JPH07184925A - Microscope for surgical operation - Google Patents

Abstract

PURPOSE:To provide a microscope for surgical operation so as to easily and exactly perform the balance adjustment of each arm. CONSTITUTION:Concerning the microscope for surgical operation which supports a microscope 30 through plural mutually turnably linked arms 6, 8 and 31 and respectively installs fixing means BR1-BR4 at the turning parts of arms, this microscope is provided with a switch SW 1 and an arithmetic control circuit for respectively individually canceling fixing due to the fixing means based on the operation of this switch SW 1.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a surgical microscope in which a microscope is supported by a plurality of arms which are pivotally connected to each other.

[0002]

2. Description of the Related Art A surgical microscope is used by an operator for magnifying and observing a surgical site of a patient during surgery. For example, in brain surgery, the surgery is performed while observing the patient's brain from various angles. Therefore, the microscope is supported so as to be movable three-dimensionally by combining a plurality of arms rotatably connected to each other.

When positioning this microscope at an arbitrary position in the three-dimensional direction, the gravity moment of the microscope applied to the arm is offset by a counterweight or an elastic body so that the operation can be performed smoothly and easily. If the microscope moves and the observation position shifts during observation of the surgical site, it will hinder the progress of the surgery.To prevent this, the rotational freedom of each arm should be fixed during the observation of the surgical site. Need to be kept.

Therefore, an electromagnetic brake is incorporated in the joint (rotary shaft) of each arm so that each arm can be fixed, and all the electromagnetic brakes can be operated by operating one fixing release switch to fix or open each arm. Is done.

By the way, accessories for a microscope (TV camera,
When the assistant microscope is replaced, the position of the center of gravity of the microscope and the weight change, and the balance in the rotational freedom of each arm is lost, making it difficult to perform any positioning operation of the microscope. For this reason, the balance is adjusted by moving the position of the center of gravity of the counterweight again or changing the elastic force of the elastic body to change the canceling moment.

[0006]

However, in such a surgical microscope, when the lock release switch is pressed, the electromagnetic brakes of all the arms are released from the lock, so the microscope moves freely, and It is difficult to adjust both arms at the same time. Therefore, balance adjustment is performed for each arm.

However, since all the electromagnetic brakes are released, it is difficult to make adjustments while checking the balance state of the individual arms, and the adjustment work may be poor and accurate balance adjustment may not be possible.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a surgical microscope in which balance adjustment can be easily performed for individual arms and also accurately.

[0009]

In order to achieve the above object, the present invention supports a microscope through a plurality of arms that are rotatably connected to each other, and a fixing means is provided on each of the rotating portions of the arms. In the provided surgical microscope, a release switch and control means for individually releasing the fixation by the electromagnetic fixing means based on the operation of the release switch are provided.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a surgical microscope according to the present invention will be described below with reference to the drawings.

[First Embodiment] FIGS. 1 to 10 show a first embodiment of a surgical microscope apparatus of the present invention.

In FIG. 1, 1 is a base and 2 is a base 1.
And a main power switch mounted on the support 2, and a movable support (movable part) for coarse movement provided on the support 2. The movable column 4 can be moved up and down by an electric motor (not shown) provided in the column 2. The electric motor and the movable support column 4 constitute a vertical coarse movement mechanism.

A first arm 6 is provided at the upper end of the movable support column 4.
Is horizontally rotatably mounted around the vertical axis O1 of the movable support column 4, and an electromagnetic clutch BR4 (fixing means) is interposed between the upper end of the movable support column 4 and the first arm 6. . The electromagnetic clutch BR4 normally locks the horizontal rotation of the first arm 6, and unlocks the horizontal rotation of the first arm 6 when a voltage is applied and activated. Moreover, a metal halide lamp 7 as an illumination light source is mounted in the first arm 6.
The MLS is a switch for turning on / off the metal halide lamp 7.

<Second Arm> At the free end of the first arm 6, a second arm 8 which is a parallel link mechanism is provided with a vertical axis O.
It is mounted so that it can rotate horizontally around 2. As shown in FIG. 2 (a), the second arm 8 has a hollow support piece 9 mounted horizontally rotatably around the vertical axis O 2 on the free end of the first arm 6 and a horizontal support piece 9. The links 10 and 11 are mounted so as to be vertically rotatable via shafts 10a and 11a, and a support piece 12 is provided at the free ends of the links 10 and 11 via 10b and 11b. This horizontal axis 10a, 10b, 11a,
11b are provided in parallel with each other, the links 10, 11 are provided in parallel with each other, and the support pieces 9, 12 and the link 1 are provided.
0 and 11 form a parallel link mechanism.

An electromagnetic clutch BR3 (fixing means) is interposed between the support piece 9 and the free end of the first arm 6. This electromagnetic clutch BR3 is normally the second arm 8
The horizontal rotation of the second arm 8 is unlocked by the operation of applying a voltage.

An opening 9a is formed in the support piece 9 on the side where the links 10 and 11 are arranged, and a biasing force adjusting device 13 is attached to the support piece 9. This urging force adjusting device 13 is provided with a feed screw 14 which is inclined obliquely upward in a direction opposite to the link 10 and is held by a support piece 9 so as to be rotatable around an inclination axis O4, and an outer end portion of the feed screw 14. It has an operating knob 15 mounted and a nut member 16 rotatably screwed to the feed screw 14.

Between the nut member 16 and the intermediate portion of the link 10, a gas spring 17 for biasing the link 10 upward by gas pressure is provided obliquely.
17a and 17b are gas spring 17 and nut member 16
And a horizontal axis pivotally attached to the link 10, respectively.

An electromagnetic lock mechanism 18 is interposed between the links 10 and 11. This electromagnetic lock mechanism 18
Is a link 19 whose both ends are pivotally attached to the links 10 and 11 by horizontal shafts 19a and 19b, a link 20 whose both ends are pivotally attached to the links 10 and 11 by horizontal shafts 20a and 20b, and an electromagnetic clutch BR2 (fixing means). ) Has.

This electromagnetic clutch BR2 includes a link 19,
The first part pivotally attached to the central part of 20 by horizontal shafts 21a and 21b
The clutch plate 21 and the horizontal shafts 19a, 20a and the links 10,
11, a second clutch plate 22 pivotally attached to the horizontal shafts 22a and 22b, a solenoid 23 attached to the first clutch plate 21, and an actuator rod 24 penetrating the centers of the first and second clutch plates 21 and 22. And an end plate 25 integrally provided at the tip of the actuator rod 24.

A lock release switch SW1 provided on the support piece 9 is provided, and each time the lock release switch SW1 is operated, the switches SW1 to H
The level signal and the L level signal are output alternately. When the switch SW1 is operated to output the H level signal, the solenoid 23 is energized so that the actuator rod 24 projects from the solenoid 23 and the end plate 2
5 and the solenoid 23, the first and second clutch plates 2
The sandwiched state between 1 and 22 is released.

When the lock release switch SW1 is operated to output an L level signal, the actuator rod 24 is displaced to the solenoid 23 side by a spring (not shown), and the first rod between the end plate 25 and the solenoid 23 is moved. ，
The second clutch plates 21, 22 are sandwiched and fixed. In FIG. 1, 26 and 27 are links 10 and 1.
It is a cover that covers parts such as 1, and the covers 26 and 27 are stacked so as to be movable relative to each other.

<Third Arm (Support)> On the support piece 12 of the second arm 8, a support shaft 28 is integrally provided so as to project upward. A microscope 30 (movable part) is attached to the support piece 12 via a surgical microscope elevation device 29 as a third arm.
Is supported.

Illumination light from the metal halide lamp 7 described above is guided to an illumination optical system (not shown) of the microscope 30 through an optical fiber F.

Further, as shown in FIGS. 1 and 3, the surgical microscope elevation device 29 has a horizontal portion 31a and an inclined portion 31b formed in a dogleg shape, and the mounting hole 3 is formed in the horizontal portion 31a.
It has a horizontal rotation arm 31 on which 1c is formed. The horizontal rotation arm 31 is held on the support piece 12 so as to be horizontally rotatable around the vertical axis O3 by fitting the mounting hole 31c into the support shaft 13. An electromagnetic clutch BR1 (fixing means) is interposed between the support piece 12 and the horizontal rotation arm 31. The electromagnetic clutch BR1 normally locks the horizontal rotation of the horizontal rotation arm 31, and releases the horizontal rotation lock of the horizontal rotation arm 31 by an operation by applying a voltage.

A gas spring 32 is provided on the horizontal portion 31a.
Is installed facing upward. The gas spring 32 is biased in the direction in which the piston rod 32b advances by the pressure of the compressed gas in the cylinder 32a.
Moreover, a pressure receiving plate 33 is integrally provided at the tip of the piston rod 32b.

(Swing, Tilt Mechanism) A support shaft 34 perpendicular to the inclined surface 31d is integrally provided on the inclined portion 31b of the horizontal rotation arm 31, and a case 35 for housing the motor is provided on the support shaft 34. It is held rotatably around the axis O5. The swing pulse motor 36 housed and fixed in the case 35 and the support shaft 34 are discontinuously provided via the electromagnetic clutch BR5, and the case 35 is driven to rotate around the support shaft 34. It has become. This case 35 is an electromagnetic clutch BR5.
Fixed (locked) to the support shaft 34 by (fixing means)
It is possible. The electromagnetic clutch BR5 is unlocked by applying a voltage.

A pulse motor 37 for tilting is housed and fixed in the case 35. This pulse motor 3
7, a rotary shaft 38 is interlocked via an electromagnetic clutch BR6, and the rotary shaft 38 is fixed (lockable) to the pulse motor 37 by the operation of the electromagnetic clutch BR6. This electromagnetic clutch BR6 is unlocked by applying a voltage.

