JPH08131457A - Microscope for operation - Google Patents

Abstract

PURPOSE: To obtain the microscope for operation which neither interferes with other equipments nor disturbs an operator and assistants by arranging a 1st parallelogram link and a 2nd parallelogram link above and below. CONSTITUTION: The 1st parallelogram link 2 is connected to a column 1 rotatably around an axis 01 of rotation and the 2nd parallelogram link 3 is arranged above or below the 1st parallelogram link 2 and connected to the column 1 rotatably around an axis 05 of rotation parallel to the axis 01 of rotation. Then this device is provided with a moving mechanism which associates the rotation of the arm 2a of the 1st parallelogram link 2 with the rotation of the arm 3a of the 2nd parallelogram link 3 and an interlocking mechanism which associates the rotation of the arm 2b of the 1st parallelogram link 2 with the rotation of the arm 3b of the 2nd parallelogram link 3. Further, a 1st slanting arm which can slant a mirror body fitted atop around the axes 09 and 010 of rotation is connected to the arm 2d of the 1st parallelogram link 2.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a surgical microscope apparatus used for microsurgery in a neurosurgery operation, for example.

[0002]

2. Description of the Related Art In recent years, with the development of surgical techniques and surgical tools, microsurgery has been frequently performed. In the microsurgery, a surgical microscope apparatus is used to magnify and observe a surgical site. BACKGROUND ART A surgical microscope apparatus generally includes a microscope body (microscope) for observing a surgical site in an enlarged scale, and a support device capable of moving the microscope body to an arbitrary position desired by an operator and displacing the microscope body in a desired posture. It is configured with.

In particular, in a neurosurgery operation, since the operation site is observed from various directions, it is necessary to frequently change the position and angle (posture) of the mirror body. Therefore, conventionally, various supporting devices have been proposed that can move the mirror body to a target position quickly and accurately to take an arbitrary posture and can limit the movement trajectory of the mirror body.

Among them, as a supporting device capable of inclining the microscope body of a microscope without moving the observation point, Japanese Patent Laid-Open No. 5-1 / 1993 has been proposed.
There are those disclosed in Japanese Patent No. 68648 and Japanese Patent Laid-Open No. 5-215972.

[0005]

[Patent Document 1] Japanese Patent Application Laid-Open No. 5-16864
In the supporting device disclosed in Japanese Patent No. 8 publication, the length of the vertical frame of the front side parallel link mechanism, which is set to incline about the focal position of the microscope body when the microscope body of the microscope is inclined, becomes long. The parallel link mechanism greatly protrudes and interferes with the operation. Moreover, since the tilting movement of the microscope body by the front side parallel link mechanism is transmitted to the lower rear side parallel link mechanism by another link mechanism, the structure becomes considerably complicated by providing those link mechanisms and the tilting The movable range is also narrowed. Furthermore, even if you try to move the field of view by slightly tilting the microscope's mirror body not in the focal position center but in the vicinity of the mirror body, all the link mechanisms and the counter eight also move together. Since it has to be moved against the large inertial force, the operation force becomes large and the movement at the time of operation becomes heavy.

On the other hand, in the supporting device disclosed in Japanese Patent Application Laid-Open No. 5-215972, since the tilting movement of the microscope body is transmitted by the link mechanism, the structure is complicated and the tilting movable range of the microscope body is similar. Becomes narrower, and
A large operating force is required. Further, since the weight for balancing in the horizontal direction is arranged at a position which largely projects to the opposite side when the microscope body of the microscope is moved, the weight interferes with the operation during the operation.

That is, in both of the above-mentioned ones, while the tilting motion around the observation point is possible, its mechanical part is
It may interfere with other equipment or interfere with the surgeon and assistant during surgery. In addition, the movement of the microscope body requires a large operating force, which is very difficult to use.

The present invention has been made in view of the above problems, and an object of the present invention is to provide another device although the tilting movement of the microscope body around the observation point is possible. It does not interfere with the movement of the microscope or interfere with the surgeon or assistant during surgery, and the mechanical part does not become large, so the inertial force of the motion mechanism part can be reduced, and the microscope body of the microscope can be moved. It is an object of the present invention to provide a surgical microscope apparatus that can be performed with a light force and reduce operator fatigue.

[0009]

The present invention supports a microscope body 12 of a microscope, and the microscope body 12 can be moved three-dimensionally and can be limited to a specific movement locus. In the clinical room, which is attached to an installation site such as a floor or a ceiling, and is rotatable about a vertical axis O0, and a rotation axis O1 different from the vertical axis O0 with respect to the pillar 1. Movably connected to a plurality of arms 2
a to 2d are rotation axes O parallel to each other including the rotation axis O1
1st, which is connected so as to be rotatable around 1 to O4, respectively
Parallelogram links 2 and one of the upper and lower sides of the first parallelogram link 2 and the pillar 1
On the other hand, the plurality of arms 3a to 3d are rotatably connected about a rotation axis O5 parallel to the rotation axis O1, and are rotatable about rotation axes O5 to O8 parallel to each other including the rotation axis O5. The second parallelogrammatic link 3 formed by the connection, the rotation axis O1 of the first parallelogrammatic link 2 in the plane of the first parallelogram link 2 and one rotation axis O4 adjacent thereto.
And a line segment parallel to the line segment connecting between the rotation axis O1 and the rotation axis O in the plane of the second parallelogram link 3.
The line segment parallel to the line segment connecting the rotary shaft O5 and the one rotary shaft O8 adjacent thereto in the second parallelogram link 3 corresponding to 4 is always parallel to the rotary shaft O1. A first arm 2a of the first parallelogram link 2 which rotates about the center of rotation and a first arm 3a of the second parallelogram link 3 which rotates about the rotation axis O5. And a line segment parallel to a line segment connecting the rotation axis O1 and the other rotation axis O2 adjacent to the rotation axis O1 in the plane of the first parallelogram link 2, and the second parallelogram. The line segment parallel to the line segment connecting the rotation axis O5 and the other rotation axis O6 adjacent to the rotation axis O5 in the plane of the shaped link 3 is rotated about the rotation axis O1 so as to be always parallel. 1
The other arm 2b of the parallelogram link 2, and a second interlocking mechanism that interlocks the rotation of the other arm 3b of the second parallelogram link 3 that rotates about the rotation axis O5. A first body which is connected to an arm 2d opposite to the arm 2b in the first parallelogram link 2 and has a mirror body attached to the tip thereof can be tilted about two rotation axes O9 and O10 orthogonal to each other. Connected to an inclined arm of the second parallelogram 3 and an arm 3d of the second parallelogram link 3 opposite to the arm 3b, and can incline about rotational axes O21 and O12 parallel to the rotational axes O9 and O10, respectively. The second tilting arm having the tilting rod 25 attached to the tip thereof and the tilting motion of the mirror body about the rotation axes O9 and O10 directly rotate the rotation axis O2 of the tilting rod 25.
1. A motion transmission mechanism composed of a flexible motion transmission member that transmits the tilt motion around O12 at the same ratio, and the movement trajectory of the tilt rod 25 can be limited to a predetermined position with respect to the installation site. And a vertical axis O
The triangles connecting the rotation axes O1, O4 and O10 in a plane parallel to the plane containing 0 are the rotation axes O5, O8 and O in the same plane.
This is a surgical microscope apparatus characterized by arranging the respective rotation axes so as to have a shape similar to the triangle connecting 12 respectively.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of the present invention will be described with reference to FIGS.

(Structure) FIG. 1 shows a schematic structure of the entire surgical microscope apparatus according to the first embodiment.
In the figure, reference numeral 1 is a column in the supporting device.
Are supported with respect to the support base 4. The support base 4 is composed of a bottom plate 4a having casters on the bottom surface and a vertical column 4b. At the upper end of the vertical column 4b, the column 1 is rotatably provided about a vertical axis O0. A first parallelogram link (mechanism) 2 is connected to the upper part of the pillar 1, and a second parallelogram link (mechanism) 3 is connected to the lower part of the pillar 1.

The first parallelogram link 2 has arms 2a to 2d arranged so as to form a parallelogram, and these arms are rotatably connected about mutually parallel rotation axes O1 to O4. And is connected to the upper end of the column 1 via an upper support member 5 so as to be rotatable about its rotation axis O1. Here, the rotation axis O1 and the vertical axis O0 are orthogonal to each other. The second parallelogram link 3 has arms 3a to 3d arranged so as to form a parallelogram, and these arms are rotatably connected around mutually parallel rotation axes O5 to O8. And is connected to the lower end of the column 1 via a lower support member 6 so as to be rotatable about its rotation axis O5. Here, the rotation axis O5 and the vertical axis O0 are orthogonal to each other and are parallel to the rotation axis O1. That is, the first parallelogram link 2 and the second parallelogram link 3 are separately arranged above and below the column 1, and are also arranged in a similar relationship. And the first described later
The deforming operation is performed in a similar manner via the interlocking mechanism and the second interlocking mechanism.

That is, the arm 2a of the first parallelogram link 2 has an L-shape as a whole, which projects an arm portion bent from the lower end of the rotation axis O1, and has a tip portion of the protruding arm portion. Is provided with a rotary shaft O13 parallel to the rotary shaft O1, and the upper end of the first transmission rod 7 is rotatably connected to the rotary shaft O13. here,
The line segment connecting the rotation axis O1 and the rotation axis O4 and the line segment connecting the rotation axis O1 and the rotation axis O13 form a right angle in a plane parallel to the paper surface, but the invention is not limited to this. The corresponding arm 3a of the second parallelogram link 3 also has a similar L-shape, and the tip end portion of the protruding arm portion thereof is rotated around the rotation axis O14 parallel to the rotation axis O5. The lower end of the first transmission rod 7 is movably connected. here,
The line segment connecting the rotation axis O5 and the rotation axis O8 and the line segment connecting the rotation axis O5 and the rotation axis O14 in the plane parallel to the paper surface are at right angles as described above, but the first parallelogram link described above is used. It is not limited to this as long as it is parallel to the bent and protruding arm portion of the second arm 2a.

At this time, in the plane parallel to the paper surface, the rotation axis O
The line segment connecting 1 and the rotation axis O4, the rotation axis O5 and the rotation axis O8
The line segment connecting is always parallel, and the rotation axis O
Each line segment that sequentially connects 1, 05, O14, and O13 forms a parallelogram.

In this embodiment, the arms 2a, 3
The a and the first transmission rod 7 constitute a first interlocking mechanism that transmits rotational force to interlock.

Similarly, the rotation axis O2 of the arm 2b of the first parallelogram link 2 and the rotation axis O6 of the arm 3b of the second parallelogram link 3 are rotatable with respect to them. It is connected by two transmission rods 8. That is, the line segment connecting the rotation axis O1 and the rotation axis O2 and the line segment connecting the rotation axis O5 and the rotation axis O6 are set to be always parallel to each other in a plane parallel to the paper surface. . In addition, in this embodiment, the arms 2b and 3b and the second transmission rod 8 constitute a second interlocking mechanism that transmits rotational force to interlock.

One end of the arm 2d of the first parallelogram link 2 is in a plane parallel to the plane of the drawing and has a vertical axis O0.
There is provided a connection block 9 which is rotatably supported about a rotation axis O9 on a line segment which intersects with the rotation axis O3 and the rotation axis O4. This connection block 9 has a third
The parallelogram linkage mechanism 10 is connected. That is, the arms 10a to 10e and the connection block 9 are rotatably connected around rotation axes O15 to O19, O31, and O32 perpendicular to the plane of the drawing to form a double parallelogram linkage mechanism. . In this embodiment, the connection block 9 and the third parallelogram link mechanism 10 constitute a first tilting arm 11 as a tilting mechanism that can tilt about two rotation axes O9 and O10 which are orthogonal to each other. ing.

Here, the microscope mirror body (hereinafter referred to as a mirror body) 12 has an observation optical axis in a plane parallel to the paper surface.
A lens barrel support arm which is coincident with a rotation axis O20 passing through a line segment connecting the rotation axis O17 and the rotation axis O18 and which is attached to the downward protruding end of the arm 10e so as to be rotatable around the rotation axis O20. It is supported via 13. As a result, the mirror body 12 is rotatable about the imaginary rotation axis O10 that is perpendicular to the plane of the paper passing through the rotation axis O9, the rotation axis O20, and the intersection T1 of the rotation axis O9 and the rotation axis O20. In addition,
Here, the rotational moments due to their own weights about the rotation axis O9, the rotation axis O10, and the rotation axis O20 are always distributed so as to be zero.

