cost because it does not require a reduction mechanism.

(Third Embodiment) FIGS. 6 and 7 relate to a third embodiment of the device of the present invention. FIG. 6 is a perspective view showing the whole of the third embodiment. 3 shows a configuration similar to that of FIG. That is, 13 is a base, 14 is a pillar standing upright in the center of the base 13, and 15 is a first arm rotatably supported around the vertical axis O ₉ at one end of the pillar 14 at one end. 37 is the first arm 15
Is a vertical arm pivotally pivotable about the vertical axis O ₁₀ on the other end of. Reference numeral 16 is a second arm supported by a vertical arm 37 so as to be rotatable about a horizontal axis O ₁₁ . At the other end of the second arm 16, there is provided a bearing part 17 for rotatably bearing the vertical arm 3 shown in FIG. 1 according to the first embodiment around a vertical axis O ₁ . The elevation arm of the first embodiment is suspended (not shown).
The second arm 16 has a built-in balance mechanism (not shown) for balancing the load applied to the bearing portion 17. Moreover, the first arm 15 is provided with the bearing portion 17 kept vertically. The parallelogram link is composed of the upper arm 38, the lower arm 39, the vertical arm 37 and the bearing portion 17 of the second arm 16 so as to be rotatable in the orthogonal planes.

FIG. 7 shows the vertical axis O ₁₀ and the horizontal axis O of FIG.
FIG. 6 is a diagram showing a cross section of a main part of a plane including ₁₁ . Reference numeral 40 denotes a rotary shaft that can rotate coaxially with the horizontal axis O ₁₁ , the upper arm 38 of the second arm 16 is fixed to the rotary shaft 40, and positioning with respect to the vertical arm 37 by bearings 47 and 48. Has been done. Reference numeral 41 denotes a rotary shaft that can rotate coaxially with the horizontal axis O ₁₂ parallel to the horizontal axis O _11, and the lower arm 39 of the second arm 16 is fixed to the vertical arm 37 by bearings 49 and 50. It is positioned. 42
Is a friction type electromagnetic brake of the known non-excitation type, coaxial to the stator 42a is fixed to the vertical arm 37 with respect to a horizontal axis O _11, also the armature 42 to the pivot shaft 40
b is fixed. The electromagnetic brake 42 is covered with a cover 43 so that it cannot be seen from the outside. 44 is a friction type electromagnetic clutch known excitation type, the stator 44a coaxially with a horizontal axis O ₁₁ is fixed to the vertical arm 37, also the rotor 44b to the pivot shaft 40 with respect to the horizontal axis O ₁₁ It is rotatably fixed. The electromagnetic clutch 44 is covered with a lower cover 46a so that it cannot be seen from the outside.

Reference numeral 45 denotes an ultrasonic motor fixed to the lower cover 46a, and the motor rotating shaft 45a of the ultrasonic motor 45.
Is fixed to the armature 44c of the electromagnetic clutch 44 coaxially with the horizontal axis O ₁₁ . The ultrasonic motor 45 is covered with an upper cover 46b so as not to be seen from the outside. The non-excitation actuated friction type electromagnetic brake 42 and the excitation actuation type frictional electromagnetic clutch 44 are not energized when the second arm 16 is fixed, and only the electromagnetic brake 42 is activated during coarse movement. The electromagnetic clutch 44 is energized and is not energized, and both are energized in the case of slight movement.

The operation of the third embodiment of the device of the present invention will be described. First, in order to change the observation position and direction of the surgical microscope 1 shown in FIG.
Of the electromagnetic brake release switch 2
Press 5a. Then, with respect to the axis O ₂ and the axis O ₅ , the observation position and direction of the surgical microscope 1 can be roughly adjusted, and the electromagnetic brake 42 is energized and excited to release the fixation of the stator 42a and the armature 42b. To be done. However, the electromagnetic clutch 4
4, the rotor 44b is not fixed to the armature 44c, and the armature 42b is rotatable about the horizontal axis O ₁₁ . The upper arm 38 is rotatable with respect to the horizontal axis O ₁₁ , and the lower arm 39 is rotatable with respect to the horizontal axis O ₁₁ , respectively.
The bearing 17 that forms a parallelogram link with the vertical arm 37 and the vertical arm 37 can be moved up and down while maintaining the vertical posture, and the observation position of the surgical microscope body 1 can be roughly changed in the vertical direction.