A cam 38a which rotates integrally with the rotary shaft 38 is provided in the electromagnetic clutch BR6 (see FIG. 7), and a large diameter portion 38c and a small diameter portion 38d are provided in the cam 38a. Moreover, in the case 35, the cam 38a
Limit switches A, B, C, D facing the peripheral surface of
(Detection means) is fixed. The same structure as the limit switches A, B, C, D and the cam 38a is also provided between the support shaft 34 and the case 35. That is, the limit switches E, F, G, H (detection means) and the cam 38a 'are also provided between the support shaft 34 and the case 35 so that the cam 38a' can be rotated integrally with the case 35. It has become.

Further, when the axis of the gas spring 32 is aligned with the axis of the pressure receiving shaft 54, as shown in FIG. 7, the limit switches B, C and F, G are turned on and the limit switches A, D and E and H are turned off.

On the front surface of the case 35, as shown in FIG. 8, LED1, LED2, LED3, and each LED1, L
Mode switch M corresponding to ED2 and LED3 respectively
S1, tilt switch MS2, swing switch MS3
A tilt adjusting volume BS1 and a swing adjusting volume BS2 are mounted.

(Operating microscope vertical fine movement mechanism) An inclined arm plate 39 is fixed to the side of the case 35. Rotating shafts 40 and 41 which are parallel to each other are held at the upper and lower ends of the arm plate 39 so as to be rotatable around axis lines O6 and O7, respectively.

A pressure receiving mechanism 42 is attached to the rotating shaft 40, and a case 43a of a fine moving device 43 for finely moving the microscope 30 up and down is fixed to the rotating shaft 41. The lens barrel 30a of the microscope 30 is held in the case 43a so as to be vertically movable.

The fine movement device 43, as shown in FIG.
The rack 44 provided on the lens barrel of the microscope 30 and the case 4
A pulse motor 45 fixed in 3a, a gear reduction mechanism 46 interlocking with the pulse motor 45, and a gear reduction mechanism 46.
And a pinion 47 that is engaged with the rack 44.

A projection 48 for pressing a switch is provided on the lens barrel 30a of the microscope 30 as shown in FIG.
Inside the limit switch L along the movement trajectory of the protrusion 48
S1, LS2 and LS3 are arranged. The limit switches LS1, LS2, LS3 detect the upper limit of movement, the center, and the lower limit of movement of the microscope 30, when pressed by the protrusion 48.

As shown in FIG. 9, the case 43a of the fine movement device 43 has a zoom volume BS3, a movable body volume BS4, and a focus volume BS5, as shown in FIG.
Is installed. The operation levers 30b and 30b are attached to the left and right of the lens barrel 30a, and the operation lever 30
A switch S for releasing all electromagnetic clutch fixation is provided on b and 30b.
W2 (all release switch) and initial switch SW3
Is installed.

(Tilt and Swing Pressure Receiving Mechanism) The pressure receiving mechanism 42 is provided integrally with the rotating shaft 40 and has a rectangular frame 49 projecting above the gas spring 32 in parallel with the rotating shaft 40, and the axis of the rotating shaft 40. Slide piece 50 held in the slit 49a of the frame 49 so as to be movable in any direction.
And the frame 49 is arranged in parallel with the rotary shaft 40.
It has an adjusting screw 51 (see FIG. 5) which is rotatably held by the slider and adjusts the slide piece 50 forward and backward in the axial direction of the rotary shaft 40.

Reference numeral 51a is an operating knob of the adjusting screw 51. The slide piece 50 has a holding hole 52 extending vertically.
And a flange 53 for holding a screw is provided at the upper end of the holding hole 52.

The pressure receiving mechanism 42 is a pressure receiving shaft 54 whose upper portion is fitted into the holding hole 52 so as to be vertically movable and non-rotatable in the axial direction, and the flange 5 screwed to the pressure receiving shaft 54.
3 has an adjusting screw 55 rotatably held.

At the lower end of the pressure receiving shaft 54, a spherical body 54a that comes into contact with the plate 33 of the gas spring 32 is integrally provided. Further, 55a is an operation knob of the adjusting screw 55, 55b is a flange integral with the adjusting screw 55, and 55c.
Is a stepped portion provided on the adjusting screw 55, 56 is a flange that abuts the stepped portion 55c, and 57 is a flange fixing nut.

(Interlocking Mechanism) The rotating shafts 40 and 41 described above are interlocked via a link mechanism 58.

In this link mechanism 58, the rotary shafts 40, 4
1, the base portions of the links 59 and 60 are fixed, the intermediate portion of the link 61 is fixed to the rotating shaft 38, and one end portions of the links 62 and 63 are rotatably attached to the free ends of the links 59 and 60,
The other ends of 62 and 63 are rotatably attached to both ends of the link 61.

The link 63 is composed of split link members 63a and 6a.
3b and a lock device 64 (adjusting means) connecting between the opposed ends of the split link members 63a and 63b (see FIG. 6 (b)).

This locking device 64 is a split link member 63.
a and a plate 65 pivotally attached to the arm plate 39 via support shafts 65a and 65b. This plate 65 has
It has an arc-shaped guide slit 66 and grooves 66a and 66b provided in the guide slit 66 on both sides.

The lock device 64 includes a screw 68 inserted into the guide slit 66, a lock knob 69 screwed to the screw 68, and a spring receiver 80 arranged between the lock knob 69 and the plate 65. , 81 and a spring 82 interposed between the spring receivers 80, 81,
A support shaft 67 fixed to the screw 68, and a bearing 67a rotatably holding the link member 63b on the support shaft 67.
Have.

Moreover, the base portion 68a of the screw 68 has a groove 66a.
The spring receiver 81 is disposed in the groove 66b. Then, operate the lock knob 69,
By sandwiching the plate 65 between the spring receiver 80 and the base flange 68b of the screw 68, the support shaft 6
7 is fixed to the plate 65.

<Control Circuit> The above-mentioned switch MLS, switches LS1 to LS3, SW1 to SW3, A to H, MS.
1 to MS3, signals from the volumes BS1 to BS5, etc. are input to the control unit, that is, the arithmetic control circuit 70 (control means) (see FIG. 10). The volumes BS1 to BS5 adjust the rotation speeds of the pulse motors 37, 36, 73, 74. Further, various operation signals from the foot switch 71 shown in FIG. 1 are input to the arithmetic control circuit 70.

This arithmetic control circuit 70 includes LEDs 1, 2,
3, the electromagnetic clutches BR1 to BR6, the metal halide lamp 7, and the pulse motors 36, 37, 45 are operated and controlled. Further, the arithmetic control circuit 70 is configured to control the operation of the electric motor 72 to perform the expansion and contraction control of the movable support column 4 with respect to the support column 2.

Further, the arithmetic and control circuit 70 includes the microscope 30.
And a pulse motor 73 for driving a variable power optical system (not shown) which is a movable part of the microscope 30, a pulse motor 74 for driving and controlling an objective lens (not shown) which is a movable part of the microscope 30, and the like. ing. In addition, this pulse motor 73
Drives the variable power optical system via a slip mechanism not shown, and the pulse motor 74 also drives the objective lens via a slip mechanism not shown.

When the storage switch 75 is operated, the arithmetic control circuit 70 controls the operation of the electric motor 72 to reduce the movable strut 4 with respect to the strut 2 to the minimum size, and the arithmetic control circuit 70 is mounted on the movable strut 4. First, second and third arms 6,8,29
The height of the movable part composed of, for example, is set to the minimum, and the pulse motor 45 of the fine movement device 43 is operated and controlled to control the microscope 3
0 is moved to the uppermost part to minimize the amount of downward projection from the fine movement device 43. Note that the same control as when the storage switch 75 is operated can be set to be performed when the power switch 3 is turned off.

<Operation> Next, the control operation of each unit by the arithmetic control circuit 70 having such a configuration will be described with reference to the flow charts of FIGS.

Turn on by turning on the power switch 3 shown in FIG.
After that, when the switch MLS is turned on, the arithmetic control circuit 70 controls the lighting of the metal halide lamp 7. The illumination light from the metal halide lamp 7 is an optical fiber F.
It is guided to the illumination optical system (not shown) of the microscope 30 via the, and is projected by irradiation from the objective lens of the illumination optical system toward the observed region.

(1) Unlock all electromagnetic clutches (see FIG. 11)
Step S1 Further, the switch SW2 provided on the operation lever 30b inputs the H level signal to the control circuit 70 only while being pressed, and inputs the L level signal to the arithmetic control circuit 70 when not being pressed. . This arithmetic control circuit 70 is shown in FIG.
In step S1 of 1, it is determined whether or not the H level signal is output from the switch SW2. If it is not output, the process proceeds to step S4, and if it is output, the process proceeds to step S2.

Step S2 In this step S2, a voltage is applied to the output terminals 1, 2, 3, 4 and the process proceeds to step S3. This step S2
Then, the electromagnetic clutches BR1 to BR4 are actuated and the electromagnetic clutches BR5 and BR6 are actuated to unlock the respective parts (joint parts) of the device. That is,
All locks are released.

Step S3 In this step S3, it is judged whether or not there is an H level signal from the switch SW2, and if there is, a step S2.
If there is no L level signal from the switch SW2, that is, if there is an L level signal from the switch SW2, the voltage application to the output terminals 1, 2, 3, 4 is stopped in step s3-1, and the process returns to step S1 and loops.

(2) Vertical weight balance adjustment of the second arm Further, the gas pressure of the gas spring 17 urges the second arm 8 to rotate upward so that the second arm 8 and the third arm function as the third arm. It is used to balance the overall weight of the surgical microscope elevation device 29 and the microscope 30 and the weight in the gravity direction.

The biasing force of the gas spring 17 can be adjusted by changing the support position of the lower end of the gas spring 17 shown in FIG. 1, that is, the position of the nut member 16.