The fixed base 20 fixedly connected to the arm 3d of the second parallelogram link 2 is in a plane parallel to the plane of the drawing, intersects the vertical axis O0, and rotates about the rotation axis O9.
A rotary block 21 supported so as to be rotatable around a rotary axis O21 parallel to the rotary block O21 is connected.
Is provided with a seat 22 which is parallel to the rotation axis O10 and is rotatably connected around a rotation axis O12 orthogonal to the rotation axis O21. Further, in this embodiment, the fixed base 20, the rotation block 21 and the seat 22 constitute a second tilt arm 15 as a tilt mechanism.

One end of a slide rod 23 is connected to the seat 22, and the other end of the slide rod 23 rotates with respect to the seat 22 in a plane parallel to the plane of the drawing including the rotation axis O20. A joint 24 is connected rotatably around a rotation axis O23 orthogonal to the axis O12. In this embodiment, the slide rod 23 and the joint 24 form a tilt rod 25 as a tilt mechanism. Here, the rotational moments due to their own weights around the rotation axis O21, the rotation axis O12, and the rotation axis O23 are always distributed so as to be zero.

The tilting motion of the mirror body 12 about the rotation axes O9 and O10 directly affects the rotation axis O21 of the tilting rod 25.
A flexible motion transmitting member is provided which transmits the tilting motion around O12 at the same ratio. That is, the connection block 9 in the first inclined arm 11 is provided with a pulley 26a as a rotating member coaxially arranged with the rotation axis O9. The pulleys 26a are wound from opposite sides, respectively. The winding ends of the wires 27a and 27b are fixed. The outer ends of the wires 27a and 27b are connected to the flexible outer tubes 28a and 28b, respectively.
It is adapted to be slidably inserted and guided inside b. One end of each of the outer tubes 28a and 28b is fixed to the arm 2d via a fixing fitting 29a. The connection block 9 is rotated by the rotation of the pulley 26a.

Similarly, the rotary block 21 of the second tilt arm 15 is provided with a pulley 26b as a rotary member arranged coaxially with the rotary shaft O21.
The other ends of the wires 27a and 27b guided through the outer tubes 28a and 28b are wound from opposite sides and fixed to the peripheral surface thereof. The other ends of the outer tubes 28a and 28b are fixed to the fixed base 20 via fixing fittings 29b. The rotation block 21 is rotated by the rotation of the pulley 26b.

The connection block 9 in the above-mentioned first inclined arm 11 is provided with a pulley 26c serving as a rotating member, which is arranged on the corresponding arm 10b coaxially with the rotating shaft O32. This pulley 2
6c is provided with wires 27c and 27d whose ends are wound from opposite sides and whose ends are fixed. The wires 27c and 27d are slidably inserted and guided inside flexible outer tubes 28c and 28d different from those described above. The ends of the outer tubes 28c and 28d are fixed to the connection block 9 via fixing fittings 29c. The connection block 9 is adapted to rotate integrally with the pulley 26c.

Similarly, the seat 22 of the second tilting arm 15 is provided with a pulley 26d as a rotating member coaxially arranged with the rotation axis O12, and the pulley 26d has the wires 27c and 27d. The other end side is wound from the opposite side, and its tip is fixed to the pulley 26d. The ends of the outer tubes 28c, 28d for guiding the wires 27c, 27d are fixed to the rotating block 21 via fixing fittings 29d. The seat 22 of the second tilt arm 15 is adapted to rotate integrally with the pulley 26d.

Here, the pulley 26a and the pulley 2 are
6b, when viewed from the same direction, when one of the pulleys is rotated, the wires 27a and 27b are wound so that the other pulley rotates in the same direction, and the rotation angle is 6b. Both pulleys 26a and 26b are formed to have the same diameter so as to be equal.

Similarly, the pulleys 26c and 26d are
When viewed from the same direction, when one pulley is rotated, the wires 27c and 27d are wound in such a direction that the other pulley rotates in the same direction,
The pulleys 26c and 26c should have the same rotation angle.
d has the same diameter.

In this embodiment, the pulleys 26a to 26d, the wires 27a to 27d, the outer tubes 28a to 28d, and the fixing fittings 29a to 29d constitute a motion transmitting mechanism 57, and its flexibility is a single unit. The wires 27a to 27d, which are long transmission members, are guided through the outer tubes 28a to 28d as guide means so as to move forward and backward in the axial direction without buckling or bending. In addition, here, the wires 27a to
27d may be a single wire or a stranded wire with or without a core wire.

The base 4a of the support base 4 has a vertical axis O25.
A vertical shaft 30 is provided which is rotatably supported around. Also, this includes arms 31a-31.
A fixing parallelogram link 31 which is rotatably connected to mutually parallel rotary shafts O26 to O29 is connected via a swivel bar 32 which is rotatably provided around the rotary shaft O26. There is. Here, the rotation axis O26 is the vertical axis O26.
Is perpendicular to 25, and the vertical shaft 30
An electromagnetic brake that restricts (brakes) the rotation around the vertical axis O25 is provided, and the arm 31a and the arm 31b are also provided.
An electromagnetic brake, which will be described later, for restricting rotation around the rotation axis O26 is provided in the.

One end of a rod 33 is connected to the upper end of the joint 24 of the inclined rod 25. The other end of the rod 33 is connected to one end of the arm 31d of the fixing parallelogram link 31. The tilt rod 25 is in a plane parallel to the paper surface including the vertical axis O25, and is rotatably connected to each part on a line passing through a line segment connecting the rotation axis O28 and the rotation axis O29.

One end of the rod 33 is connected to the joint 24 of the inclined rod 25 so as to be rotatable around a rotation axis O24 orthogonal to the rotation axis O23. In this embodiment, the vertical shaft 30, the fixed parallelogram link 31, the swivel bar 32, the rod 33, and an electromagnetic brake described later constitute a motion restriction mechanism 40. Here, the rotation axes O25, O of the motion restricting mechanism 40
The rotation moments due to their own weights around 26 and O30 are always weighted so as to be zero.

Further, as shown in FIG. 1, the rotation axes O1, O4, O are arranged in a plane parallel to the paper surface including the vertical axis O0.
The triangles connecting 10 respectively are in the same plane, the rotation axis O5,
To be similar to the triangle connecting O8 and O12,
Each rotary shaft is arranged and configured. Here, the similarity ratio is (ΔO1, O4, 010) / (Δ5, O8, 012) = C. C is a constant.

Next, the detailed structure will be described. FIG.
In 37, 37a is an electromagnetic brake which is disposed on the support base 4 and is capable of electrically restricting the rotation of the column 1 with respect to the support base 4.

At the connecting portion between the first inclined arm 11 and the arm 2d of the first parallelogram link 2, the first protruding arm is formed on the connection block 9 of the first inclined arm 11.
The rotary rod 38 is provided. The first rotating rod 38 is rotatable about the rotation axis O9 by being fitted into a bearing arranged inside the arm 2d. The electromagnetic brake 37 is attached to the arm 2d.
The electromagnetic brake 37d electrically restricts the rotation of the first rotating rod 38 with respect to the arm 2d.

The connection block 9 also has an electromagnetic brake 37e.
The electromagnetic brake 37e can electrically brake the rotation of the arm 10a with respect to the connection block 9.

The lens barrel support arm 13 is also provided with an electromagnetic brake 37f capable of restricting rotation of the lens barrel support arm 13 with respect to the arm 10e about the rotation axis O20.

Next, the details of the upper support member 5 will be described with reference to FIG. FIG. 2 shows a cross section of a portion including the rotation axis O1 viewed from the direction of arrow a in FIG.

That is, the upper shaft 34 is rotatably supported by the upper support member 5 via the bearing 36a about the rotation axis O1.
Is an electromagnetic brake 37 disposed on the upper support member 5.
It can be electrically regulated by b. The arm 2a is
The upper shaft 34 is rotatably supported around the rotation axis O1 via a bearing 36b on the outer circumference of the upper shaft 34. The arm 2b is fixed to the flange portion provided on the upper shaft 34 with a screw.

Next, the details of the lower support member 6 will be described with reference to FIG. FIG. 3 shows a cross section of a portion including the rotation axis O5 viewed from the direction of arrow b in FIG.

That is, the lower shaft 35 is attached to the lower support member 6 through the bearing 36c.
The lower shaft 35 is supported so as to be rotatable around it, and its lower shaft 35 can be electrically regulated by an electromagnetic brake 37c arranged on the lower support member 6. The arm 3a
Are fixed to the flange portion of the lower shaft 35 by screws. The arm 3b is supported on the outer periphery of the lower shaft 35 so as to be rotatable about a rotation axis O5 via a bearing 36d.

Next, referring to FIG. 4, the second parallel link 3,
Detailed configurations of the second tilt arm 15, the tilt rod 25, and the motion restricting mechanism 40 will be described.

In FIG. 4, T2 is a rotary shaft O12 and a rotary shaft O21.
And the intersection point S2 is the rotation axis O23, the rotation axis O24, and the rotation axis O.
It shows 30 intersections. A screw shaft 41 is fixed to the arm 3d of the second parallelogram link 3, and a counterweight 39 is supported on the screw shaft 41 so as to be movable in the axial direction. When the first parallelogram link 2 and the second parallelogram link 3 are interlocked with each other, the counterweight 39 is positioned and weighted so that the rotational moments about the rotation axes O0 and O1 are always zero. ing.

In the figure, reference numeral 43 denotes a tilt rod drive section which is disposed on the seat 22 and is capable of electrically moving the slide rod 23 of the tilt rod 25 in the direction of the rotation axis O23.
Detects T2 and S2 by detecting the driving amount of the tilt rod driving unit 43 connected to the tilt rod driving unit 43.
It is an inclined rod position detection unit that calculates a linear distance R2 between them.

Further, the support base 4 is provided with an electromagnetic brake 37g capable of electrically restricting the rotation of the vertical shaft 30 around the rotation axis O25 with respect to the support base 4. Also,
An arm 31a that constitutes a fixed parallelogram link 31,
Electromagnetic brakes 37h and 37i capable of electrically restricting the rotation of the arms 31a and 31b around the rotation axis O26 with respect to the swivel bar 32 are provided at 31b.

Auxiliary weights 42a and 42b are provided on the arm 31a and the swivel bar 32, respectively, to offset the rotational moments about the rotation axes O26 and O25.

Next, the structures of the mirror body 12 and the electric circuit will be described with reference to FIG. First, in the figure, 50 is an objective lens, which is installed on the left and right observation optical paths 51R and 51L consisting of a zoom lens, an imaging lens, and an eyepiece lens (not shown), and by changing the lens interval, the object side The focal length of the objective lens 50 can be changed.
Is mechanically connected to the objective lens driving unit 52, and the focal length is adjusted thereby. Reference numeral 53 is an objective lens position detecting means which is, for example, an encoder, and is also mechanically connected to the objective lens 50. In the figure, T1 is the intersection of the rotation axis O9, the rotation axis O10, and the rotation axis O20, the point P is the observation optical axis,
That is, it is the intersection of the rotation axis O20 and the focal plane of the mirror body 12, Rf is the linear distance between T1 and point P, and f is the focal length of the objective lens 50.

The objective lens driving section 52 and the objective lens position detecting means 53 are connected to the control section 54. The body 12 is provided with a grip 55, which includes a horizontal free switch SW1 and a vertical free switch S.
There are W2, an omnidirectional free switch SW3, a mirror spherical inclination switch SW4, an inclination center point setting switch SW5 and the like, and these switches are also connected to the control unit 54. Further, the control unit 54 includes the tilt rod driving unit 43.
The tilt rod position detector 44 is also connected.

Further, the electromagnetic brakes 37a and 37c are
The horizontal electromagnetic brake drive circuit 56a, the electromagnetic brake 37b via the vertical electromagnetic brake drive circuit 56b, the electromagnetic brakes 37d and 37e via the tilt electromagnetic brake drive circuit 56c, and the electromagnetic brake 37f via the optical axis rotary electromagnetic brake. The electromagnetic brakes 37g, 37h, 37i are connected to the control unit 54 via a drive circuit 56d and a motion restriction mechanism electromagnetic brake drive circuit 56e, respectively.

(Operation) The operation of the surgical microscope apparatus of the first embodiment will be described. In this surgical microscope apparatus, the three-dimensional movement of the mirror body 12 and the orthogonal 3
Inclination around the axis (hereinafter, movement of 6 degrees of freedom), movement in a substantially horizontal plane, movement in a substantially vertical direction, and inclination movement about a point on the observation optical axis can be selected variously according to the surgical style. . Hereinafter, these will be described in order.

[Movement of 6 degrees of freedom] First, the grip 55
When the omnidirectional free switch SW3 is pressed, the control section 54 receives a signal corresponding thereto, and the horizontal electromagnetic brake drive circuit 56a, the vertical electromagnetic brake drive circuit 56b, the tilt electromagnetic brake drive circuit 56c, the motion restriction mechanism electromagnetic brake. A signal is output to the drive circuit 56e and the optical axis rotation electromagnetic brake drive circuit 56d, and all the electromagnetic brakes 37a, 37b, 37c, 37d, 37e, 37f, 3 are output.
Release the braking action of 7g, 37h, 37i.