Further, when the electromagnetic microscope release switch 25a is released when the surgical microscope body 1 is moved to the desired observation position and direction, the surgical microscope body 1 can be fixed about the axis O ₂ and the axis O _5. With electromagnetic brake 4
The electricity to 2 is cut off and there is no excitation. Therefore, the stator 42a and the armature 42b cannot rotate with respect to the horizontal axis O ₁₁ , and the bearing 17 cannot move,
The surgical microscope body 1 can also be fixed in the vertical direction. At this time, a balance mechanism in the second arm 16 (not shown)
This allows the observation position to be adjusted with a light amount of operation force. In addition, the observation position of the surgical microscope body 1 is adjusted three-dimensionally with respect to the axis O ₂ and the axis O ₅ by the elevation arm section.
Further, not only is the movement of the second arm 16 moved up and down, but also the movement of the observation axis in the horizontal plane is performed by the vertical axes O ₉ and O ₁₀ and the vertical axis O ₁ for attaching the elevation arm portion. Be seen.

Next, for fine adjustment of the observation position and direction, a fine movement direction is input by a foot switch (not shown), and the operating microscope microscope body 1 about the axis O ₂ and the axis O _5.
Is finely rotated in a desired observation direction, and the electromagnetic brake 42 is energized to be in an excited state. Therefore,
The fixation of the stator 42a and the armature 42b is released, and at the same time, the electromagnetic clutch 44 is also energized to be in the excited state, and the rotor 44b is fixed to the armature 44c.
At this time, the ultrasonic motor 45 is also energized, and the motor rotation shaft 45a rotates with a large torque and a low rotation speed. Therefore, the armature 44c is directly finely rotated. And then
Since the rotor 44b is fixed to the armature 44c, the upper arm 38 fixed to the rotation shaft 40 is finely rotated about the horizontal axis O ₁₁ . Since the lower arm 39 is rotatable with respect to the horizontal axis O ₁₂ , the upper / lower arm 3
The bearing portion 17 forming a parallelogram link together with 8, 39 and the vertical arm 37 can be finely moved up and down while maintaining the vertical posture, and the observation position of the surgical microscope body 1 is also finely changed in the vertical direction. it can.

When the input of the foot switch (not shown) is stopped when the surgical microscope body 1 is moved to the desired observation position and direction, the surgical microscope body about the axis O ₂ and the axis O ₅ is stopped. 1 can be fixed, and the electromagnetic brake 42 is de-energized to deactivate the stator 4
2a and armature 42b are fixed, armature 4
2b becomes unrotatable with respect to the horizontal axis O ₁₁ , and at the same time, the electromagnetic clutch 44 and the ultrasonic motor 45 are de-energized,
Since the bearing portion 17 cannot move, the surgical microscope body 1
Can also be fixed vertically.

The third embodiment of the device of the present invention having the above-mentioned structure and operation has the following effects. Since the part for fixing the second arm 16 (electromagnetic brake 42) and the part for finely driving the second arm 16 (electromagnetic clutch 44 and ultrasonic motor 45) are separate bodies, the user (operator)
The electromagnetic brake 42, the electromagnetic clutch 44, and the ultrasonic motor 45 can be selected and incorporated according to the surgical mode and preference. That is, the electromagnetic brake 42, the electromagnetic clutch 44, and the ultrasonic motor 45 are provided for the user who does not fix the second arm 16 with a large fixing force and does not need the fine movement drive.
The second arm 16 can be provided without mounting, and the second arm 16 is fixed with a large fixing force, and the user does not need the fine movement drive. Only the electromagnetic brake 42 is attached and provided for the user. For users who also need
Electromagnetic brake 42, electromagnetic clutch 44, ultrasonic motor 4
5 can be attached and provided. In addition, since the fine movement of the elevation arm is performed in the vertical direction, coarse movement can be performed on the focusing unit 2b unless the observation field of view is largely displaced.
Focusing operation by moving the elevation arm up and down can be performed without using hands, which reduces operator fatigue and shortens the operation time.

[0038]

As described above, according to the surgical microscope supporting apparatus of the present invention, the fine movement change of the observation position and the direction of the surgical microscope body can be performed by a foot switch or the like arranged on the floor as desired by the operator. Not only can it be performed, but also when the coarse movement of the observation position and direction is changed, it can be fixed at the position desired by the operator without any need for fine adjustment, and the operation time can be shortened. Further, since the friction type electromagnetic brake is used to fix the observation position and direction, the structure becomes simple.