Here, when the total weight of the surgical microscope elevation device 29 and the microscope 30 as the second arm 8 and the third arm and the upward biasing force of the gas spring 17 are not balanced, Try to strike a balance.

In this case, first, the arithmetic control circuit 70 activates all the electromagnetic clutches BR1 to BR6 so that the clutch force acts on each part.

Steps S4, 5 In this state, when the arithmetic control circuit 70 shifts from step S1 of FIG. 11 to step S4, step S4
Determines whether or not the H level signal is input from the switch SW1 for unlocking, and when the H level signal from the switch SW1 is received, the process proceeds to step S5 and the output terminal 4
To the step S6.

Then, in step S5, the solenoid 23 of the electromagnetic clutch BR2 is energized to cause the actuator rod 24 to project from the solenoid 23 and the end plate 2
5 and the solenoid 23, the first and second clutch plates 2
The sandwiched state between the 1 and 22 is released. That is, the second
Only the lock of the arm 8 is released.

As a result, the first and second clutch plates 21,
Since 22 is relatively rotatable, the links 10 and 11 forming the parallel link mechanism can be vertically rotated about the horizontal shafts 10a and 11a.

Therefore, in this state, the second arm 8 is vertically rotated with one hand to confirm whether or not the weight is balanced, while the other hand is used to rotate the operation knob 15. The nut member 16 is moved up and down along the feed screw 14. At this time, the action vector of the urging force acting on the link 10 from the gas spring 17 changes,
The vertical weight balance due to the gas spring 17 changes, and this change in weight balance is confirmed with one hand.

After the weight is balanced in this way, the switch SW1 is operated to output the L level signal to the arithmetic control circuit 7.
When 0 is input, the arithmetic and control circuit 70 stops applying voltage to the output terminals 3 and 4, and stops energizing the solenoid 23 of the electromagnetic clutch BR2. As a result, the actuator rod 24 is displaced toward the solenoid 23 by a spring (not shown), and the first and second clutch plates 21 and 22 are clamped and fixed between the end plate 25 and the solenoid 23. That is, the second arm 8 is locked.

Since only the lock of the second arm 8 is released in this way, balance adjustment of the second arm 8 can be easily performed,
Unlike the conventional case, the microscope 30 does not move in an unexpected direction.

Step S6 When the process moves from step S5 to step S6, it is determined in step S6 whether or not an H level signal is input.
Then, when an H level signal is input from the switch SW1, the process returns to step S5 and loops. When no H level signal is input, the voltage application to the output terminal 4 is stopped in step s6-1, and the process proceeds to step S1. Loop back.

In this embodiment, only the electromagnetic clutch BR2 is operated separately, but each electromagnetic clutch BR1 to BR6.
Each arm 6,
If the balance adjustments are made separately for 8 and 29, the balance adjustment becomes easy.

(3) Tilt balance adjustment of the surgical microscope (see FIG. 12) The tilt balance adjustment of the microscope 30 will be described below. Here, when a virtual line connecting the center of gravity G of the microscope 30 and the center line of the rotating shaft 41 is Oa, and a vertical line passing through the center of the rotating shaft 41 is Ov, a symbol used in a mathematical formula described later is: Wg: microscope 30 Weight Wg ': Microscope 3 when accessories are attached to microscope 30
0: total weight of accessories Wf: offset force of gas spring 32 La: center of gravity G of microscope 30 without accessories
From the center of the rotary shaft 41 to the center of the rotary shaft 41 La ′: Distance from the center of gravity G ′ of the total weight Wg1 of the accessory and the microscope 30 to the center of the rotary shaft 41 Lb: With no accessory attached to the microscope 30 From the center of the rotating shaft 40 to the center of the spherical portion 54a of the pressure receiving shaft 54 Lb ': From the center of the rotating shaft 40 when the pressure receiving shaft 54 is axially adjusted to change Lb. Distance to center θa: Moving angle formed by virtual lines Oa and Ov when the pressure receiving shaft 54 is inclined with respect to the vertical line passing through the center of the rotating shaft 40 φa: The pressure receiving shaft 54 is vertical Virtual line O in the state
It is the angle formed by a and Ov.

[1] When the accessory is not attached to the microscope 30, and when the accessory 30 is not attached to the microscope 30 and the microscope 30 and the gas spring 32 are in balance, La · Wg .Sin.theta.a = Lb.Wf.sin.theta.a ... (a)

When the accessory is not attached to the microscope 30, the operating knob 55a is rotated to adjust the distance Lb so that the relationship of La · Wg = Lb · Wf (...) (b) is established. By doing so, the gas spring 3
By adjusting the offsetting force by 2, the offsetting force by the microscope 30 and the gas spring 32 is balanced no matter how the movement angle θa changes.

[2] When the accessory is attached to the microscope 30 When the accessory is attached to the microscope 30, the total weight of the microscope 30 and the accessory changes from Wg to Wg ', and this total weight Wg
The center of gravity G ′ based on ′ will move from G.

In this state, when the operating knob 55a is rotated to adjust the distance Lb to Lb ', the relationship between the total weight Wg' of the microscope 30 and accessories and the canceling force of the gas spring 32 is La. ′ · Wg ′ · sin (θa + φa) = Lb ′ · Wf · sin θa (c)

As can be seen from this equation, in order to balance the total weight Wg ′ of the microscope 30 and the accessory and the canceling force of the gas spring 32, no matter what the moving angle θ is, φa Is set to φa = 0, or the movement angle θa
It is necessary to adjust the inclination angle φc of the pressure receiving shaft 54 with respect to the vertical line so that φc = φa while keeping the above constant.

Assuming that this adjustment balances the total weight Wg 'of the microscope 30 and the accessory with the canceling force of the gas spring 32, La'.Wg'.sin (.theta.a + .phi.a) = Lb'.Wf.multidot. The equation of sin (θa + φc) (d) holds.

In order to adjust the balance between the total weight Wg 'of the microscope 30 and the accessories and the canceling force of the gas spring 32 based on this equation (d), first φa = φc ... (e) After that, the operating knob 55a is rotated so that La ′ · Wg ′ = Lb ′ · Wf ... (f)
It turns out that it is only necessary to adjust ´.

The operation for making such balance adjustment will be described in steps S10 to S19 below.

Step S10 In step S10 of FIG. 12, the mode switch M
It is determined whether or not S1 is turned on, and if not turned on, loop is performed, and if it is turned on, step S10-1
Then, the LED 1 is turned on to move to step 11.

Step S11 In this step S11, the electromagnetic clutches BR6, BR5
To release the lock of the rotary shaft 38 by the electromagnetic clutch BR6 to bring the rotary shaft 38 into a free rotation state, release the lock of the rotary shaft case 35 with the electromagnetic clutch BR5, and bring the case 35 into a free rotation state. Step S12
Move to.

Step S12 In this state, the rotating shaft 41 is rotated by grasping the operation lever 30b and rotating the microscope 30 up and down (tilt operation). The rotation of the rotating shaft 41 is transmitted to the rotating shaft 40 via the links 60, 63, 61, 62, 59 of the link mechanism 58, so that the pressure receiving mechanism 42 moves.
And the spherical body 54a provided on the pressure receiving shaft 54 of the pressure receiving mechanism 42 slides on the plate 33 of the gas spring 32. At this time, the pressing force of the gas spring 32 is
Through the pressure receiving mechanism 42 and the link mechanism 58, the microscope 30
Act on.

When tilting the microscope 30,
The rotary shaft 38 rotates integrally with the link 61, and the cam 38a
Rotates.

With this rotation, when the limit switches B and C are turned on and the limit switches A and D are turned off by the cam 38a, the process proceeds to step S13. If the limit switches B and C are turned on and the limit switches A and D are not turned off,
It loops back to step S12.

Step S13 In step S13, the energization of the electromagnetic clutch BR6 is stopped, the rotary shaft 38 is locked by the electromagnetic clutch BR6, and then the process proceeds to step S13-1. In this state, the axis of the pressure receiving shaft 54 of the pressure receiving mechanism 42 and the axis of the gas spring 32 are vertical when viewed from the side.

Step S13-1 In step S13-1, the case 35 is rotated around the support shaft 34 by gripping the operation lever 30b and rotating the microscope 30 left and right (swing operation). The rotation of the case 34 is performed by the arm plate 39 and the rotating shaft 4.
0 is transmitted to the pressure receiving mechanism 42, and the spherical body 54a provided on the pressure receiving shaft 54 of the pressure receiving mechanism 42 slides left and right on the plate 33 of the gas spring 32. At this time, the pressing force of the gas spring 32 acts on the microscope 30 via the pressure receiving mechanism 42, the link mechanism 58, and the like.

During the swing operation of the microscope 30, the cam 38a 'in the case 35 rotates together with the case 35.

When the limit switches F and G are turned on and the limit switches E and H are turned off by the cam 38a 'along with this rotation, step S13-2 is performed.
Move to. If the limit switches F and G are turned on and the limit switches E and H are not turned off, the process returns to step S13-1 to loop.

In step S13-2, in step S13-2, the energization of the electromagnetic clutch BR5 is stopped and the case 35 is locked to the support shaft 34 by the electromagnetic clutch BR5.
Move to 3. In this state, the pressure receiving shaft 5 of the pressure receiving mechanism 42
The axis of 4 and the axis of the gas spring 32 are vertical when viewed from the front.

Step S13-3 In this Step S13-3, the LED 2 is made to blink,
The user is informed that the pressure receiving shaft 54 is vertically aligned with the axis of the gas spring 32, and the process proceeds to step S14.