When the braking action of the electromagnetic brake 37a is released, the column 1 becomes rotatable with respect to the support base 4 about the vertical axis O0. Therefore, the first parallelogram link 2 and the first parallelogram link 2 are connected. The tilting arm 11 allows the mirror body 12 to rotate about the vertical axis O0 with respect to the support 4.

When the electromagnetic brake 37b shown in FIG. 2 is released, the arm 2b moves with respect to the upper support member 5 about the rotation axis O1.
Therefore, the arm 2d can be rotated about the rotation axis O4 with respect to the arm 2a via the arm 2c while keeping parallel to the arm 2b. Therefore, the mirror body 12 can be rotated about the rotation axis O4 with respect to the arm 2a via the first inclined arm 11.

When the electromagnetic brake 37c shown in FIG. 3 is released, the arm 3a becomes rotatable about the rotation axis O5 with respect to the lower support member 6, and the arm 2a connected by the first transmission rod 7 is connected. Is rotatable about the rotation axis O1 with respect to the upper support member 5. Therefore, the mirror body 12 can be rotated about the rotation axis O1 with respect to the upper support member 5 as a whole through the first parallelogram link 2 and the first inclined arm 11.

Therefore, the combination of these three rotations of the mirror body 12 makes the mirror body 12 movable in three dimensions.

On the other hand, when the electromagnetic brake 37d is released, the first tilt arm 11 becomes rotatable about the rotation axis O9 with respect to the arm 2d. Electromagnetic brake 37e
Is released, the arm 1 of the parallelogram linkage mechanism 10
0a is rotatable about the rotation axis O31 with respect to the connection block 9, and the arm 10e connected by the arms 10b to 10d is tiltable about the rotation axis O10 in parallel with the arm 10a. Further, when the electromagnetic brake 37f is released, the mirror body 12 passes through the mirror body support member 13 and
The arm 10e can be rotated about the rotation axis O20. That is, the mirror body 12 can roll around the intersection T1 between the rotation axis O9 and the rotation axis O10.

Here, since the electromagnetic brakes 37g, 37h, 37i of the motion restricting mechanism 40 are all released from the braking action, the vertical shaft 30 rotates around the rotation axis O25 with respect to the support base 4 and the arm 31 of the fixing parallel link 31.
The rotation of the a and 31b with respect to the swivel bar 32 about the rotation axis O26 is possible. The rotation of the arm 31b with respect to the swivel bar 32 about the rotation axis O26 is transmitted to the rotation of the arm 31d about the rotation axis O29 with respect to the arm 31a. Therefore, the rod 33 also moves to the arm 31a.
With respect to the rotation axis O29, and the rod 33
Is rotatable about the rotation axis O30 with respect to the arm 31d. Therefore, there is nothing that regulates the movement of the mirror body 12.

That is, the tilting about the three axes orthogonal to the three-dimensional movement enables the mirror body 12 to move in six degrees of freedom.

Next, the operation linked with the movement of the mirror body 12 in the six degrees of freedom will be described. When the arm 2b rotates about the rotation axis O1 with respect to the upper support member 5, the second
The arm 3b connected to the transmission rod 8 rotates about the rotation axis O5 with respect to the lower support member 6 while always keeping parallel to the arm 2b. The arm 3d connected in parallel with the arm 3b by the arm 3c also rotates about the rotation axis O8 with respect to the arm 3a. At this time, the arm 3d is always kept parallel to the arm 2d.

When the arm 3a rotates about the rotation axis O5 with respect to the lower support member 6, the arm 3d also rotates about the rotation axis O5 with respect to the lower support member 6. Further, the tilt rod 25 is also connected to the arm 3d via the second tilt arm 15.
Move with.

That is, the arm 2a and the arm 3a, and the arm 2d and the arm 3d always move in parallel with each other, and in the plane parallel to the paper surface including the vertical axis O0, the rotation axes O1, O4,
The triangles connecting O10 are the rotation axes O5,
It is always similar to the triangle connecting O8 and O12. At this time, the counterweight 39 supported by the arm 3d always moves to a position where the rotation moment is offset against the movement of the mirror body 12.

Due to the movements of these members, the rotation moment is always offset, and the movement of the mirror body 12 with six degrees of freedom becomes possible.

[Movement in a substantially horizontal plane] During surgery on the spine or the like, if the operator wants to frequently move the body 12 only in a substantially horizontal direction, the operator holds the grip 55 and presses the horizontal free switch SW1 to perform control. The section 54 inputs the signal and outputs the signal only to the horizontal motion electromagnetic brake drive circuit 56a, the motion restriction mechanism electromagnetic brake drive circuit 56e and the optical axis rotation electromagnetic brake drive circuit 56d, and the electromagnetic brakes 37a, 37c, 37f. , 37g, 37h, 37i are released only.

That is, when the electromagnetic brake 37a is released, the column 1 becomes rotatable about the vertical axis O0 with respect to the support 4, and the first parallelogram link 2 and the first tilt arm 11 are moved. Through this, the mirror body 12 becomes rotatable about the vertical axis O0 with respect to the floor surface.

When the electromagnetic brake 37c is released, the arm 3a becomes rotatable about the rotation axis O5 with respect to the lower support member 6, and the arm 2a connected by the first transmission rod 7 is moved to the upper support member 5. On the other hand, it becomes possible to rotate about the rotation axis O1. Therefore, the mirror body 12 can be rotated about the rotation axis O1 with respect to the upper support member 5 via the first parallelogram link 2 and the first inclined arm 11.

When the electromagnetic brake 37f is released, the mirror body 12 is moved through the mirror body support member 13 to the arm 1
It becomes possible to rotate around the rotation axis O20 with respect to 0e.

Further, the electromagnetic brakes 37g to 37i are also
Since it is released, the motion restricting mechanism 40 does not restrict the movement of the mirror body 12.

Since the electromagnetic brake 37b is fixed and the arm 2b of the first parallelogram link 2 is restricted from rotating about the rotation axis O1 with respect to the upper support member 5, the arm 2d is always kept. It is a state in which a constant angle is maintained in a plane parallel to the paper surface.

That is, as shown in FIG. 6 (a), the arm 2d has a rotating shaft O1 and a rotating shaft O4 centering on the rotating shaft O1.
It is possible to always move in parallel on an arc whose radius is the distance R3 between them.

The intersection T of the rotation axis O9 and the rotation axis O10
1 is a distance R4 between the rotation axis O4 and the rotation axis O10 from the rotation axis O1 toward the mirror body 12 on a straight line I passing through the rotation axis O1 and parallel to the rotation axis O9 in a plane parallel to the paper surface. It moves on an arc Z1 having a radius of a distance R3 between the rotation axis O1 and the rotation axis O4 about the point Y1.

Here, since the braking action of the electromagnetic brakes 37d and 37e of the first tilt arm 11 is fixed, the tilt of the mirror body 12 about the rotation axis O9 and the rotation axis O10 is restricted. . Therefore, the mirror body 12 moves along its arcuate locus without tilting.

By combining this with the rotation of the support 1 around the vertical axis O0 with respect to the support 4, it is possible to move the support 1 in a substantially horizontal plane. FIG. 6B shows a case where the mirror body 12 is moved rightward with respect to FIG. 6A.

In this embodiment, since the mirror body 12 moves on an arc during the substantially horizontal movement within the plane of the drawing, it is accompanied by vertical movement in the direction of the observation optical axis, but the horizontal movement width required in the actual surgery is required. Is quite small, and this up-and-down movement is of little concern.

[Substantially Up-and-Down Movement] In deep surgery through the open hole in neurosurgery, etc., the field of view is not shifted in order to see the front side and the back side during the surgery, and the mirror is swiftly observed in the optical axis direction. There may be cases where the body 12 needs to be moved. In this case, the surgeon can move the vertical movement free switch S of the grip 55.
Press W2. Then, the control unit 54 inputs a signal and outputs a signal only to the vertical movement electromagnetic brake drive circuit 56b, the motion restriction mechanism electromagnetic brake drive circuit 56e, and the optical axis rotation electromagnetic brake drive circuit 56d, and the electromagnetic brakes 37b,
The braking action of only 37g, 37h, 37i and 37f is released.

That is, when the electromagnetic brake 37b is released, the arm 2b becomes rotatable with respect to the upper support member 5 around the rotation axis O1, and the arm 2d is moved through the arm 2c.
Can rotate about the rotation axis O4 with respect to the arm 2a while keeping parallel to the arm 2b. Therefore, the mirror body 12 becomes rotatable about the rotation axis O4 with respect to the arm 2a via the first tilt arm 11.

When the electromagnetic brake 37f is released, the mirror body 12 becomes rotatable about the rotation axis O20 with respect to the arm 10e via the mirror body support member 13.

Further, since the electromagnetic brakes 37g to 37i are also released, the motion restricting mechanism 40 operates on the tilt rod 25.
It is possible to follow any movement of S2 due to the movement and tilt of.

In this state, the tilt of the mirror body 12 about the rotation axis O9 and the rotation axis O10 is restricted, as in the above-described movement in the substantially horizontal plane. The electromagnetic brake 37c is also in a fixed state, and the arm 3a of the second parallelogram link 3 is restricted from rotating about the rotation axis O1. That is, the arm 2a of the first parallelogram link 2 connected by the first transmission rod 7 is also fixed to rotate about the rotation axis O5.

Therefore, as shown in FIG. 7 (a), the arm 2d can always rotate only around the rotation axis O4 in a plane parallel to the paper surface. Therefore, the rotation axis O9 and the rotation axis O10
The intersection point T1 can be moved only on the arc Z2 with the radius R4 between the rotation axis O4 and the rotation axis O4 as the center. FIG. 7B shows a case where the mirror body 12 is moved downward with respect to FIG.

In this embodiment, since the mirror body 12 moves in an arc during vertical movement, the observation field of view shifts due to the inclination of the observation optical axis, but the vertical movement width required in actual surgery is quite small. The deviation of the field of view is almost no problem.

[Inclination around a point on the observation optical axis]
In this case, when the mirror spherical inclination free switch SW4 of the grip 55 is pressed, the control unit 54 inputs the signal, and the horizontal electromagnetic brake drive circuit 56a, vertical electromagnetic brake drive circuit 56b, tilt electromagnetic brake drive. A signal is output only to the circuit 56c and the optical axis rotation electromagnetic brake drive circuit 56d, and those electromagnetic brakes 37a, 37b, 3
Only the braking action of 7c, 37d, 37e, 37f is released. This is because the electromagnetic brakes 37g, 37h of the motion restricting mechanism 40,
Only 37i is fixed.

Therefore, in FIG. 8A, the tilt rod 25 is restricted from moving at the point S2, and can only tilt about the point S2. Here, the point T2 is the distance R between S2 and T2.
It moves on a spherical surface with a radius of 2. The movement of T2 is transmitted similarly to the action of the arm described above, and the intersection T1 of the rotation axes O9 and O10 of the first tilting arm 11 is a constant of the ratio of the triangle similar to the movement distance of the intersection T2. Move in the opposite direction by the distance multiplied by C.

With respect to the inclination of the inclined rod 25, its movement is transmitted to the mirror body 12 by the motion transmitting mechanism 57 using the flexible wires 27a to 27d, and appears as a similar movement of the mirror body 12. . The operation will be described below with reference to FIGS. 1 and 4.

That is, when the tilt rod 25 rotates about the rotation axis O12, the pulley 26d integrally arranged with the seat 22 of the second tilt arm 15 also rotates together.
As a result, the wire 2 is moved depending on the rotating direction of the pulley 26d.
Either one of 7c and 27d is pulled, and the wire is restricted from moving in the direction along the wire by fixing both ends to the rotating block 21d and the connection block 9 by the fixing metal fitting 29d and the fixing metal fitting 29c. By sliding inside the outer tubes 28c and 28d, the pulley 26c integrally provided with the arm 10b of the first tilt arm 11 is rotated in the same direction as the pulley 26d at the same angle. On the other hand, the wires that are not pulled also serve to transmit the rotations of the pulleys 26d and 26c in a one-to-one relationship without play. The rotation of the arm 10b is transmitted by the parallelogram link mechanism 10 as the rotation of the arm 10e around the rotation axis O10. Therefore, the mirror body 12 rotates about its rotation axis O10 in the same direction and at the same angle as the inclination of the seat 22 about the rotation axis O12.