[Brief description of drawings]

FIG. 1 is a perspective view of a depression / elevation arm portion that constitutes a first embodiment of the device of the present invention.

FIG. 2 is a first arm-a second arm in the first embodiment of the device of the present invention.
It is a perspective view of an arm system.

FIG. 3 is a diagram showing a configuration of a first fine movement rotation adjusting device of FIG.

FIG. 4 is a view taken along the line AA of FIG.

FIG. 5 is a diagram showing a configuration of a first fine movement rotation adjusting device in a second embodiment of the device of the present invention.

FIG. 6 is a first arm-second part of the third embodiment of the device of the present invention.
It is a perspective view of an arm system.

FIG. 7 is a detailed cross-sectional view of a main part of FIG.

FIG. 8 is a side view of a main part of a conventional device.

FIG. 9 is a top view showing a cross section of a main part of a conventional device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Microscope body for operation 2a Link arm 2b Focusing part 3 Vertical arm 4 Supporting means 5 Link arm 5a Cylindrical body 6 Link arm 7 Link arm 11a 1st fine movement rotation adjusting device 11b 2nd fine movement rotation adjusting device 15 1st Arm 16 Second arm 18 Compression spring 25 Operation grip 26 Electromagnetic brake 29 Worm wheel 30 Worm 31 Motor 34 Ultrasonic motor 42 Electromagnetic brake 44 Electromagnetic clutch 45 Ultrasonic motor

─────────────────────────────────────────────────── ───

[Procedure amendment]

[Submission date] December 9, 1992

[Procedure Amendment 1]

[Document name to be amended] Statement

[Correction target item name] 0013

[Correction method] Change

[Correction content]

When the fixing means is constructed by using only the electromagnetic brake, when the electromagnetic brake is in an excited state, the observation position and direction of the surgical microscope body is roughly adjusted with respect to a predetermined axis via the support member. it can. When the electromagnetic brake is in a non-excited state, the armature of the electromagnetic brake cannot rotate and the worm gear is self-locked, so that the microscope microscope body for operation is fixed about a predetermined axis. Even if the electromagnetic brake is in the non-excited state, when the fine movement direction is input by the foot switch, the output shaft of the motor rotates and the worm gear also rotates, so that the surgical microscope body is rotated in the desired observation direction about the predetermined axis. Finely rotated. When the drive source is an ultrasonic motor, the output shaft of the motor can rotate at low speed, the shaft is locked when the motor is not energized, and the surgical microscope body is fixed about a predetermined axis.

[Procedure Amendment 2]

[Document name to be amended] Statement

[Name of item to be corrected] 0032

[Correction method] Change

[Correction content]

Reference numeral 45 denotes an ultrasonic motor fixed to the lower cover 46a, and the motor rotating shaft 45a of the ultrasonic motor 45.
Is fixed to the armature 44c of the electromagnetic clutch 44 coaxially with the horizontal axis O ₁₁ . The ultrasonic motor 45 is covered with an upper cover 46b so as not to be seen from the outside. The non-excitation actuated friction type electromagnetic brake 42 and the excitation actuation type frictional electromagnetic clutch 44 are not energized when the second arm 16 is fixed, and only the electromagnetic brake 42 is activated during coarse movement. The electromagnetic clutch 44 is energized and not energized, and both are energized in the case of slight movement.

Claims (1)

[Claims] 1. A support member is rotated with respect to a fixed member in at least one rotation axis in order to arbitrarily change an observation position and a direction of a surgical microscope body for magnifying and observing an operation part in a three-dimensional space. Fixing means movably connected to the support member so that the support member cannot rotate with respect to the fixing member on the rotation shaft, and the support member can finely rotate with respect to the fixing member on the rotation shaft. In a surgical microscope supporting device having a fine movement means, the fixing means and the fine movement means are rotatable with respect to the rotation shaft, and a drive unit having the rotation shaft as an output shaft, and the rotation shaft. 2. An operating microscope support device according to claim 1, wherein an electromagnetic lock that locks the rotation of the fixing member and the drive unit and a frictional braking unit that can release the lock are selectively used.