<Adjustment of φa = φc mentioned above> At this position, the lock knob 69 of the link 63 is operated to screw 68.
When the fixing (locking) of the support shaft 67 to the plate 65 is released, the screw 68 and the support shaft 67 move to the slit 66.
While being moved in the longitudinal direction of the microscope 30, the microscope 30 rotates by its own weight about the rotation shaft 41, and the line connecting the center of gravity of the microscope 30 and the center of the rotation shaft 41 faces the vertical direction and the pressure receiving mechanism 42 receives pressure. It becomes parallel to the vertical plane including the axis of the shaft 54 and the axis of the gas spring 32, and φa and φ in the above equation (d)
c becomes a state in which the relationship of φa = φc in (e) is satisfied.

In this state, the lock knob 69 is operated to fix (lock) the screw 68 and the support shaft 67 to the plate 65, so that φa = φ even if the movement angle θ changes.
The relationship of c is always satisfied.

Step S14 In step S14, the tilt switch MS2 is held for a certain time.
It is determined whether or not it has been turned on, and if it has not been turned on for a certain period of time, it loops, and if it has been on for a certain period of time, the process proceeds to step S15.

Step S15 In step S15, the electromagnetic clutch BR6 is energized, the electromagnetic clutch BR6 is unlocked, the LED2 is turned on, and the LED3 is blinked.
Control goes to step S16.

In this state of step S15, the lock by the electromagnetic clutch BR6 is released, and the rotary shaft 38 is in a state in which it can freely rotate.
When the microscope 30 is gripped and the microscope 30 is vertically rotated (tilt operation) about the rotation shaft 41, the vertical rotation (tilt rotation) of the microscope 30 is transmitted to the pressure receiving mechanism 42 via the link mechanism 58.

At this time, the spherical body 54a provided on the pressure receiving shaft 54 of the pressure receiving mechanism 42 slides on the plate 33. At this time, the gas pressure of the gas spring 32 passes through the plate 33, the pressure receiving mechanism 42, the link mechanism 58, etc.
Will act on.

Step S16 In this step S16, it is judged whether or not the mode switch MS3 has been turned on for a certain period of time. If the mode switch MS3 has been turned on for a certain period of time, the process proceeds to step S17, and if it has not been turned on for a certain period of time, the process loops.

<Adjustment of La ′ · Wg ′ = Lb ′ · Wf described above> In this loop state, when the operation knob 55a is rotated to adjust the pressure receiving shaft 54 up and down, the gas spring 32 is in an extended state. The gas pressure acts on the pressure receiving shaft 54 from the gas spring 32 as a weight canceling force while the value is changed.

Therefore, while the microscope 30 is being tilted and the operation knob 55a is being rotated, whether the operating force of the operating lever 30b is the same when the microscope 30 is moved upward and downward is checked. By checking
The balance in the tilt direction will be adjusted.

That is, the above steps S13-2, 13-
With φa = φc as shown in 3, the operating knob 55a
Rotate to adjust the distance Lb 'and adjust the La' in equation (f).
By satisfying the condition of Wg ′ = Lb ′ · Wf, the weight balance in the tilt direction between the total weight Wg ′ of the microscope 30 and the accessory and the canceling force of the gas spring 32 is achieved. .

Since it is not necessary to adjust two elements at the same time by such an adjustment, balance adjustment becomes easy.

Step S17 In step S17, first, the electromagnetic clutch BR6 is de-energized, and the rotation of the rotary shaft 38 is stopped.
And the LED 2 is turned off. After that, the electromagnetic clutch BR5 is energized to release the fixing of the case 35 to the support shaft 34 by the electromagnetic clutch BR5, the LED3 is turned on, the LED1 is blinked, and the process proceeds to step S18.

In this state of step S17, the lock by the electromagnetic clutch BR5 is released, and the case 35 is in a state in which it can freely rotate around the support shaft 34. Therefore, the operating lever 30b is grasped to support the microscope 30. Axis 34
When the microscope 30 is rotated left and right (swing operation), the left and right rotation (swing rotation) of the microscope 30 is transmitted to the pressure receiving mechanism 42 through the arm plate 39.

At this time, the spherical body 54a provided on the pressure receiving shaft 54 of the pressure receiving mechanism 42 slides on the plate 33 left and right. At this time, the gas pressure of the gas spring 32 changes to the plate 3
3, it acts on the operation lever 30b via the pressure receiving mechanism 42, the link mechanism 58, and the like.

Step S18 In step S18, it is judged whether or not the switch MS1 is OFF (LOW). If it is not OFF, the loop is NO to turn OFF.
If YES, the process proceeds to step S19 with YES.

<Swing direction balance adjustment> In this loop state, when the operation knob 51a is rotated to adjust the pressure-receiving shaft 54 to the left or right, the spherical body 54a is brought into contact with the plate 33 of the gas spring 32. It will be changed. In this operation, the microscope 30 is supported by the support shaft 3
While rotating around 4, the rotating operation force (swing force) in the left-right direction is made the same.

After the balance adjustment in the swing direction and the tilt direction is performed as described above, the switch MS1
When is operated, the process proceeds to step S19 as described above.

Step S19 In step S19, after the energization of the electromagnetic clutch BR5 is stopped and the case 35 is locked to the support shaft 34 by the electromagnetic clutch BR5, the LED3 is turned off and the LED1 is turned off. , And returns to step S10.

(4) Swing balance adjustment details of the surgical microscope in step S18 In step S17, the energization of the electromagnetic clutch BR6 is stopped, the rotating shaft 38 is locked by the electromagnetic clutch BR6, and the electromagnetic clutch BR5 is energized. As a result, the lock of the case 35 and the support shaft 34 by the electromagnetic clutch BR5 is released, and the case 25 becomes rotatable around the support shaft 34. At this time, the LED 3 is turned on to notify that the swing balance adjustment mode has been entered, and the process proceeds to step S18 to loop if the switch MS1 is not turned on.

In this state, when the operating lever 30b is operated to rotate the microscope 30 left and right, the case 35, the arm plate 39, the link mechanism 58, the pressure receiving mechanism 42, etc.
It can be swung about 4 as a center.

On the other hand, by rotating the operation knob 51a,
By adjusting the slide piece 50 to move back and forth in the axial direction of the rotary shaft 40, the contact position of the spherical body 54a provided on the pressure receiving shaft 54 with the plate 33 is changed, and the case 3
5. When the arm plate 39, the link mechanism 58, the pressure receiving mechanism 42, etc. rotate (swing) around the support shaft 34, the weight canceling force received from the gas spring 32 rotates (swing) to the left. And when it is rotated (swinged) to the right, it will be different.

Therefore, while operating the operation lever 30b to rotate the microscope 30 left and right, the operation knob 51a is rotated (swing operation) to adjust the slide piece 50 in the axial direction of the rotary shaft 40. Then, the operating force is set to be the same when rotating (swinging) to the left and when rotating (swinging) to the right.

After this setting, by operating the mode switch MS1, the energization of the electromagnetic clutch BR5 is stopped, and the support shaft 34 and the case 35 are driven by the electromagnetic clutch BR5.
Is locked.

(5) Initializing operation (see FIG. 13) The operating lever 30b of the microscope 30 in FIGS. 3 (a) and 3 (b) is provided with an initializing switch SW3 for moving and operating each movable part to the initial position. The switch SW3 is operated to perform the initialization operation of FIG.

Steps S20 and S21 The operation control circuit 70 includes limit switches LS1 and LS.
2. The ON / OFF state of the one that was turned ON / OFF by the protrusion 48 immediately before in LS3 is stored. And step S2
When the switch SW3 is pressed at 0, the process proceeds to step S21.

In step S21, the pulse motor 4
The rotational drive control of No. 5 is started, the pinion 47 is rotationally driven via the speed reduction mechanism 46, and the process proceeds to step S22.

As a result, the microscope 30 is driven up and down by the pinion 47 and the rack 44. At this time, the arithmetic control circuit 70 determines the rotation direction of the pulse motor 45 from the state of the limit switches LS1, LS2, LS3 so that the projection 48 drives and controls the microscope 30 in the direction of turning on the limit switch LS2.

Step S22 Then, in step S22, it is determined whether or not the protrusion 48 of the microscope 30 has turned on the limit switch LS2. If it has been turned on, the initialization is ended with YES and the pulse motor 45 is stopped. If it is not turned on, the process proceeds to step S23 with NO.

Step S23 In step S23, the switch SW for initialization is set.
3 is pressed, and it is determined whether or not the number of times of pressing is the second time. NO if this switch SW3 is not pressed
Then, the process returns to step S22 and loops, the drive control of the microscope 30 to the initial position is continued, and the switch SW3 is pressed.
If it is turned on, the process proceeds to step S24 with YES.

Step S24 In step S24, initialization control for coarse vertical movement, initialization control of the zoom optical system in the microscope 30, initialization control of the variable objective, and variable illumination angle mechanism (not shown) control are started. Control goes to step S25.

That is, in step S24, the electric motor 7
2 to control the movement of the movable column 4 to start the coarse movement expansion and contraction adjustment,
The operation control of the pulse motors 73 and 74 is started, and the process proceeds to step S25.

By this operation control of the motor 72, the entire portion beyond the first arm 6 is roughly vertically moved.

When the operation control of the pulse motor 73 is started, the zooming control operation of the zoom optical system in the microscope 30 is performed. When the operation control of the pulse motor 74 is started, the movement control of the objective lens is performed. A variable illumination angle mechanism (not shown) is operated in conjunction with the movement of the focus position (working distance), that is, the observation position associated with the movement control, so that the illumination light from the illumination device constantly illuminates the observation position. ing.

The variable illumination angle mechanism changes the direction of the optical axis from the illumination light source provided in the microscope 30 in association with the moving mechanism of the objective lens. A known mechanism is used for this configuration.

Step S25 In this step S25, it is judged whether or not the initialization control for the vertical coarse movement and the initialization control of the optical system in the microscope 30 have been completed. Moved and Y when completed
Initialize with ES. This step S25
The determination is made by a plurality of operations as follows.