When the tilt rod 25 is rotated around the rotation axis O21, the rotation block 2 of the second tilt arm 15 is rotated.
The pulley 26b arranged at 1 also rotates integrally.
One of the wires 27a and 27b is pulled depending on the rotating direction, and both ends of the wire are fixed by the fixing bracket 29b and the fixing bracket 29a to the fixing base 20d and the arm 2d.
It is slid in the outer tube 28a or another outer tube 28b whose movement along the wire is restricted by being fixed to the connection block 9 of the first tilt arm 11. The pulley 26a is rotated in the same direction as the pulley 26b at the same angle. On the other hand, the wires that are not pulled also serve to transmit the rotations of the pulleys 26b and 26a in a one-to-one relationship without play. Therefore, the mirror body 12 is rotated about the rotation axis O9 through the first tilt arm 11 and the rotation block 2 is rotated.
It rotates at the same angle in the same direction as the inclination of the first rotation axis O21.

That is, the rotation axis O23 of the inclined rod 25
And the rotation axis O20 coaxial with the observation optical axis of the arm 10e in the parallelogram link mechanism 10 are always kept parallel.

Therefore, as shown in FIG. 8A, from T1 on the rotation axis O20 coaxial with the observation optical axis, R2 × C = R
The mirror body 12 can be tilted around the point S1 at a distance of 1.
FIG. 8B shows a case where the mirror body 12 is tilted to the right with respect to FIG.

When the tilt center point setting switch SW5 of the grip 55 is pressed, the objective lens position signal from the objective lens position detecting section 53 and the tilt rod position signal from the tilt rod position detecting section 44 are input to the control section 54. It Then, in the control unit 54, the distance Rf between T1 and the point P on the observation optical axis in the focal plane of the mirror body 12 is calculated from the objective lens position signal, and the distance R2 between T2 and S2 is calculated from the tilt rod position signal. . Then, the value R2 × C = R1 obtained by multiplying the distance R2 by C, which is the ratio of the similar triangle, is compared with the above Rf, and a drive signal is sent to the tilt rod drive unit 43 in order to move the tilt rod 25 so that they are equal. In response to the output, a motor (not shown) rotates in the tilt rod drive unit 43, and the slide rod 23 of the tilt rod 25 is moved on the axis of the rotary shaft O23 by a necessary distance in a necessary direction through a speed reducer (not shown).

While this drive signal is being output to the tilt rod drive section 43, the control section 54 also outputs a start signal to the motion restricting mechanism electromagnetic brake drive circuit 56e to brake the electromagnetic brakes 37g, 37h, 37i. Cancel the action,
Moreover, the other electromagnetic brakes 37a to 37f are fixed.

By this action, the operator aligns the point that the operator wants to be the tilt center point of the mirror body 12 with the center of the observation field of view of the mirror body 12, and changes the focal length of the objective lens 50 by a switch (not shown) to focus on that point. Together (point P in FIG. 5) and push the tilt center point setting switch SW5 of the grip 55, S1 moves so as to match P, and the tilt center point of the mirror body 12 is automatically aimed. Set to a point.

(Effects of the Embodiment) In this embodiment, the first parallelogram link 2 and the second parallelogram link 3 are separated from each other instead of a single parallelogram link mechanism. Then
Since these are arranged above and below, as compared with the case where a single parallelogram link mechanism is used, the second parallelogram link 3 and the counterweight 39, which are members that project with the movement of the mirror body 12, are the floor. It becomes possible to arrange it near the plane. That is, since the portion above the rotation axis O5 can be made compact, a sufficiently wide upper space required during the operation can be secured.

Further, since the counterweight 39 is arranged below, the position of the center of gravity of the whole is lowered, the stability is increased, and the safety is improved.

Further, as described above, as compared with the case where a single parallelogram link mechanism is used, the rotation axis O1 of the support column 1
Since the protruding length of the surroundings can be shortened, the moment of inertia of the moving part can be reduced and the operation can be performed lightly.

In addition, the first interlocking mechanism and the second interlocking mechanism which interlock the movements of the first parallelogrammatic link 2 and the second parallelogrammic link 3, are the arms 2a and 3a and the first transmission rod. 7, the arms 2b and 3b, and the second transmission rod 8 respectively. For this reason, there is no play that causes a displacement of the field of view of the mirror body 12 in the transmission, and it has rigidity. Therefore, the movements of the first parallelogram link 2 and the second parallelogram link 3 can be reliably interlocked. Moreover, its configuration is simple.

On the other hand, the motion transmitting mechanism 57 includes a pulley 26
a-26d, wires 27a-27d, outer tubes 28a-28d, and fixing fittings 29a-29d, the motion transmitting mechanism 57 has a lightweight and compact structure, and for example, links are continuously connected. Compared to a link type chain mechanism or the like, the amount of force (inertial force) when moving the mirror body 12 is light, and the overall weight of the surgical microscope apparatus is reduced.

Since the first tilting arm 11 is composed of the parallelogram link mechanism 10, the rotation axis O9 and the rotation axis O10 around the mirror body 12 are connected to the first tilting arm 11. The rotational moment is the first tilting arm 1
It is offset by each arm of 1. Therefore, since the motion transmitting member transmits only the amount of displacement of the tilt of the mirror body 12, the tension due to the rotation moment is not applied to the wire, the friction between the wire and the outer tube is small, and the mirror body 12 is tilted. You have a small ability. Moreover, even if the wires 27a to 27b of the motion transmitting member are broken,
A rotation moment is not generated in the mirror body 12, and the operation can be continued.

By the way, the above-mentioned Japanese Unexamined Patent Publication No. 5-16864
In a stand device capable of tilting a mirror body without moving the conventional observation point described in Japanese Patent Publication No. 8, when observing the deep part of the opening part with the opening edge of the opening part as the inclination center point. 11, the mirror body 12 is moved so that the tilt center point S is a distance Rp away from the mirror body 12 toward the object side.
1 was set so as to be located at the center of the opening, and the focus of the mirror body 12 was used by being aligned with the observation point M in the deep portion.

However, as shown in FIG. 12, when it is attempted to tilt the mirror body 12 around the deep observation point M, the distance R from the mirror body 12 to the tilt center point S1
Since p is fixed, the distance W between the mirror body 12 and the body surface becomes short, and the workability with the surgical tool becomes extremely poor.

When the state of FIG. 11 is changed to the state of FIG. 12 during the operation, the operator needs to move the mirror body 12 in order to move the tilt center point S1 of the mirror body 12. It was very annoying.

However, in this embodiment, the rotation axis O12,
Since the intersection S2 of O21 and O23 has the tilt rod drive unit 43 that can move on the rotation axis O23, the tilt rod drive unit 43 can be moved by moving the tilt rod drive unit 43 without moving the position of the mirror body 12. The tilt center point S1 of the
It is possible to move to any point on the observation optical axis. Therefore, the tilt center point S1 of the mirror body 12 can be changed without changing the distance W between the mirror body 12 and the body surface, and the workability according to the surgical situation is not impaired.

Further, in this embodiment, the objective lens position detecting section 53 for detecting the focal position of the mirror body 12, the tilt rod position detecting section 44 for detecting the position of the tilt rod 25, and the focus position of the mirror body 12 are changed. On the objective lens drive unit 52 and the rotation axis O23, an intersection point S of the rotation axes O12, O21, O23
2 is movable, an objective lens position detector 53 and an inclined rod position detector 44.
By providing a control unit 54 for inputting a signal from the above and outputting a signal for moving the tilt rod 25 to the tilt rod drive unit 43 by a necessary distance, the operator sets the region to be set as the tilt center point in the visual field center. The tilt center of the mirror body 12 is automatically set only by focusing on that point and pressing the tilt center point setting switch SW5. Therefore, the inclination center point S1 can be set accurately and easily at the target site, and no complicated operation is required, leading to a reduction in operating time and a reduction in operator fatigue.

Further, in the conventional device disclosed in Japanese Patent Laid-Open No. 168648/1993, it is possible to tilt the mirror body around a single point, but the field of view without shifting the focus during the operation is possible. It cannot move in the horizontal direction or move quickly in the optical axis direction without shifting the field of view.

Furthermore, in this embodiment, in the surgical microscope supported by the parallelogram link, the vertical axis O0
A column 1 around which a first parallelogram link 2 is supported
And an electromagnetic brake 37a that regulates the rotation of the column 1.
And the arms 2a and 2b forming the first parallelogram link 2 are rotatably supported by the rotation axis O1 arranged on the column 1, and the rotation of the arms 2a and 2b about the rotation axis O1. Electromagnetic brakes 37c, 3 that can regulate movement
7b, the electromagnetic brakes 37a and 37c are operated in conjunction with each other, and the control section 54 is capable of operating 37b independently. It can be moved up and down, and it is highly versatile for various types of surgery, and also reduces the fatigue of the operator during surgery.

Further, in the control unit described in Japanese Patent Laid-Open No. 5-215972, the motion restricting mechanism is composed of a sliding unit which can be electrically locked and a locking means, and the locking means is rotatable about a vertical rotation axis. It consists of two arms that move in a horizontal plane connected to, so if the floor surface is tilted, that is, if the platform and the entire control unit are tilted, a rotation that connects the two arms. Since the axis also tilts, the arm naturally moves due to gravity.
In this case, the balance of the arm that supports the mirror is lost, and a large operating force is required to move the mirror. Further, when the lock element is released, there is a problem that the field of view is displaced due to imbalance and the operator cannot concentrate on the operation.

However, in this embodiment, the motion restricting mechanism 40 has the vertical shaft 30 rotatable about the vertical axis O25 and the vertical axis O25 connected to the vertical shaft 30 via the swivel bar 32 at a right angle. A fixed parallelogram link 31 which is rotatably supported around a rotation axis O26 and is deformable, and a rod 33 which is connected to an arm 31d of the fixed parallelogram link and is rotatable around a rotation axis O30. And is configured so that the rotational moments about the vertical axis O25, the rotational axis O26, and the rotational axis O30 cancel each other out. There is no moment, and the above problem does not occur. Therefore, the operator can concentrate on the operation.

FIGS. 13 and 14 show the rotation axes O9 and O10.
7 shows a motion transmission mechanism 157 according to another embodiment for transmitting the movement of the mirror body 12 centered on the tilt rod 25 to the tilt rod 25. As shown in FIG. 13, the motion transmission mechanism 15 of the present embodiment.
7, the upper part and the lower part are formed in a symmetrical structure. Therefore, the upper part of the motion transmitting mechanism 157 will be mainly described.

As shown in FIG. 14, the motion transmitting mechanism 157 is fixed to the connecting block 9 coaxially with the rotation axis O9 in order to transmit the movement in the rotation direction of the mirror body 12 about the rotation axis O9. A pulley 121, a pulley 121 coaxially attached to the rotation axis O4 orthogonal to the rotation axis O9, and rotatably attached to the arm 2d.
A flexible wire 122 wound between 121, and idle pulleys 123a and 123b for changing the direction of the wire 122 between two pulleys 120 and 121 whose axes are orthogonal to each other are provided.

The pulley 120, together with the connection block 9,
It is rotatably mounted on a hollow cylindrical extension 124 protruding from the arm 2d. In addition, the pulley 123a,
123b is rotatably mounted on an L-shaped bracket 125 fixed to the arm 2d, and smoothly rotates the pulley 120 via the wire 122.
Can be transmitted to.

Further, at the lower end of the arm 2a, the rotary shaft O
A pulley 126 is rotatably mounted coaxially with 1. A belt 127 is wound around the pulleys 121 and 126 arranged at the upper and lower ends of the arm 2a.

As shown in FIG. 13, the motion transmission mechanism 157.
The lower part is also formed in the same manner, and the rotational movement is transmitted from the pulley 126 via the belt 128 to the pulley arranged on the rotation axis O5 at the lower end of the column 1. From the pulley arranged on the rotary shaft O5, similarly to the above-mentioned upper portion, transmission is made to the inclined rod 25 via the pulley and the belt arranged on the rotary shaft O8. For the lower part, refer to the reference numeral of the member corresponding to the above upper part.
(Dash code) ”and detailed description thereof is omitted.

Therefore, when the mirror body 12 tilts, that is, rotates about the rotation axis O9, the connection block 9 also rotates, and the rotation angle is from the pulley 120 to the wire 122.
Is transmitted to the pulley 121 via the
7 is transmitted to the pulley 126. From this pulley 126, a motion transmission mechanism 157 is provided by a belt 128.
It is transmitted to the inclined rod 25 via the lower part.

On the other hand, in order to transmit the rotation of the mirror body 12 about the rotation axis O10 (FIG. 1) to the inclined rod 25, the motion transmission mechanism 157 of this embodiment is arranged along the rotation axis O9. And a slide shaft 130. This slide shaft 13
0 is slidably guided along the direction of the rotation axis O9 by a linear guide 131 arranged in the extension portion 124 of the arm 2d. The outer end of the slide shaft 130 is
One end of the connecting rod 132 is pivotally attached to the arm 10b. The slide shaft 130 and the connecting rod 132 move in a plane parallel to the third parallelogram link 10. Therefore, the slide shaft 130, the arm 10b, and the connecting rod 132 form a first slider crank mechanism.