That is, in this step S25, it is judged whether or not the state of coarse expansion / contraction of the movable support column 4 by the operation control of the electric motor 72, that is, the extended state of the electric motor 72 is half the maximum extended state.

In step S25, whether or not the zoom optical system in the microscope 30 has been operated and controlled by the pulse motor 73 to the minimum magnification, the objective lens is set to the pulse motor 7.
It is judged by 4 whether or not the movement is controlled to the upper end.

At this time, whether or not the zoom optical system has reached the minimum magnification and whether or not the objective lens is moved to the upper end depends on whether or not the pulse motors 73 and 74 are operated and stopped for a fixed time (several seconds). Whether or not it is determined. Then, when the mechanical movements of the zoom optical system and the objective lens reach the end, the slip mechanisms respectively interposed between the pulse motors 73 and 74 and the zoom optical system and the objective lens actuate and slip. . As a result, the structure for controlling the movement of the zoom optical system and the objective lens in the microscope 30 to the initial position becomes compact, and the size of the microscope 30 is prevented from increasing.

Step S26 In this step S26, the switch SW3 for initialization is pressed and the number of times the switch SW3 is pressed is 3
It is determined whether or not it is the second time, and if YES, it ends even during initialization, and if NO, step S24.
Then, the initialization operation is continued, and if YES, the process proceeds to step S27.

In the initialization control, the pulse motors 73 and 74 rotate at the maximum speed to move the movable parts to the initial position at the maximum speed.

As described above, by operating the switch SW3 for initialization, the illumination position of the microscope 30, the magnification of the zoom optical system, the moving position of the objective lens, and the like are moved to the initial positions. There is no need to perform an operation to move them to a position where they can be easily observed, and as a result, surgery can be performed quickly, which is convenient.

In the above embodiment, each movable part is moved to the initial position by using the initialization switch SW3, but each movable part may be moved to the initial position when the power switch is turned on. Also, the piston rod 5, the first,
The second and third arms 6, 8, 29 may also be moved to the initial position.

When the storage switch 75 is turned on after the operation is completed, the arithmetic control circuit 70 controls the operation of the electric motor 72 to reduce the movable support column 4 of the support column 2 to the minimum, and the first support unit mounted on the movable support column 4. , 2, 3 arms 6, 8, 29, etc., the height of the movable part is minimized, and the fine movement device 4
Since the operation of the pulse motor 45 of No. 3 is controlled to move the microscope 30 to the uppermost portion, the amount of downward projection from the fine movement device 43 is minimized. As a result, the microscope 30 does not get in the way when it is moved or stored.

When the power switch is turned off after the operation is finished, the electric motor 72 is operated and controlled to reduce the movable support column 4 of the support column 2 to a minimum, and the first, second, third attached to the movable support column 4. Since the height of the movable part including the arms 6, 8, 29 and the like is minimized and the pulse motor 45 of the fine movement device 43 is controlled to move to move the microscope 30 to the uppermost part, the fine movement device 43 projects downward. It can be controlled by the arithmetic control circuit 70 so as to minimize the amount.

Step S27 In this step, the operation of the electric motor 72 is stopped to stop the expansion and contraction of the movable support column 4, and the pulse motor 7
The operation of 3,74 is stopped and the initialization is completed.

It should be noted that when the operation of the pulse motor 73 is stopped, the zooming control operation of the zoom optical system in the microscope 30 is stopped.
By stopping the operation of the pulse motor 74, the movement of the objective lens is stopped, and the operation of the variable illumination angle mechanism (not shown) is stopped.

[Second Embodiment] FIGS. 14 and 15 show another example of the initialization control of (5) in the first embodiment.

In this embodiment, the switch SW3 provided on the operating lever 30b of the microscope 30 shown in FIGS. 3 (a) and 3 (b) is operated to perform the initialization operation shown in FIGS.

Steps S30, 31 The arithmetic control circuit 70 includes limit switches LS1, LS.
2. The ON / OFF state of the one that was turned ON / OFF by the protrusion 48 immediately before in LS3 is stored. And step S3
When the switch SW1 is pressed at 0, the process proceeds to step S31.

In step S31, the pulse motor 4
The rotational drive control of No. 5 is started, the pinion 47 is rotationally driven via the speed reduction mechanism 46, and the process proceeds to step S32.

As a result, the microscope 30 is driven up and down by the pinion 47 and the rack 44. At this time, the arithmetic control circuit 70 determines the rotation direction of the pulse motor 45 from the state of the limit switches LS1, LS2, LS3 so that the projection 48 drives and controls the microscope 30 in the direction of turning on the limit switch LS2.

Step S32 Then, in step S32, it is determined whether or not the projection 48 of the microscope 30 has turned on the limit switch LS2. If it has been turned on, the initialization is ended with YES and the pulse motor 45 is stopped. If it is not turned on, the process proceeds to step S33 with NO.

Step S33 In step S33, the switch SW for initialization is set.
3 is pressed, and it is determined whether or not the number of times of pressing is the second time. NO if this switch SW3 is not pressed
Then, the process returns to step S32 and loops to continue the drive control of the microscope 30 to the initial position and the switch SW3 is pressed.
When it is turned on, the process proceeds to step S34 with YES.

Step S34 In this step S34, the operation control of the pulse motor 73 is started to perform the magnification change control operation of the zoom optical system in the microscope 30, and the process proceeds to step S35.

Step S35 In this step S35, it is judged whether or not the zoom optical system in the microscope 30 has been operated by the pulse motor 73 up to the minimum magnification (initial position), and if it is YES after being operated up to the initial position. If the control is ended and the initial position is not controlled, the process proceeds to step S36 with NO.

At this time, whether or not the zoom optical system has reached the minimum magnification is determined by whether or not the pulse motor 73 has been operated and stopped for a fixed time (several seconds). When the mechanical movement of the zoom optical system reaches the end, the slip mechanism interposed between the pulse motor 73 and the zoom optical system operates and slips.

Step S36 In step S36, the switch SW for initialization is set.
3 is pressed, and it is determined whether or not the number of times of pressing is the third time. NO if this switch SW3 is not pressed
Then, the process returns to step S35 and loops to continue drive control of the zoom optical system of the microscope 30 to the initial position.
When W3 is pressed and turned on, the determination is YES and the process proceeds to step S37 in FIG.

Step S37 In step S37, the operation control of the electric motor 72 is started to start the coarse adjustment of the movable support column 4, and the pulse motor 36,
The operation control of 37 is started, and the process proceeds to step S38.

By the operation control of the movable support column 4, the entire portion beyond the first arm 6 is roughly vertically moved.

Further, the operation control of the pulse motor 36 controls the rotation of the case 35 around the support shaft 34, and the microscope 30 is swung left and right through the arm plate 35, so that the observation portion of the microscope 30 is moved left and right. Can be moved.

Further, by controlling the operation of the pulse motor 37, the rotary shaft 38 is rotationally controlled to drive the link mechanism 58, and the microscope 30 is finely tilted by the pulse motor 37 via the link mechanism 58, and the microscope 30 is operated. The observation site of is moved back and forth.

Step S38 In step S38, it is determined whether or not the initialization control for the vertical coarse movement, the swing fine movement, and the tilt fine movement initialization have been completed. If not completed, the process proceeds to step S39 with NO to complete. If YES, the initialization is finished with YES. The determination in step S38 is made by a plurality of operations as follows.

That is, in this step S38, it is judged whether or not the movable support column 4 is in the coarse expansion / contraction state by the operation control of the electric motor 72, that is, the extended state of the movable support column 4 is half of the maximum extension.

In step S38, it is determined whether or not the optical system observation portion of the microscope 30 has been moved to the left and right center which is the initial position, and it is determined that the position has been moved to the left and right center which is the initial position. If so, the pulse motor 36 is stopped.

This stop position is detected by the cam 38a and limit switches EH. That is, a cam is provided in the rotating portion of the electromagnetic clutch BR5, and a limit switch that is turned on / off by the cam is provided in the case 35, and the position where the limit switch is turned on by the cam is set as "optical of the microscope 30". The system observation site is set to be the initial position on the left and right center, and the pulse motor 36 is stopped when the limit switch is turned on.

Further, in step S38, it is determined whether or not the optical system observation portion of the microscope 30 has been moved to the center before and after the initial position, and it is determined that the position has been moved to the center before and after the initial position. If so, the pulse motor 37 is stopped.

This stop position is detected by a cam and limit switch. That is, the cam 38a of the electromagnetic clutch BR6
And the limit switches A to D are used to detect "the front and rear center which is the initial position of the optical system observation site of the microscope 30".

Step S39 In step S39, the switch SW for initializing
3 is pressed, and it is determined whether or not the number of times of pressing is the fourth time. NO if this switch SW3 is not pressed
Then, the process returns to step S38 and loops, and when the switch SW3 is pressed and turned on, YES is selected and the process proceeds to step S40.

Step S40 In step S34, initialization control of the objective lens of the optical system in the microscope 30 is started, and the process proceeds to step S41. That is, in step S24, the pulse motor 7
The operation control of No. 4 is started, and the process proceeds to step S41.
By starting the operation control of the pulse motor 74, the movement control of the objective lens is performed.

Step S41 In step S41, it is determined whether the objective lens in the microscope 30 has been moved to the upper end by the pulse motor 74.

At this time, whether or not the objective lens has been moved to the upper end is determined by whether or not the pulse motor 74 has been operated and controlled for a fixed time (several seconds) and stopped.
Then, when the mechanical movement of the objective lens reaches the end, a slip mechanism interposed between the pulse motor 74 and the objective lens is operated and slips.

Step S42 In step S42, the switch SW for initialization is set.
3 is pressed, and it is determined whether or not the number of times of pressing is the fifth time. NO if this switch SW3 is not pressed
Then, the process returns to step S41 and loops, and the drive control of the objective lens of the microscope 30 to the initial position is continued and the switch SW
When 3 is pressed and turned on, the determination is YES and the process proceeds to step S43.

Step S43 In this step, the operation of the electric motor 72 is stopped to stop the coarse expansion and contraction adjustment of the movable support column 4, and the pulse motor 36,
The operation of 37 is stopped to complete the initialization.

Further, the operation of the pulse motor 36 is stopped, the rotation of the case 35 around the support shaft 34 is stopped, and the operation of the pulse motor 37 is stopped, the rotation of the rotary shaft 38 is stopped and the operation of the link mechanism 58 is stopped. Is stopped, and the fine movement rotation (fine movement tilt operation) around the rotation axis 41 of the microscope 30 is stopped.

In the above embodiment, the movable parts selected each time the switch SW3 is pressed are switched one by one.
For example, a set in which some of the plurality of movable parts are combined may be sequentially selected.

[Third Embodiment] FIGS. 16 and 17 show another embodiment of the present invention. First in the present embodiment
The same members as those in the embodiment or similar members are designated by the same reference numerals as those in the first embodiment, and the description thereof will be omitted.

Also in this embodiment, as in the first embodiment, the second
The support shaft 100 is horizontally rotatably held by the support piece 12 of the arm 8, and the electromagnetic clutch BR1 is interposed between the support piece 12 and the support shaft 100 (not shown).

A support member 101 is integrally provided on the support shaft 100. The support member 101 includes a horizontal support portion 101 having a support shaft 100 fixed to a portion near one end.
a and a vertical support portion 101b projecting downward from substantially the center of the horizontal portion 101a are formed in a substantially T shape.

The above-mentioned gas spring 32 is attached downward to the other end of the horizontal supporting portion 101a.

Moreover, an intermediate portion of the support shaft 102 which penetrates the vertical support portion 101b and whose axis O is orthogonal to the axis of the gas spring 32 is fixed to the vertical support 101b. At both ends of the support shaft 102, the case 3
5 switch case portion 35a and clutch case portion 35b
Are held rotatably.

The switch case portion 35a of this case 35
The center line of the clutch case portion 35b and the support shaft 102 is
The base end portions of the horizontal support members 105 and 106 coaxial with the axis O of are fixed.

A cam plate 38a 'provided in the switch case 35a is fixed to one end of the support shaft 102, and the cam plate 38a' shown in FIG. 7 is provided in the switch case 35a.
Limit switches E, F, G, and H are mounted so as to face the peripheral edge of the.

Further, an electromagnetic clutch BR5 is interposed between the other end of the support shaft 102 and the clutch case portion 35b, and the rotary shaft 38 is the first in the clutch case portion 35b.
It is mounted as in the example. Also, this rotating shaft 38
And the clutch case portion 35b between the electromagnetic clutch BR
6 is interposed. The rotating shaft 38 has a cam plate 38a.
Is fixed, and the cam plate 38a is attached to the clutch case portion 35b.
Limit switches A, B, C and D are mounted corresponding to the above. The mounting positions and actions of the cam plates 38a and 38a 'limit switches A to H are set to be the same as those in the first embodiment. A link 61 is fixed to the rotary shaft 38.

The rotary shaft 40 in the first embodiment is rotatably held at the tip of the horizontal support member 105, and a pressure receiving mechanism 42 and a link 59 are attached to the rotary shaft 40. A link 107 is pivotally attached to the middle of the horizontal support shaft 106 via a pivot 108, and a support piece 103 is pivotally attached to the other end of the horizontal support shaft 106 via a shaft 109.

The link 110 is rotatably connected to the free ends of the links 59 and 107, and the free end of the link 61 is rotatably connected to the middle of the link 110.
One end of a link 111 is rotatably attached to the support piece 103 by a pivot 111a, and the locking device 64 in the first embodiment is interposed between the free end of the link 111 and the other end of the link 107. ing.

As shown in FIGS. 17 (a) and 17 (b), a support shaft 104 coaxial with the horizontal support member 106 is fixed to the support piece 103, and the case 43a of the fine movement device 43 mounts the bearing 112 on the support shaft 104. It is mounted so as to be swingable left and right via. Further, a fixing screw 113 whose end engages with the engaging groove 104a of the support shaft 104 is screwed into the case 43a.

Also in this embodiment, first, the electromagnetic clutch BR5
The lock of the case 35 with respect to the support shaft 102 is released, and the lock of the rotary shaft 38 with respect to the case 35 by the electromagnetic clutch BR6 is released.

After that, the microscope 30 is rotated up and down (tilt rotation) around the pivot 109, and it is detected by the cam plate 38a and the limit switches A to D that the pressure receiving shaft 54 is vertical when viewed from the side. The electromagnetic clutch BR6 to rotate the rotary shaft 3
8 is locked with respect to the case 35, and the microscope 30 is rotated left and right (swing rotation) around the support shaft 102,
The cam plate 38 shows that the pressure receiving shaft 54 is vertical when viewed from the front.
a ′ and limit switches E to H are detected, and the case 35 is locked to the support shaft 102 by the electromagnetic clutch BR5.

In this state, the lock device 64 (see FIG. 6)
By releasing the lock of the screw 68 and the support shaft 67 with respect to the plate 65, the screw 68 and the support shaft 67 are freed in the direction along the slit 66, and the microscope 30 is rotated downward (tilt direction) by its own weight. , The pressure receiving shaft 5 as seen from the side of the line connecting the center of gravity of the microscope 30 and the center of the pivot 109.
Align with the axis of 4. After that, the lock device 64 is locked to lock the screw 68 and the support shaft 67 with respect to the plate 65.

On the other hand, the support shaft 112 by the fixing screw 113.
The lock between the case 43 and the case 43 is released, and the microscope 30 is rotated left and right around the support shaft 112 by its own weight (swing rotation).
Then, the line connecting the center of gravity of the microscope 30 and the center of the support shaft 112 is made to coincide with the axis of the pressure receiving shaft 54 when viewed from the front. After that, the case 43 is fixed to the support shaft 112 with the fixing screw 113.

In this state, similarly to the first embodiment, the electromagnetic clutch BR6 is unlocked, and the microscope 30 is pivoted while rotating the operating knob 55a of the pressure receiving mechanism 42.
By performing a turning operation (tilt operation) around 9 so that the turning operation force becomes constant, the tilt direction (the pivot 10
After adjusting the weight balance (9 turns), the electromagnetic clutch B
Lock R6. When the tilt operation of the microscope 30 is performed, the rotation of the microscope 30 is performed by the support piece 103 and the link 11
1, the locking device 64 and the links 107 and 59 are transmitted to the pressure receiving shaft 54, and the spherical body 54a of the pressure receiving shaft 54 slides back and forth with respect to the plate 33 of the gas spring 32.

After the weight of the microscope 30 and the canceling force of the gas spring 32 are balanced in this way,
Even if the electromagnetic clutches BR5 and BR6 are unlocked and the microscope 30 is rotated in the tilt direction and the swing direction, the microscope 30 can be rotated with a constant light operating force regardless of the rotation angle. You can do it.

In addition, the support shaft 112 in the present embodiment is set to the first
It is provided on the rotary shaft 41 of the embodiment, and the case 43 is supported on the support shaft 112 in the same manner as in the present embodiment.
Even in the embodiment, the angle can be set by the weight of the swing direction. At this time, the lateral movement of the pressure receiving mechanism 42 is unnecessary.

[Fourth Embodiment] FIGS. 18 and 19 show a fourth embodiment of the present invention. In the present embodiment, the locking device 64 in the third embodiment is omitted, and the case 43a of the fine movement device 43 and the link 59 are directly connected by the link 110, and the pressure receiving mechanism 120 is provided. .

The pressure receiving mechanism 120 is provided integrally with the link 59 'and is provided with an adjusting mechanism 121 and the adjusting mechanism 121.
The pressure receiving mechanism 42 of the first embodiment fixed to the. A link 59 'is rotatably attached to the horizontal support shaft 105, and the link 11' is attached to the free end of the link 59 '.
One end of 0 'is rotatably held, and the free end of the link 61 is rotatably connected to the intermediate part of the link 110'.

Also, the adjusting mechanism 121 includes the link 110.
′ Has a rectangular frame 122 that extends horizontally in the extending direction and is fixed to the link 59 ′, a slit 122 a that extends in the longitudinal direction of the frame 122, a frame 122 that is rotatably held and is horizontally disposed in the slit 122 a. Adjustment screw 123 and the adjustment screw operation knob 123a
Have.

The frame 49 of the pressure receiving mechanism 42 in the above-described first embodiment is held by the slit 122a so as to be movable along the slit 122a, and the pressure receiving mechanism 42 is rotated by the operation knob 123a. By this, movement adjustment is performed in the longitudinal direction of the slit 122a.

In this structure, only the lock of the rotary shaft 38 by the electromagnetic clutch BR6 is released, and the rotary shaft 38 is freed. In this state, the microscope 30 has a downward rotation moment around the pivot 108 due to the weight of the microscope 30 and an upward rotation moment due to the gas pressure of the gas spring 32 acting on the microscope 30 via the link 110 and the support piece 103. Force) and act.

Then, in this state, the microscope 30 is rotated by the rotating shaft 4
1 is rotated up and down (tilt operation) around 1, and the operation knob 55a and the operation knob 123a are rotated while confirming the balance so that the rotation operation force (tilt operation force) in the vertical direction is constant. By doing so, the projection length of the pressure receiving shaft 54 toward the plate 33 side is adjusted, and the contact position of the spherical body 54a of the pressure receiving shaft 54 with respect to the plate 33 in the front-rear direction is adjusted.