As shown in FIG. 14, the end portion of the slide shaft 130 arranged in the extension portion 124 has the bearing 1
33, the rotary shaft O9
It is rotatably connected around. Extension 124
An extension portion 134a extends at a right angle from the end portion of the push rod 134 protruding outwardly.

Further, a pulley 135 is provided coaxially with the rotation axis O4 passing through the pivotal connection between the arm 2a and the arm 2d of the first parallelogram link 2. The pulley 1
An ear 136 protrudes from 35. The tip portion of the ear portion 136 and the extension portion 134a of the push rod 134.
And the tip end of each of them are pivotally attached to the connecting rod 137. Therefore, the push rod 134 and the ear 136
And the connecting rod 137 form a second slider crank mechanism. This second slider crank mechanism moves in a plane parallel to the first parallelogram link 2.

Further, a rotatable pulley 139 arranged coaxially with the pulley 126 is attached to the lower end of the arm 2a. The belt 140 has two pulleys 135, 13 arranged at the upper end and the lower end of the arm 2a.
It is wrapped around 9. The movement of the pulley 139 is transmitted to the lower portion of the motion transmission mechanism 157 via the belt 141. Regarding this lower part, in FIG. 13, the reference numeral of the member corresponding to the above upper part is “′ (dash mark)”.
Will be attached and detailed description thereof will be omitted.

Therefore, when the mirror body 12 rotates about the rotation axis O10, the arm 10b of the third parallelogram link 10 rotates about the rotation axis O32. The rotational movement of the arm 10b is converted into a linear movement of the slide shaft 130 and the push rod 134 by the connecting rod 132. Further, the linear motion of the push rod 134 is converted into the rotary motion of the pulley 135 by the connecting rod 137, and this rotary motion is transmitted via the belt 140, the pulley 139 and the belt 141 to the motion transmission mechanism 157.
Is transmitted to the lower part of the tilt rod 25 and the tilt rod 25 is rotated about the rotation axis O12.

Slide shaft 130 and push rod 134
Since the bearing 133 is interposed between and, even if the connection block 9 rotates about the rotation axis O9, this rotation motion is not transmitted to the push rod 134. That is, the arm 10b, the connecting rod 132, and the slide shaft 1
The movement of the first slider crank mechanism formed by 30 does not interfere with the movement of the second slider crank mechanism formed by the push rod 134, the connecting rod 137, and the pulley 135. The first and second slider crank mechanisms can independently move about the rotation axis O9.

A second embodiment of the present invention will be described with reference to FIGS.

(Structure) FIG. 15 shows the schematic structure of the entire surgical microscope apparatus according to the second embodiment.
In the figure, reference numeral 65 denotes a support table installed on the ceiling, on which the column 1 is supported rotatably around a vertical axis O0. 2 is a rotation axis O parallel to the arms 2a to 2d.
It is a first parallelogram link formed by connecting and connecting so as to be sequentially rotatable around 1 to O4. The first parallelogram link 2 having the same structure as that of the above-mentioned first embodiment has an upper support member 5 provided at a lower portion of the support column 1 around a rotation axis O1 orthogonal to the vertical axis O0. It is rotatably connected.

Reference numeral 3 is a second parallelogram link, which is also connected to the arms 3a to 3d so as to be rotatable about mutually parallel rotation axes O5 to O8, as in the first embodiment. In other words, it is rotatably connected about the rotation axis O5 via the lower support member 6 provided on the upper portion of the column 1.
The rotation axis O5 here is orthogonal to the vertical axis O0 and parallel to the rotation axis O1.

The arm 2a of the first parallelogram link 2 has a sprocket 66 coaxial with the rotation axis O1.
The arm 3a is provided with a sprocket 66b having the same diameter as the sprocket 66a coaxially with the rotation axis O5. This sprocket 66a, 6
By chain 6a between 6b,
They are interconnected. At this time, the line segment connecting the rotation axis O1 and the rotation axis O4 in the plane parallel to the paper surface and the rotation axis O5
The line connecting the axis of rotation and the axis of rotation O8 is always parallel. Then, in the second embodiment, the arms 2a,
3a, sprockets 66a and 66b, and chain 67
The first interlocking mechanism is constituted by a.

Similarly, the other arm 2b of the first parallelogram link 2 is provided with the sprocket 66c coaxially with the rotation axis O1, and the arm 3b coaxially with the rotation axis O5. A sprocket 66d having the same diameter as the sprocket 66c is arranged. A chain 67b is bridged between the sprockets 66c and 66d to connect them to each other. At this time, the line segment connecting the rotation axis O1 and the rotation axis O2 in the plane parallel to the paper surface and the line segment connecting the rotation axis O5 and the rotation axis O6 are always in parallel. And, in this second embodiment, the arms 2b, 3
b, sprockets 66c and 66d, and chain 67b
The second interlocking mechanism is thus configured. The parallel link 10 in the first embodiment described above is omitted, and instead, the structure of the L-shaped connecting arm 69 is adopted. That is, the connecting arm 69 is supported in a plane parallel to the plane of the drawing with respect to the arm 2d and is rotatably supported about the rotation axis O9 which coincides with the line segment connecting the rotation axes O3 and O4 ( See FIG. 16.). At the tip of the connecting arm 68, an inclined block 69 that is rotatable around a rotation axis O10 orthogonal to the rotation axis O9 is supported. In this embodiment, the connecting arm 68 and the tilting block 69 constitute the first tilting arm 11. The mirror body 12 passes through the intersection T1 of the rotation axis O9 and the rotation axis O10 with respect to the tilt block 69, the rotation axis O20 orthogonal to both rotation axes and the observation optical axis thereof coincide, and the tilt block 69 On the other hand, it is rotatable about the rotation axis O20 via the mirror body support arm 13.
It is supported. As a result, the mirror body 12 is rotatable about three rotation axes O20, O9 and O10 which are orthogonal to each other. Here, the rotation moments due to their own weights around the rotation axis O20 are always weighted so as to be zero.

Reference numeral 21 is in a plane parallel to the plane of the drawing with respect to the fixed base 20 connected to the arm 3d of the second parallelogram link 3, and is rotated around a rotation axis O21 parallel to the rotation axis O9. Is a rotatably supported rotation block, 22 is parallel to the rotation axis O10 with respect to the rotation block 21,
Further, the seat is rotatably connected about a rotation axis O12 orthogonal to the rotation axis O21. Similar to the first embodiment described above,
Also in this embodiment, the fixed base 20 and the rotary block 21 are also provided.
The seat 22 and the seat 22 constitute the second tilt arm 15. Here, T2 is the rotation axis O12 and the rotation axis O21.
Shows the intersection of.

Reference numeral 70 denotes a rod fixed to the seat 22, and the end of the rod 70 has a rotational axis O21 with respect to the seat 22.
Joint 2 that can be rotated around a rotation axis O23 that is orthogonal to
4 are connected. Here, the weight of the rotation moment due to its own weight around the rotation axis O23 is always zero. And in this embodiment, these rods 70
The joint 24 forms an inclined rod 25.

An inclined weight 71 is attached to the intermediate portion of the rod 70. Where the rotation axis O
9 and the rotation moments due to the own weight around the rotation axis O21 are in opposite directions, and the weights are distributed so that their absolute values are equal.

Similarly, the rotational moments due to their own weights about the rotation axis O10 and the rotation axis O12 are in the opposite directions, and the weights are distributed so that their absolute values are equal.

The first tilting arm 11 and the second tilting arm 15 are connected by the following motion transmitting mechanism constituted by a hydraulic motion transmitting member which always transmits the rotation direction and the rotation angle at the same ratio. .

That is, as shown in FIG. 17, 72a
Is a hydraulic drive unit, which will be described later, disposed on the arm 2d of the first parallelogram link 2, and is the rotation axis O of the connecting arm 68 constituting the first tilt arm 11 with respect to the arm 2d.
The rotation around 9 is converted into the displacement of the oil enclosed in the connected tube 73a. Similarly, 72b is the second
Fixed base 2 connected to arm 3d of parallelogram link 3
0 is a hydraulic drive unit to be described later, and rotation of the rotary block 21 constituting the second tilt arm 15 about the rotation axis O21 with respect to the fixed base 20 is enclosed in the connected tube 73a. Convert to oil displacement. The hydraulic drive units 72a and 72b are the rotation direction and the rotation angle of the first tilt arm 11 about the rotation axis O9 and the rotation of the second tilt arm 15 about the rotation axis O21 when viewed from the same direction. The direction and the rotation angle are always the same.

Reference numeral 72c denotes a hydraulic drive unit, which will be described later, disposed on the connecting arm 68 of the first tilting arm 11, and a tube connected to the connecting arm 68 of the tilting block 69 about the rotation axis O10. It is converted into the displacement of the oil enclosed in 73b. Similarly, 72d is a hydraulic drive unit, which will be described later, arranged in the rotation block 21 of the second tilt arm 15, and rotates the seat 22 around the rotation axis O12 with respect to the rotation block 21 by the connected tube 73b. It transforms into the displacement of the oil enclosed inside. The hydraulic drive units 72c and 72d here are the rotation axes O when viewed from the same direction.
The rotation direction and the rotation angle of the tilt block 69 around 10 and the rotation direction and the rotation angle of the seat 22 around the rotation axis O21 are always equal to each other.

In this embodiment, hydraulic drive units 72a to 72d and tubes 73a, 7 for transmitting hydraulic pressure, which will be described in detail later, are used.
A motion transmitting mechanism is constituted by 3b.

Reference numeral 40 denotes a motion restricting mechanism which is connected to the support base 65 in an upside-down direction with respect to the first embodiment, and has the same construction as that of the first embodiment, and has an intersection of the rotation axes O23, O24 and O30. It is connected to the inclined rod 25 at S2. R2 in the figure
Indicates the linear distance between S2 and T2.

Further, as in the first embodiment, the triangles connecting the rotation axes O1, O4 and O10 in the plane parallel to the paper surface including the vertical axis O0 are the rotation axes O5, O8 and O12 in the same plane.
It is configured by arranging the rotating shafts so as to have a shape similar to the triangle connecting the two. Here, the similarity ratio is (ΔO1, O4, O10) / (ΔO5, O8, O12) = C. C is a constant.

Next, a detailed description of each part will be given.

In FIG. 15, reference numeral 37a denotes an electromagnetic brake which is disposed on the support base 65 and which electrically restricts the rotation of the support column 1 with respect to the support base 65.

Next, the structure of the connecting portion between the first inclined arm 11 and the arm 2d of the first parallelogram link 2 will be described.

Reference numeral 38 is a first rotating rod formed so as to project from the connecting arm 68 of the first tilting arm 11,
It is inserted into a bearing arranged inside the arm 2d and is rotatable about a rotation axis O9. Reference numeral 37d is an electromagnetic brake which is disposed on the arm 2d and is capable of electrically restricting the rotation of the first rotating rod 38 with respect to the arm 2d.

Reference numeral 37e is an electromagnetic brake which is disposed on the connection arm 68 and which can electrically brake the rotation of the tilt block 69 around the rotation axis O10 with respect to the connection arm 68.

Reference numeral 37f is an electromagnetic brake capable of restricting the rotation of the mirror body support arm 13 with respect to the tilt block 69 about the rotation axis O20.

Reference numeral 39 is a counterweight connected to the arm 3d in the same manner as in the first embodiment. The upper support member 5 has a structure in which FIG. 2 of the first embodiment is turned upside down, and an electromagnetic brake 12 (not shown) capable of electrically restricting the rotation of the arm 2b with respect to the upper support member 5 about the rotation axis O1.
0b is provided.

The lower support member 6 has a structure in which FIG. 3 of the first embodiment is turned upside down, and an electromagnetic wave (not shown) capable of electrically restricting the rotation of the arm 3a around the rotation axis O5 with respect to the lower support member 6 is provided. A brake 120c is provided.

FIG. 16 is a view seen from the direction of arrow H in FIG. In this figure, the first tilt arm 11 and the second tilt arm 11
The tilting arm 15 of FIG. 1 is arranged vertically offset from the vertical axis O0. More specifically, the rotation axis O9 and the rotation axis O21 are parallel to each other, and the intersection T1 of the rotation axes O9 and O10. The line segment connecting the intersection T2 of the rotation axis O21 and the rotation axis O12 passes through the vertical axis O0, and the ratio of the distance between T1 and the vertical axis O0 and the distance between T2 and the vertical axis O0 in the plane of the paper is as described above. Figure 1
"C", which is the similarity ratio of the triangle connecting the rotation axes O1, O4, and O10 in the plane parallel to the paper surface including the vertical axis O0 described in 4, and the triangle connecting the rotation axes O5, O8, and O12, respectively. Are equal.

FIG. 17 is a diagram showing details of the hydraulic drive units 72a and 72b and the tube 73a. First, the hydraulic drive unit 72a has a hydraulic cylinder 95a, a piston 96a, and a crank mechanism 97a capable of converting a rotary motion into a linear motion and a linear motion into a rotary motion. Crank mechanism 97a
Is composed of a disc 98a and a rod 99a. The disc 98a is integrated with the connecting arm 68 which constitutes the first tilting arm 11 of FIG. 16, and is rotatable about the rotation axis O9 with respect to the arm 2d. There is.

Similarly, the hydraulic drive unit 72b also internally has a hydraulic cylinder 95b, a piston 96b, and a crank mechanism 97b capable of converting rotary motion into linear motion and linear motion into rotary motion. The crank mechanism 97b includes a disc 98b and a rod 99.
b, and the disc 98b is the second disc in FIG.
It is integrated with the rotation block 21 constituting the tilt arm 15 and is rotatable about the rotation axis O21 with respect to the fixed base 20. The hydraulic cylinders 95a and 95b are connected in a sealed state by a flexible tube 73a so as to communicate with each other.
Oil 100 is filled inside b and the tube 73a.

Here, the disks 98a and 98b and the rods 99a and 99b have the same shape, and the hydraulic cylinder 95
The sectional areas of a and 95b are also the same.

The hydraulic drive units 72a and 72b are the first tilt arm 11 around the rotation axis O9 when viewed from the same direction.
Direction and angle of rotation of the second axis around the rotation axis O21
The tilt arm 15 has a rotation direction and a rotation angle that are always equal to each other.

The hydraulic drive units 72c and 72d and the tube 73b have the same constructions as the hydraulic drive units 72a and 72b and the tube 73a, and the description thereof will be omitted.

As described above, the rotation axis O9 of the mirror body 12,
A motion transmitting mechanism is constituted by a flexible hydraulic motion transmitting member which directly transmits the tilting motion around O10 to the tilting motion around the rotation axes O21 and O12 of the tilt rod 25 at the same ratio.

FIG. 18 is a diagram showing the configurations of the mirror body 12 and the electric circuit. In the figure, reference numeral 50 denotes an objective lens similar to that of the first embodiment described above, which is mechanically connected to the objective lens drive unit 52.

The objective lens driving section 52 includes a control section 74.
Connected to. Reference numeral 75 is a grip connected to the mirror body 12, and has an omnidirectional free switch SW3 and a mirror body spherical inclination switch SW4, and these switches are also the control unit 74.
It is connected to the.

Further, the electromagnetic brakes 37a, 37d-3d
7f, 120b, 129c via the stand electromagnetic brake drive circuit 76, and the electromagnetic brakes 37g to 37i via the motion restriction mechanism electromagnetic brake drive circuit 56e.
4 is connected.

(Operation) The surgical microscope of this embodiment has the first
6-degree-of-freedom movement similar to that of the embodiment and tilting movement around a point on the observation optical axis are possible. Hereinafter, these will be described in order. [Movement of 6 degrees of freedom] When the omnidirectional free switch SW3 of the grip 75 is pressed, the control unit 74 inputs a signal and outputs a signal to the stand electric brake drive circuit 76 and the motion restriction mechanism electromagnetic brake drive circuit 56e, and all Electromagnetic brakes 37a, 37d to 37i, 120b,
Release 120c.

When the electromagnetic brake 37a is released, the support 1 becomes rotatable about the vertical axis O0 with respect to the support 4, and the first parallelogram link 2 and the first tilt arm 11 are provided.
The mirror body 12 can be rotated about the rotation axis O0 with respect to the support base 4 via.

When the electromagnetic brake 120b is released, the arm 2b becomes rotatable about the rotation axis O1 with respect to the upper support member 5, and the arm 2d rotates about the rotation axis O4 with respect to the arm 2a via the arm 2c. Further, the arm 2b is rotatable in parallel with the arm 2b. Therefore, the mirror body 12 can be rotated about the rotation axis O4 with respect to the arm 2a via the first inclined arm 11.

When the electromagnetic brake 120c is released, the arm 3a becomes rotatable around the rotation axis O5 with respect to the lower support member 6, and the sprocket 66b arranged on the arm 3a becomes rotatable. The rotation of the sprocket 66b is transmitted to the sprocket 66a arranged on the arm 2a by the chain 67a, and the arm 2a can be rotated around the rotation axis O1 with respect to the upper support member 5. Therefore,
The mirror body 12 is rotatable about the rotation axis O1 with respect to the upper support member 5 via the first tilt arm 11. At this time, the arm 3a and the arm 2a are always kept parallel.

Therefore, as in the case of the above-mentioned first embodiment, the mirror body 1 is combined by combining these three rotations.
2 can be moved three-dimensionally.

When the electromagnetic brake 37d is released, the first
The connection arm 68 of the inclined arm 11 can be rotated about the rotation axis O9 with respect to the arm 2d. Further, when the electromagnetic brake 37e is released, the tilt block 69 becomes rotatable about the rotation axis O10 with respect to the connection arm 68. When the electromagnetic brake 37f is released, the mirror body 1
2 is rotatable about the rotation axis O20 with respect to the tilt block 69 via the mirror body support member 13.

That is, the mirror body 12 has three rotation axes O9.
, O10, O20 can be rolled around the intersection T1.

Here, since all the electromagnetic brakes 37g, 37h, 37i of the motion restricting mechanism 40 are released, there is no one that restricts the movement of the mirror body 12 as in the first embodiment. .

That is, the tilting about the three axes orthogonal to the three-dimensional movement allows the mirror body 12 to move in six degrees of freedom.

Next, the operation interlocked with the above-described movement of 6 degrees of freedom will be described.

By rotating the arm 2b around the rotation axis O1 with respect to the upper support member 5, the sprocket 66c arranged on the arm 2b can be rotated. Sprocket 66
The rotation of c is transmitted to the sprocket 66d arranged on the arm 3b by the chain 67b, and the arm 3b is
The lower support member 6 rotates about the rotation axis O5 while always keeping parallel to the arm 2b. Then, the arm 3d connected in parallel to the arm 3b by the arm 3c is also connected to the arm 3d.
It rotates about the rotation axis O8 with respect to a. At this time, the arm 3d is always kept parallel to the arm 2d.

By rotating the arm 3a about the rotation axis O5 with respect to the lower support member 6, the arm 3d also rotates about the rotation axis O5 with respect to the lower support member 6.

Further, the tilt rod 25 moves together with the arm 3d via the second tilt arm 15.

That is, the arm 2a and the arm 3a, and the arm 2d and the arm 3d always move in parallel, and the rotation axes O1, O4, O10 are in the plane parallel to the paper surface including the vertical axis O0.
The triangles connecting the two are the rotation axes O5 and O8 in the same plane.
, O12, and the triangle connecting them, respectively, is always similar.

At this time, the counterweight supported by the arm 3d always moves to a position where the rotation moment is offset by the movement of the mirror body 12.

In the tilting movement of the mirror body 12, the rotation axis O9
, The rotation moment about the rotation axis O10 is always the mirror body 12.
Is working vertically. On the other hand, the rotation axis O2
Rotational moments about 1 and O12 act in a direction in which the inclined weight 71 disposed on the inclined rod 25 is vertically hung down, that is, in a direction opposite to the rotational moments about the rotation axes O9 and O10, respectively. Since the absolute values of the respective rotation moments are equal due to the distribution, when the mutual rotation moments are transmitted by the hydraulic mechanism that is the motion transmission member, the rotation moments are offset.

The movement of each of these members enables the lens body 12 to move in six degrees of freedom while the rotational moment is always offset.

[Inclination around a point on the observation optical axis]
When the mirror spherical surface tilt movement free switch SW4 of the grip 75 is pressed, the control unit 74 inputs the signal and outputs the signal only to the stand electromagnetic brake drive circuit 76, and the electromagnetic brakes 37a, 37d to 37f, 120b, 120c are turned on. The braking action is released. That is, only the electromagnetic brakes 37g to 37i of the motion restricting mechanism 40 are in a fixed state.

Therefore, similarly to the first embodiment, the tilt rod 25 is constrained from moving at the intersection S2 of the rotation axes O23, O24, O30, and can only tilt about S2. Here, the point T2 moves on a spherical surface whose radius is the distance R2 between S2 and T2. The movement of T2 is transmitted similarly to the action of the arm described above, and the intersection T of the rotation axis O9 and the rotation axis O10 of the first tilt arm is transmitted.
1 is the ratio of the above-mentioned similar triangle to the moving distance of T2, C
Move in the opposite direction by the distance you ride.

The tilting movement of the tilting rod 25 is caused by the hydraulic drive unit 7.
The motion is transmitted to the first inclined arm 11 by the motion transmitting member composed of 2a to 72d and the tubes 73a and 73b.
The operation will be described below with reference to FIG.

That is, when the tilt rod 25 is rotated about the rotation axis O21, the crank mechanism 97b in the hydraulic drive unit 72b provided on the fixed base 20 rotates the rotation block 21 around the rotation axis O21 with respect to the fixed base 20. The rotation of
The piston 96b is converted into a linear motion with respect to the hydraulic cylinder 95b. As a result, the oil 1 in the hydraulic cylinder 95b is
00 is pressurized and transmitted to the hydraulic drive unit 72a arranged in the arm 2d by the action of hydraulic pressure through the tube 73a, and the piston 96a moves linearly with respect to the hydraulic cylinder 95a. Further, the linear movement of the piston 96a is converted by the crank mechanism 97a into rotation around the rotation axis O9 with respect to the arm 2d of the connecting arm 68. At this time, the rotation of the connecting arm 68 about the rotation axis O9 with respect to the arm 2d causes the rotation axis O of the rotation block 21 with respect to the fixed base 20 to rotate.
It is in the same direction and at the same angle as the rotation around 21.

Similarly, when the tilt rod 25 is rotated about the rotation axis O12, the hydraulic drive unit 7 provided in the rotation block 21 is rotated.
2b, the tube 73b, and the connecting arm 6 of the tilt block 69 by the hydraulic drive unit 72c arranged on the connecting arm 68.
It is converted into rotation around the rotation axis O10 with respect to 8. At this time, the rotation of the tilt block 69 about the rotation axis O10 with respect to the connection arm 68 is the same direction and the same angle as the rotation of the seat 22 about the rotation axis O12 with respect to the rotation block 21. Therefore, the rotation axes O20 and O23 are always kept parallel.

Therefore, the mirror body 1 is centered on the point S1 at a distance of R2 × C = R1 from T1 on the rotation axis O20 coaxial with the observation optical axis.
2 can be tilted.

(Effect) The first and second interlocking mechanisms in the second embodiment are the arms 2a and 3a and the sprocket 6.
6a and 66b, the chain 67a, the arms 2b and 3b, the sprockets 66c and 66d, and the chain 67b, there are few protrusions with respect to the straight line connecting the rotation axis O1 and the rotation axis O5, and the size can be reduced.

In this embodiment, the motion transmitting member is
Since the hydraulic drive units 72a to 72d and the tubes 73a and 73b are used, the rotation is transmitted through one tube regardless of the rotation direction around the rotation axis.
The structure is simple. Also, because hydraulic pressure is used,
There is no play in the transmission of rotation, and it is possible to accurately tilt the mirror body around a point on the observation optical axis.

Further, in this embodiment, the first tilting arm has a connecting arm 68 rotatable about the rotation axis O9 with respect to the arm 2d, and a rotation axis O10 orthogonal to the rotation axis O9 with respect to the connection arm 68. Rotatable tilt block 69
Since it is composed of, the structure is simple and does not interfere with the surgery.

Also, the first tilt arm 11 and the mirror body 1
2 has a structure in which the tilt weight 71 of the tilt rod 25 keeps the balance through the motion transmitting member. Therefore, the first tilt arm 11 is provided with a structure for canceling the rotation moment due to the weight of the mirror body 12. No need. That is, the weight or size of the first tilt arm 11 can be reduced. This weight reduction can reduce the amount of force (inertial force) required to move the mirror body 12 and reduce the fatigue of the intraoperative operator. Also, miniaturization has a great effect as a matter of course.

Furthermore, the first tilt arm 11 and the second tilt arm 15 can be constructed so as to be vertically shifted in the plane of the drawing as shown in FIG. Can be placed.

Further, in this embodiment, since the support base 65 is arranged on the ceiling, there is no interference with the operator and other equipment.

Next, a third embodiment of the present invention will be described with reference to FIGS.