After that, the energization of the electromagnetic clutch BR6 is stopped to lock the electromagnetic clutch BR6, while the electromagnetic clutch BR5 is energized to free the electromagnetic clutch BR5. In this state, rotate the operation knob 51a to
When the pressure receiving shaft 54 is moved left and right, the contact position of the spherical body 54a with the plate 33 of the gas spring 32 is changed. In this operation, while rotating the microscope 30 around the support shaft 34, the rotating operation force (swing force) in the left-right direction is made the same.

After completion of this adjustment, the electromagnetic clutch BR5
To the electromagnetic clutch BR5, and the balance adjustment ends.

[Fifth Embodiment] FIGS. 20 and 21 show a fifth embodiment of the present invention.

<Structure> In this embodiment, the surgical microscope is supported by a supporting mechanism having an electromagnetic clutch at each joint, and the joints are locked individually by one of the plurality of electromagnetic clutches. This is an example of adjusting the balance around the joint that has become free.

In FIG. 20, reference numeral 200 is a base and 201 is a base.
Is a cylindrical fixed column that is fixed to the base 201 in a standing manner, 20
Reference numeral 2 denotes a movable pillar whose lower end is fitted in the pillar 201 so as to be vertically movable, and 201a is a fixing screw for fixing the movable pillar 202 to the fixed pillar 201.

A support member 202a is horizontally rotatably mounted on the movable column 202, and an intermediate portion of the first arm 203 is rotatably mounted on the support member 202a about a horizontal axis P1. A first counterweight 204 is attached to one end of 203 so as to be movable and adjustable in the longitudinal direction.

BA1 uses the first arm 203 to move the movable column 20.
The first electromagnetic clutch (fixing means) BA5 that locks the support member 202a with respect to the movable support 2
This is an electromagnetic clutch (fixing means) that locks at an arbitrary angle with respect to 02.

The support member 2 is provided on the other end of the first arm 203.
03a is rotatably mounted about a horizontal axis P2, an intermediate portion of an arm 205 is rotatably held on a support member 203a about an axis P3, and a second counterweight 206 is attached to one end of the second arm 205. Is attached so as to be movable in the longitudinal direction, and one end of the parallel link mechanism LK is attached to the other end of the second arm 205.

Then, the first arm 203 and the support member 20.
A second electromagnetic clutch BA2 (fixing means) that locks them at an arbitrary angle is provided between the support member 203a and the second arm 205 and locks them at an arbitrary angle. An electromagnetic clutch BA3 (fixing means) is interposed.

The above-mentioned parallel link mechanism LK has links 207 and 208 each having one end attached to the other end of the second arm 205 so as to rotate in the vertical plane, and one end so as to rotate in the vertical plane. A link 209 whose part side is rotatably attached to the free ends of the links 207 and 208, a link 210 whose one end is rotatably attached to the link 208 so as to rotate in a vertical plane, and a vertical plane. Link 20 to rotate inside
It has a link 211 attached to the other end of 8, 210.

The links 207, 208, 211 are provided in parallel with each other, and the links 209, 210 are provided in parallel with each other. In the figure, Q1 to Q7 are each link 207.
A pivot or joint that rotatably connects ~ 211. A third electromagnetic clutch BA4 (fixing means) that locks the link 207 to the second arm 205 at an arbitrary angle is provided between the link 207 and the second arm 205.

A third counterweight 212 is attached to the lower end portion of the link 211 of the parallel link mechanism LK so as to be adjustable in vertical movement.
The microscope 30 is attached to the lower part of the through a ball joint 212.

The ball joint 213 is a spherical body 2 provided on a support shaft 214 integral with the third counterweight 212.
15 and a support shaft 216 provided integrally with the microscope 30.
A sphere socket 217 provided on the upper end of the support shaft 216 and rotatably holding the sphere body 215;
It has a fixing screw 218 for fixing 17 to the spherical body 215.

The electromagnetic clutches BA1 to BA5 (fixing means) described above are designed to be unlocked when energized, and are controlled by the arithmetic control circuit 70. Further, the arithmetic control circuit 70 includes a switch SW1.
The ON signal from SW5 and the ON signal from the all lock release switch AFS for operation are input.

The arithmetic control circuit 70 receives the ON signal from the switch SW1, and receives the electromagnetic clutches BA1 to BA1.
By energizing BA5, the electromagnetic clutches BA1 to BA5 are unlocked.

The arithmetic control circuit 70 also includes a switch SW.
2 receives the operation signal from the electromagnetic clutches BA1 to BA4
The locks of can be unlocked individually. Moreover, the electromagnetic clutch BA1 is provided with a detection switch LSW1 which is turned on when the angle of the arm 203 with respect to the movable support column 2 is 45 °, and the electromagnetic clutch BA2 has an angle between the arms 203 and 205 of 45 °. When ON
The electromagnetic clutch BA3 is provided with a detection switch LSW2 which is turned on when the pivot Q1 is horizontal.
4 when the arm 205 and the link 207 are at a right angle
A detection switch LSW4 that is turned on is provided.
Then, the signals from the detection switches LSW1 to LSW4 are input to the arithmetic control circuit 70.

<Operation> The control operation of the arithmetic control circuit 70 will be described with reference to FIGS.

Step S51 When a power switch (not shown) is turned on, it is judged in step S51 whether or not the switch SW1 is turned on. If it is not turned on, a loop is made with NO, and if it is turned on, Y is turned on.
In ES, the process proceeds to step S52.

Step S2 In this step S52, the electromagnetic clutches BA1 to BA5
Is made free (unlocked state), and the process proceeds to step S53.

Step S53 In step S53, the second arm 205 and the link 207 are connected.
It is determined whether or not and are at right angles, that is, whether there is an ON signal from the detection switch LSW4.

Therefore, while looping in this step, the microscope 30 is pivotally moved up and down to rotate the links 207 to 211 of the parallel link mechanism LK about the joints, that is, the pivots Q1 to Q7. When the second arm 205 and the link 207 are made into a right angle by the dynamic operation, the ON signal from the detection switch LSW4 is input to the arithmetic control circuit 70, and the process proceeds to step S54.

Step S54 At this step S54, the electromagnetic clutch BA4 is locked, and the routine proceeds to step S55.

Step S55 In step S55, it is determined whether or not the axis Q1 is horizontal, that is, whether or not there is an ON signal from the detection switch LSW3. If NO, loop NO, and if ON, step S55.
Move to 56.

Therefore, by rotating the microscope 30 about the axis of the second arm 5 and rotating the pivot Q1 about the axis of the second arm 205 during the loop in this step, When the axis Q1 is made horizontal, the ON signal from the detection switch LSW3 is input to the arithmetic control circuit 70, and the process proceeds to step S56. At this time, the second arm 205 and the link 207 are operated while being fixed at a right angle.

Step S56 In this Step S56, the electromagnetic clutch BA3 is locked, and the routine goes to Step S57.

Step S57 In step S57, it is determined whether or not the angle between the arms 203 and 205 has reached 45 °, that is, whether or not there is an ON signal from the detection switch LSW2. If it is ON, the process proceeds to step S58.

Therefore, while looping in this step, the microscope 30 is operated up and down to rotate the second arm 205 about the axis P2, and the pivot Q1 is moved to the second arm 20.
When the arm 20 is rotated about the axis of the arm 5,
When the angle between 3,205 becomes 45 °, the ON signal from the detection switch LSW2 is input to the arithmetic control circuit 70, and the process proceeds to step S58.

Step S58 At this step S58, the electromagnetic clutch BA2 is locked, and the routine proceeds to step S59.

Step S59 In step S59, the arm 2 with respect to the movable column 202 is
It is judged whether or not the angle of 03 has become 45 °, that is, whether or not there is an ON signal from the detection switch LSW1. If there is no, the process loops with NO, and if there is, the process proceeds with S60.

Therefore, while looping in this step, the microscope 30 is operated up and down, and the link mechanism LK, the first
By rotating the arm 203 and the second arm 205 about the axis P1, the arm 2 with respect to the movable support column 202 is moved.
When the angle of 03 becomes 45 °, the ON signal from the detection switch LSW1 is input to the arithmetic control circuit 70, and the process proceeds to step S60.

Step S60 In this step S60, the electromagnetic clutch BA1 is locked, and the routine proceeds to step S61.

Step S61 In step S61, it is determined whether or not the switch SW2 has been pressed and turned ON for the first time. If not pressed, the loop is NO, and if it is pressed, YES is selected and step S6 is performed.
Move to 2.

Therefore, while looping in this step S61, the fixing screw 218 is operated to move the ball socket 21.
7 is set in a free state with respect to the spherical body 215, and the microscope 30 to which the accessory is attached rotates about the ball joint 213. As a result, the center of gravity G of the total weight of the accessory and the surgical microscope is directly below the intersection of the rotation axes Ox and Oy, that is, the spherical body 2
It is moved to G'under the center of 15. Then, at this position, the ball socket 217 is fixed to the spherical body 215 by the fixing screw 218. After that, when the switch SW1 is pressed to turn it on, the process proceeds to step S62.

Step S62 In step S62, the electromagnetic clutches BA1 to BA3, B
A5 is locked, only the electromagnetic clutch BA4 is released, and the process proceeds to step S63.

Step S63 In step S63, it is determined whether or not the switch SW1 has been pressed and turned on for the second time. If not pressed, the loop is NO, and if it is pressed, YES is selected and step S6 is performed.
Go to 4.

Therefore, while looping in this step S63, the third counterweight 212 is pivotally operated to move and adjust in the vertical direction, so that the rotation axis parallel to Q1 due to the total weight of the accessory and the microscope 30 can be adjusted. Adjust the balance of. After that, when the switch SW1 is pressed to turn it on, the second ON signal is input to the arithmetic control circuit 70, and the process proceeds to step S64.

Step S64 At step S64, the electromagnetic clutches BA1, BA3 to B-
A5 is locked, only the electromagnetic clutch BA2 is released, and the process proceeds to step S65.