(Structure) FIG. 20 shows the schematic structure of the entire surgical microscope apparatus according to the third embodiment. The third embodiment is different from the above-described first embodiment in the second parallelogrammatic link 3, the motion restricting mechanism 40, and the electrical structure associated therewith.

Reference numeral 4 is a support base, 1 is a post, 2 is a first parallelogram link, 5 is an upper support member, and 6 is a lower support member. These are similar to those of the first embodiment. It is a composition.

Reference numeral 3 is a second parallelogram link, which connects the four arms 3a to 3d with a rotation axis O parallel to each other.
It is constructed by connecting so as to be rotatable around 5 to O8. The arm 3a here is with respect to the rotation axis O5,
It is extended to the side opposite to the rotation axis O8. This arm 3
a is on a straight line passing through the rotation axis O5 and the rotation axis O8, and the tip of this extension portion has a rotation axis O8 with respect to the rotation axis O5.
On the opposite side, the arm 3e is rotatably connected around a rotation axis O50 parallel to the rotation axis O5. The arm 3c is extended on the side opposite to the rotation axis O7 with respect to the rotation axis O6 and is on a straight line passing through the rotation axis O6 and the rotation axis O7. An arm 3e is rotatably connected around a rotation axis O51 parallel to the rotation axis O6 at a position opposite to the axis O7. Here, the line segment connecting the rotation axis O5 and the rotation axis O6 and the line segment connecting the rotation axis O50 and the rotation axis O51 are parallel to each other in the plane of the parallelogram link parallel to the paper surface. That is, the arm 3d is
It is arranged at a position which is 180 degrees inverted with respect to the case of the first embodiment with the rotation axis O5 as the center. Further, a counterweight 39 is arranged and connected to the arm 3e, as in the first embodiment.

In the third embodiment, the first interlocking mechanism and the second interlocking mechanism have arms 2a and 3a, a first transmission rod 7 and an arm 2b, respectively, as in the first embodiment. 3b and the second transmission rod 8.

Further, 11 is a first inclined arm constituted by the parallelogram linkage mechanism 10, 57 is a motion transmission member, and these constitutions are the same as those of the first embodiment described above. is there.

Reference numeral 15 denotes a second tilt arm which is connected to the arm 3d by reversing 180 degrees with respect to the rotation axis O5 as compared with the case of the first embodiment, which is different from that of the first embodiment. ,
The following has been added. That is, the fixed base 20
And a tilt drive unit 102a, which is capable of electrically rotating the rotation block 21 around a rotation axis O21, and a fixed base 20, which electrically connects the rotation block 21 and the tilt drive unit 102a. Alternatively, a separable electromagnetic clutch 101a is provided.

Further, the tilt drive portion 102b which is disposed on the rotation block 21 and which is capable of electrically rotating the seat 22 around the rotation axis O12, and the tilt drive portion 102b which is disposed on the rotation block 21,
2 is provided with an electromagnetic clutch 101b capable of electrically connecting or disconnecting the tilt drive unit 102b.

The structure of the inclined rod 25 is similar to that of the second embodiment described above.

A fixing parallelogram link 31 is connected to the vertical shaft 30 which is supported on the support base 4 so as to be rotatable about a vertical axis O25. The fixing parallelogram link 31 is a parallelogram link in which arms 31a to 31d are rotatably connected to rotation axes O26 to O29 which are parallel to each other, and is pivotally rotatable about the rotation axis O26. It is connected to the vertical shaft 30 via a bar 32. The rotation axis O26 and the vertical axis O25 here intersect perpendicularly.

Reference numeral 81 is an L-shaped arm, which is in a plane parallel to the plane of the paper including the vertical axis O25 with respect to the arm 31d of the fixing parallelogram link 31, and which has a rotation axis O28 and a rotation axis O29. It is rotatably supported around a rotation axis O30 on the connecting line segment. Further, a U-shaped arm 82 is supported on the L-shaped arm 81 so as to be rotatable around a rotation axis O52 orthogonal to the rotation axis O30. The U-shaped arm 82 rotates in a direction orthogonal to the rotation axis O52. It is connected to the joint 24 of the tilt rod 25 so as to be rotatable about the rotation axis O24 through a connecting means described later that is rotatable about the rotation axis O53 and slidable in the axial direction of the rotation axis O53. ing.

In the third embodiment, the vertical shaft 30, the fixing parallelogram link 31, and the swivel bar 3 are used.
2, rod 33, L-shaped arm 81, U-shaped arm 82
The movement restricting mechanism 40 is configured by the connecting means described later, the electromagnetic brake described later, the angle detection means described later, and the drive part described later. The motion restricting mechanism 40 is weight-distributed so that the rotational moments due to the respective weights of the rotary shafts O25, O26, O30, O52, and O53 are always zero.

In this embodiment as well, the orientation is different from that of the first embodiment, but the rotation axis O1 is in a plane parallel to the paper surface including the vertical axis O0.
, O4, O10 are arranged by arranging the respective rotation axes so that the triangles connecting the rotation axes O5, O8, O12 are similar to each other in the same plane. Here, the similarity ratio is (ΔO1, O4, O10) / (ΔO5, O8, O12) = C. C is a constant.

Next, a detailed description of each part will be given. In FIG. 20, 37a, 37d, 37e and 37f are electromagnetic brakes connected in the same manner as in the first embodiment.

The upper support member 5 is a first support member as shown in FIG.
The electromagnetic brake 37b, which has the same structure as that of the first embodiment and is capable of electrically restricting the rotation of the arm 2b with respect to the upper support member 5 about the rotation axis O1, is provided.

The lower support member 6 is a first support member as shown in FIG.
The electromagnetic brake 37c, which has the same construction as that of the first embodiment and is capable of electrically restricting the rotation of the arm 3a around the rotation axis O5 with respect to the lower support member 6, is provided.

The reference numeral 105 is provided on the arm 10e of the first tilting arm 11, and the arm 10e of the mirror body supporting arm 13 is provided.
It is a mirror body angle detecting means including an encoder for detecting the rotation angle around the rotation axis O20 with respect to.

Next, the detailed structure of the motion restricting mechanism 40 will be described with reference to FIG. That is, the vertical shaft 30 is provided with an electromagnetic brake 37g capable of electrically restricting the rotation of the rotation axis O25 with respect to the support 4 of the vertical shaft 30, and further to the support 4 via the electromagnetic brake 37g. Is the vertical axis O with respect to the vertical shaft 30 with respect to the support 4.
A drive unit 84a that electrically drives the drive unit 25 is provided. Further, reference numeral 85a is an angle detecting means for detecting a rotation angle of the vertical shaft 30 around the rotation axis O25 with respect to the support base 4, for example, an encoder. The arms 31a and 31b forming the fixing parallelogram link 31 include
Electromagnetic brake 3 for electrically restricting the rotation of the arms 31a, 31b with respect to the turning bar 32 about the rotation axis O26.
7h and 37i are arranged respectively. Also, 84
b and 84c have their arms 31a and 31b attached to the swivel bar 32.
And 85b and 85c are angle detection means for detecting the rotation angle of the arms 31a and 31b with respect to the swivel bar 32 about the rotation axis O26, such as an encoder. is there. Four
2a is an auxiliary weight arranged on the arm 31a.

37j is an arm 3 of the L-shaped arm 81.
37k is a U-shaped arm 82, which is an electromagnetic brake capable of electrically restricting the rotation around the rotation axis O30 with respect to 1d.
This is an electromagnetic brake capable of electrically restricting the rotation around the rotation axis O52 with respect to the L-shaped arm 81. 84d is L
Reference numeral 84e denotes a drive unit that electrically drives the U-shaped arm 81 with respect to the arm 31d around the rotation axis O30, and 84e electrically drives the U-shaped arm with respect to the L-shaped arm 81 about the rotation axis O52. Is. Reference numeral 85d is an angle detecting means for detecting a rotation angle of the L-shaped arm 81 with respect to the arm 31d about the rotation axis O30, and 85e is a rotation angle of the U-shaped arm about the rotation axis O25 with respect to the L-shaped arm. Is an angle detecting unit that detects, for example, an encoder.

Reference numeral 86 is a guide shaft disposed coaxially with the rotary shaft O53 on the U-shaped arm 82, and 87 is externally inserted on the guide shaft 86 and can be slid without rotating in the axial direction of the rotary shaft O53. And a slide ring 87, which is a fixed slide 88 that restricts the movement of the slide ring 87 in the axial direction of the rotary shaft O53 with respect to the guide shaft 86.
The position detecting means 89, which is, for example, a linear encoder, is connected to detect the axial position of the rotary shaft O53 with respect to the guide shaft 86.

Reference numeral 90 denotes a rotary ring which is externally inserted into the slide ring 87 and rotatable about the rotary shaft O53, and is connected to the joint 24 constituting the tilt rod 25 so as to be rotatable around the rotary shaft O24. ing. Here, the rotation axis O53 is orthogonal to the rotation axis O24.

The guide shaft 86, the slide ring 87, the fixing means 88, the position detecting means 89 and the rotating ring 90 constitute a connecting means 83.

In the figure, S2 indicates the intersection of the rotary axes O23, O24 and O53, and S3 indicates the intersection of the rotary axes O30, O52 and O53.

FIG. 22 is a diagram showing the structures of the mirror body 12 and the electric circuit.

Reference numeral 50 denotes an objective lens similar to that of the first embodiment, which is mechanically connected to the objective lens driving section 52.

As described in the second embodiment, S1 is a point distant from the intersection point T1 of the rotation axes O9 and O10 of the first tilt arm on the rotation axis O20 downward by R1. The mirror body 12 can be tilted about a point. P is the intersection of the rotation axis O20 and the focal plane.

Reference numeral 91 is a control unit having a memory circuit (not shown), to which the objective lens drive unit 52 is connected. 95 is a grip connected to the mirror body 12,
Omni-directional free switch SW3, mirror spherical tilt switch S
It has W4, linear movement SW6, movement locus setting SW7, and focal length reset switch SW8, and these switches are also connected to the control unit 91.

Further, the electromagnetic brakes 37a to 37c are the stand electromagnetic brake drive circuit 76a, and the electromagnetic brakes 37d and 37e are the tilt electromagnetic brake drive circuit 56.
The electromagnetic brakes 37g to 37i connect the motion restricting mechanism electromagnetic brake drive circuit 56e to the electromagnetic brake 37j via c.
~ 37k is a motion restriction mechanism electromagnetic brake drive circuit 56f
The fixing means 88 is connected to the control section 91 via the fixing means drive circuit 92.

Further, the rotation angle detecting means 85a to 85e,
The position detecting means 89 and the drive units 84a to 84e are also the control unit 91.
It is connected to the.

Electromagnetic clutches 101a and 101b, tilt driving sections 102a and 102b, and mirror body angle detecting means 105.
Is also connected to the control unit 91. Electromagnetic clutch 101
a and 101b are connected only when a signal is input from the control unit 91.

Reference numeral 106 denotes a joystick capable of inputting in two directions, XY, which is also connected to the control section 91.

(Operation) The operation of this embodiment will be described below.

In the present embodiment, not only the movement of 6 degrees of freedom and the inclination around a point on the observation optical axis of the mirror body as in the second embodiment are possible, but also the observation field of view is aimed at. It is possible to move only on the straight line connecting the two points and to move the electric field of view.

[Movement of 6 degrees of freedom] When the omnidirectional free switch SW3 of the grip 95 is pressed, the control section 91 inputs a signal, and the stand electromagnetic brake drive circuit 76a, the tilt electromagnetic brake drive circuit 56c and the motion restricting mechanism electromagnetic brake. A signal is output to the drive circuit 56e, and the electromagnetic brake 3
Only 7a to 37i are released. At this time, the electromagnetic clutch 10
1a and 101b do not operate, and the rotary block 21
On the other hand, the tilt driving unit 102a is separated from the seat 22 and the tilt driving unit 102b is separated from the seat 22. Therefore, the rotation block 21 is rotated around the rotation axis O21 with respect to the fixed base 20,
The seat 22 is rotatable about the rotation axis O12 with respect to the rotation block 21.

When the electromagnetic brakes 37a, 37b and 37c are released, the support 1 rotates about the rotation axis O0 with respect to the support 4 and the arm 2b of the first parallelogram link 2 rotates with respect to the arm 2a. The arm 3a is rotatable about the axis O4 with respect to the lower support member 6 about the rotation axis O5. These actions are transmitted as in the first embodiment, and the mirror body 12 can be moved three-dimensionally.

When the electromagnetic brakes 37d, 37e, 37f are released, the mirror body 12 is operated by the same action as in the first embodiment.
Can roll around the intersection T1 of the rotation axes O9, O10 and O20.