Step S65 In step S65, it is determined whether or not the switch SW1 has been pressed and turned on for the third time. If not pressed, the loop is NO, and if it is pressed, YES is selected and step S6 is performed.
Go to 6.

Therefore, while looping in this step S65, the second counterweight 206 is moved and adjusted in the longitudinal direction of the second arm 205 so that the accessory and the microscope 30 are moved.
Adjust the weight balance of the total weight of No. 2 and the second counterweight 206 on the P2 axis. After this, switch S
When W1 is pressed to turn it on, the third ON signal is input to the arithmetic control circuit 70, and the process proceeds to step S66.

Step S66 In step S66, the electromagnetic clutches BA2 to BA5 are locked, only the electromagnetic clutch BA1 is released, and the process proceeds to step S67.

Step S67 In step S67, it is determined whether or not the switch SW1 is turned off. If not turned off, the process loops with NO, and if it is turned off, the process ends.

Therefore, while looping in this step S67, the first counterweight 204 is moved and adjusted in the longitudinal direction of the first arm 203, and the accessory and the microscope 30 are adjusted.
The balance of the total weight of 1 and the offsetting force of the first counterweight 204 is adjusted about the p1 axis.

After that, the switch SW1 is pushed to turn it off to complete the adjustment.

[Sixth Embodiment] FIG. 24 shows a fifth embodiment of the present invention. This embodiment shows another example of steps S61 to S67 in the fifth embodiment. In the above-mentioned embodiment, the example in which the number of ON operations of the switch SW2 is detected and the electromagnetic clutches BA1, 3 and 4 are individually released is shown, but the invention is not necessarily limited to this. You may do as follows.

Step S71 In step S71, it is determined whether or not the switch SW2 has been pressed and turned on. If not, the process loops at NO, and if so, the process proceeds to YES at step S72.

Therefore, while looping in this step S71, the fixing screw 218 is operated to move the ball socket 21.
7 is set in a free state with respect to the spherical body 215, and the microscope 30 to which the accessory is attached rotates about the ball joint 213. As a result, the center of gravity G of the total weight of the accessory and the surgical microscope is directly below the intersection of the rotation axes Ox and Oy, that is, the spherical body 2
It is moved to G'under the center of 15. Then, at this position, the ball socket 217 is fixed to the spherical body 215 by the fixing screw 218. After that, when the switch SW2 is pressed to turn it on, the process proceeds to step S72.

Step S72 In step S72, the electromagnetic clutches BA1 to BA3, B
A5 is locked, only the electromagnetic clutch BA4 is released, and the process proceeds to step S73.

Step S73 In step S73, it is determined whether or not the switch SW3 has been pressed and turned on. If not, the loop is NO, and if so, YES is selected and the process proceeds to step S74.

Therefore, while looping in this step S73, the third counterweight 212 is rotated to adjust the movement in the vertical direction, and the rotation axis parallel to Q1 due to the total weight of the accessory and the microscope 30 is set. Adjust the balance about. After that, when the switch SW2 is pressed to turn it on, the process proceeds to step S74.

Step S74 In step S74, the electromagnetic clutches BA1, BA3 to B are used.
A5 is locked, only the electromagnetic clutch BA2 is released, and the process proceeds to step S75.

Step S75 In step S75, it is determined whether or not the switch SW3 has been pressed to be turned on. If not pressed, the process loops with NO, and if pressed, the process proceeds to step S76 with YES.

Therefore, while looping in this step S75, the second counterweight 206 is moved and adjusted in the longitudinal direction of the second arm 205, and the accessory and the microscope 30 are adjusted.
The balance of the total weight of the second counterweight 206 and the P2 axis of the second counterweight 206 is adjusted. After this, switch SW4
When is pressed to turn it on, the process proceeds to step S76.

Step S76 In step S76, the electromagnetic clutches BA2 to BA5 are locked, only the electromagnetic clutch BA1 is released, and the process proceeds to step S77.

Step S77 In step S77, it is determined whether or not the switch SW1 is turned off. If not turned off, the process loops with NO, and if it is turned off, the process ends with YES.

Therefore, while looping in this step S77, the first counterweight 204 is moved and adjusted in the longitudinal direction of the first arm 203, and the accessory and the microscope 30 are moved.
The balance of the total weight of P1 and the offsetting force of the first counterweight 204 is adjusted about the P1 axis.

After that, when the switch SW1 is pushed to turn it off, the adjustment process is completed.

[0242]

As described above, according to the present invention, balance adjustment can be easily and accurately performed for each arm.

[Brief description of drawings]

FIG. 1 is a schematic explanatory view of a surgical microscope apparatus according to the present invention.

2 (a) is an explanatory view of a state in which a part of the second arm shown in FIG. 1 is broken and a cover is removed, and (b) is an A- of (a).
It is sectional drawing which follows the A line.

3 (a) is an enlarged explanatory view of a portion of a third arm in FIG. 1,
(b) is a plan view of the third arm of (a) seen from the upper right, (c) is
It is explanatory drawing of the plate 65 of (a).

4A is an explanatory view of a vertical fine movement position detection structure of a surgical microscope, and FIG. 4B is a sectional view taken along line BB of FIG.

5A is a perspective view of the pressure receiving mechanism of FIG. 3B, FIG. 5B is a vertical cross-sectional view taken along the frame of FIG. 3A, and FIG. 5C is a slide piece and pressure receiving shaft of FIG. And (d) is a vertical cross-sectional view across the frame and the slide piece of (a).

6 (a) is an enlarged explanatory view of the locking device shown in FIG. 1,
(b) is sectional drawing which follows CC line of (a).

FIG. 7 is an explanatory diagram for detecting a rotational position using a cam plate that interlocks with the electromagnetic clutch for tilt fixing shown in FIG.

8 is an explanatory diagram of a switch provided on the front surface of the motor housing case shown in FIG. 1. FIG.

FIG. 9 is an explanatory diagram of a volume provided on a surgical microscope.

10 is a control circuit diagram of the surgical microscope apparatus shown in FIG.

11 is a flowchart for explaining unlocking of a second arm of the surgical microscope apparatus shown in FIG.

12 is a flowchart for explaining tilt direction balance adjustment of the surgical microscope apparatus shown in FIG.

FIG. 13 is a flowchart for explaining initialization of the surgical microscope apparatus shown in FIG.

14 is a flowchart showing a second embodiment for explaining initialization of the surgical microscope apparatus shown in FIG. 1. FIG.

FIG. 15 is a flowchart for explaining initialization of the surgical microscope apparatus subsequent to FIG. 14;

FIG. 16 is an overall schematic explanatory view showing a third embodiment of the surgical microscope apparatus according to the present invention.

17 (a) is an explanatory view of the link mechanism for supporting the surgical microscope of FIG. 16, and FIG. 17 (b) is a cross-sectional view of the fine movement device support portion of FIG. 17 (a).

FIG. 18 is an explanatory view of a link mechanism showing a fourth embodiment of the surgical microscope apparatus according to the present invention.

19 is an explanatory view of the pressure receiving mechanism shown in FIG.

FIG. 20 is an overall schematic explanatory view showing a fifth embodiment of the surgical microscope apparatus according to the present invention.

21 is an explanatory view of a microscope support portion of the surgical microscope apparatus shown in FIG.

22 is a flowchart showing the operation of the surgical microscope apparatus shown in FIG.

FIG. 23 is a flowchart for explaining initialization of the surgical microscope apparatus subsequent to FIG. 22;

24 is a flowchart showing another example of use of the surgical microscope apparatus shown in FIG.

[Explanation of symbols]

 2 ... Struts (support posts) 3 ... Power switch 4 ... Hydraulic cylinder (coarse lift actuator) 5 ... Piston rod 6 ... First arm BR4 ... Electromagnetic clutch MLS ... Switch 8 ... Second arm 8 10, 11 ... Link BR3 Electromagnetic clutch 17 Gas spring 18 Electromagnetic lock mechanism 19, 20 Link BR2 Electromagnetic clutch 21 First clutch plate 22 Second clutch plate 23 Solenoid 24 Actuator rod SW1 Lock release switch 28 Support shaft 29 ... Surgery microscope elevation device 30 ... Surgery microscope 31 ... Horizontal rotating arm BR1 ... Electromagnetic clutch 32 ... Gas spring 34 ... Support shaft 36 ... Pulse motor BR5 ... Electromagnetic clutch 37 ... Pulse motor BR6 ... Electromagnetic clutch 38 ... Rotary shaft A , B, C, D ... Limit switch MS1 Mode switch MS2 ... Tilt switch MS3 ... Swing switch BS1, BS2 ... Volume 40, 41 ... Rotation shaft 42 ... Pressure receiving mechanism 43 ... Fine adjustment device 45 ... Pulse motor LS1, LS2, LS3 ... Limit switch BS3, BS4, BS5 ... Volume 58 ... Link mechanism 59, 60, 61, 62, 63 ... Link 64 ... Lock device 70 ... Arithmetic control circuit 71 ... Foot switch 73, 74, 75 ... Pulse motor 100 ... Support shaft 1 101 ... Support member 105 ... Horizontal support shaft 106, 107, 108 ... Link 110 ... Link 111 ... Link LKC ... Link mechanism 120 ... Pressure receiving mechanism 121 ... Adjusting mechanism 201 ... Fixed support 202 ... Movable support 203 ... First arm 204 ... First counterweight BA1 ... Electromagnetic clutch 205 ... Second Arm 206 ... 2 counterweight 207,208,209,210,211 ... link

Claims (1)

[Claims] 1. A surgical microscope in which a microscope is supported through a plurality of arms that are rotatably connected to each other, and a fixing means is provided at each of the rotating portions of the arms. A release switch and a release switch A surgical microscope comprising: control means for individually releasing the fixation by the fixing means based on an operation.