The operation of transmitting the tilting movement of the first tilting arm 11 to the tilting movement of the second tilting arm 15 is the same as that of the first embodiment, and the description thereof is omitted.

On the other hand, the electromagnetic brake 3 of the motion restricting mechanism 40
Since 7g, 37h, and 37i are all released, there is nothing that restricts the movement of the mirror body 12 as in the first embodiment.

That is, the tilting about the three axes orthogonal to the three-dimensional movement enables the mirror body 12 to move in six degrees of freedom.

The operation interlocking with the movement of the mirror body 12 in the six degrees of freedom is the same as that of the first embodiment, and the arm 2a and the arm 3 are connected.
a, the arm 2d and the arms 3d and 3e always move in parallel, and the rotation axis O1 is in a plane parallel to the paper surface including the vertical axis O0.
, O4, O10 are always similar to the triangles connecting the rotation axes O5, O8, O12 in the same plane. At this time, the counterweight 39 supported by the arm 3e always moves to a position that offsets the rotation moment with respect to the movement of the mirror body 12.

The movement of each of these members enables the lens body 12 to move in six degrees of freedom while the rotation moment is always offset.

[Inclination around a point on the observation optical axis]
When the mirror spherical tilt free switch SW4 of the grip 95 is pressed, the control unit 91 inputs a signal and outputs a signal to the stand electromagnetic brake drive circuit 76a and the tilt electromagnetic brake drive circuit 56c, and only the electromagnetic brakes 37a to 37f are activated. It will be canceled. That is, the electromagnetic brakes 37g to 37k and the fixing means 88 of the movement restricting mechanism 40 are in a fixed state. At this time, the electromagnetic clutches 101a and 101b do not operate, and the tilt drive unit 102a for the rotation block 21 and the tilt drive unit 102b for the seat 22 are respectively operated.
Are separated. Therefore, the rotation block 21 is fixed to the fixed base 2
Around the rotation axis O21 with respect to 0, the seat 22 is the rotation block 2
It is rotatable about the rotation axis O12 with respect to 1.

Therefore, similarly to the first embodiment, in FIG. 20, the tilt rod 25 is constrained from moving at the intersection S2 between the rotation axes O23 and O24, and can only tilt about S2. Here, the point T2 moves on a spherical surface whose radius is the distance R2 between S2 and T2. The movement of T2 is transmitted as in the first embodiment,
The intersection T1 of the rotation axes O9 and O10 of the first tilting arm 11 moves by a distance obtained by multiplying the moving distance of T2 by "C" which is the value of the ratio of the similar triangles described above.

The tilt of the tilt rod 25 is also transmitted so as to be always parallel to the rotation axis O20 coaxial with the observation optical axis as in the first embodiment.

Therefore, from T1 on the observation optical axis to R2 × C
The mirror body 12 can be tilted around the point S1 at a distance of = R1.

Next, the movement of the observation visual field, which is peculiar to this embodiment only on the straight line connecting the two points, will be described.

[0224] When the operation site is wide and the operation cannot be performed within the observation visual field when the body 12 is fixed at one place,
When performing reciprocal observation between two distant points, the observation field of view is set to move only on the straight line connecting the two target points.

In this operation, first, the operator pushes the focal length reset switch SW8 of the grip 95. Then, the control unit 91 inputs a signal from the focal length reset switch SW8, inputs a signal from the objective lens position detecting means 53, and sets the tilt center point S1 of the mirror body 12 and the current focus position which are stored in advance. By comparing a certain point P and changing the focal length of the objective lens 50, a drive signal is output to the objective lens drive unit 52 so as to match these two points.

Then, the omnidirectional free switch SW3 is pressed to move the mirror body 12 so that the first observation point of interest becomes the center of the field of view and the point is in focus. When the switch SW3 is released and then the movement locus setting switch SW7 is pressed once, a signal is output from the movement locus setting switch SW7 to the control unit 91, and the control unit 9
In No. 1, the angle detecting means 85 arranged in the motion restricting mechanism 40
a to 85e and the position signal from the position detecting means 89 are input to calculate the three-dimensional coordinates (X1, Y1, Z1) of the point S2, and the calculated values are stored in a memory circuit (not shown) in the control unit. Next, the omnidirectional free switch SW as in the above
After pressing 3 to move the mirror body 12 so that the second observation point of interest becomes the center of the field of view and the point is in focus, the movement locus setting switch SW7 is pressed once again. Similarly, the control section 91 controls the angle detecting means 85a.
~ 85e, the position signal from the position detecting means 89 is input to calculate the three-dimensional coordinates (X2, Y2, Z2) of the point S2. Then, the control unit 91 controls the coordinates (X1,
Y1, Z1) and the coordinates (X2, Y2, Z2) and the straight line given by the following equation (1) and the midpoint PM (X
M, YM, ZM) is calculated.

(X-X1) / (X2-X1) = (Y-Y1) / (Y2-Y1) = (Z-Z1) / (Z2-Z1) (1) Then, the midpoint PM The moving direction and the moving distance of the point S3 necessary to match the intersection S3 of the rotation axes O30, O52 and O53 with the coordinates (XM, YM, ZM) are calculated, and the driving units 84a to 84c are driven according to these values. Output a signal.
Further, the tilt angle and direction of the rotary shaft O53 necessary for causing the rotary shaft O53 coaxial with the guide shaft 86 to coincide with the straight line calculated by the above formula (1) are calculated, and the drive units 84d and 84e are driven according to these values. Outputs drive signal and L-shaped arm 81
Around the rotation axis O30 and the U-shaped arm 82 around the rotation axis O52.
Rotate around the required angle. That is, due to this action, the point (X1, Y1, Z1) and the point (X2, Y2, Z
The straight line connecting 2) coincides with the rotation axis O53, and the point S3 is the middle point P.
Matches M.

Next, when the linear movement switch SW6 is pressed, a signal is input to the control unit 91 and the fixing unit 88 is released from the control unit 91 via the fixing unit drive circuit 92. The control unit 91 also outputs a signal to the stand electromagnetic brake drive circuit 76a and the tilt electromagnetic brake drive circuit 56c to release the braking action of the electromagnetic brakes 37a to 37f. At this time, the electromagnetic clutches 101a, 101
b does not operate, and separates the tilt drive unit 102a from the rotation block 21 and the tilt drive unit 102b from the seat 22, respectively. Therefore, the rotary block 21 is rotatable with respect to the fixed base 20 about the rotation axis O21, and the seat 22 is rotatable with respect to the rotation block 21 about the rotation axis O12.

That is, the slide ring 87 becomes movable along the guide shaft 86, and S2 is the rotation axis O5.
2 points (X1, Y1, Z1) and (X2, Y2, Z
It is possible to move only on the straight line connecting 2). As a result, the point P, which is the center of the observation visual field in the focal plane of the mirror body 12, is
It is possible to move only on a straight line connecting two preset points.

[0230] Next, the electric field of view movement will be described.

During the operation, the joystick 106 is placed on the floor so that the X direction is parallel to the plane including the left and right observation optical axes 51R and 51L of the mirror body 12. When the joystick 106 is operated with a foot during the operation, a signal is output from the joystick 106 to the control unit 91, and the control unit 91 inputs the angle signal from the lens body angle detection means 105, and the left and right observation optical paths 51R and 51L of the mirror body 12. Arm of the plane containing
Calculate the angle to 0e. At the same time, the control unit 9
1 outputs a signal to the electromagnetic clutches 101a and 101b, and connects the tilt drive unit 102a and the rotation block 21, and the tilt drive unit 102b and the seat 22. At this time, the control unit 91 outputs a signal to the tilt electromagnetic brake drive circuit 56c and the motion restriction mechanism electromagnetic brake drive circuit 56e to release the braking action of the electromagnetic brakes 37d, 37e, 37f, 37g to 37i.

Then, the control section 91 determines whether the tilt drive sections 102a and 102b are tilted by the signal of the operation direction of the joystick 106 and the angle information of the surface of the mirror body 12 including the left and right observation optical paths 51R and 51L with respect to the arm 10e.
By synthesizing the driving of the directions, the speed for driving the tilt driving units 102a and 102b, which is necessary to tilt the tilt rod 25 in the direction that coincides with the operation direction of the joystick 106, is calculated. And the tilt drive unit 102a,
A drive signal is output to drive each of the 102 b at a required speed.

At this time, in the motion restricting mechanism 40, since the electromagnetic brakes 37g to 37i are released, the tilt rod 25 is released.
Is not regulated. Then, the electromagnetic brake 37d,
Since 37f is released, the mirror body 12 can rotate about the rotation axes O9 and O10.

Therefore, when the tilt drive unit 102a is driven, the rotary rod 21 rotates about the rotation axis O21 with respect to the fixed base 20 via the electromagnetic clutch 101a. Similarly, when the tilt drive unit 102b is driven, the seat 22 rotates about the rotation axis O12 with respect to the rotation block 21 via the electromagnetic clutch 101b. The rotation of the rotation block 21 and the seat 22 is performed by the motion transmission mechanism 5 as described above.
At 7, the rotation of the connecting block 9 about the rotation axis O9 with respect to the arm 2d and the rotation of the arm 10b about the rotation axis O32 with respect to the connection block 9 are transmitted.

Therefore, the mirror body 12 is the joystick 106.
Rotating shafts O9 and O10 should be in the same direction as the operating direction of
Rotate around.

In the present embodiment, the guide shaft 86 has a linear shape, but it may have an arc shape along the head of the patient, for example, in neurosurgery, depending on the surgical method.

In the electric field of view movement in the above embodiment, the tilt drive units 102a and 102b connected to the second tilt arm 15 tilt the mirror body 12 via the motion transmission mechanism 57. The electrical actuation member can be actuated in a different manner. That is,
The electromagnetic brakes 37a to 37f connected to the stand electromagnetic brake drive circuit 76a are released, and the drive units 84a to 84c provided in the motion restricting mechanism 40 are driven to move the inclined rod 25 in parallel. Thereby, the motion transmission mechanism 5
Through the action of 7, the mirror body 12 is also moved in parallel.

(Effects of the Embodiment) In the third embodiment,
The second tilt arm 15 is attached to the mirror body 12 with respect to the vertical axis O0.
Since it is disposed on the side, the protrusion to the side opposite to the mirror body 12 with respect to the vertical axis O0 is small, and it does not interfere with other devices or interfere with the assistant.

Further, the tilt drive unit 10 for electric field of view movement.
2a and 102b are not in the first tilting arm 11 but
Since the motion is transmitted to the first tilting arm 11 by the motion transmitting member of the motion transmitting mechanism 57 arranged on the second tilting arm 15, the first tilting arm 11 is small in size and does not interfere with the operation. Further, the weight of the first tilt arm 11 is reduced, and the operating force (inertial force) for moving the mirror body 12 is not increased.

By the way, a conventional operating microscope in which the movement locus of the mirror body can be set only in the horizontal or vertical direction is disclosed in Japanese Patent Laid-Open No. 4-154442. this is,
When you want to move a large amount in the vertical direction like an eye surgery,
Further, the present invention aims to provide a stand device which is useful when it is desired to move the spinal cord of the spine largely in the horizontal direction as in the case of surgery.

However, there is a problem that the structure of the link becomes complicated, the size of the apparatus is increased, the operator is obstructed during the operation, and the apparatus interferes with other equipment.

The mirror bodies can move only on their respective preset loci, and their loci cannot be changed according to various surgical procedures.

In the operation of the spinal cord, the operating table on which the patient is fixed may be tilted during the operation. If the orientation of the spinal cord does not match the horizontal direction, the body part is moved horizontally. Then, the focus changes greatly and it is no longer an effective function.

In the present embodiment, however, the motion restricting mechanism 4
0 is a guide means for limiting the movement trajectory of the mirror body 12 including the guide shaft 86 and the slide ring 87, a vertical shaft 30 for moving the guide means, a fixing parallelogram link 31, an L-shaped arm 81, and a U-shaped arm. 82, and a moving unit consisting of the driving units 84a to 84e, the operator can easily set the observation field of view to move only on a straight line connecting any two points during the operation. No limitation is imposed, and any operation can be supported, leading to reduction in operation time and operator fatigue.

(Supplementary Note) According to the above description of each embodiment, the following matters can be obtained in addition to the contents described in the claims.

(1) In a surgical microscope apparatus that supports a microscope body 12 of a microscope, can move the body 12 three-dimensionally, and can be limited to a specific movement locus, such as a floor or a ceiling of a clinical room. A support column 1 attached to an installation site and rotatable about a vertical axis O0, and a plurality of arms rotatably connected to the support column 1 about a rotation axis O1 different from the vertical axis O0. Above the first parallelogram link 2, a first parallelogram link 2 in which 2a to 2d are rotatably connected around mutually parallel rotation axes O1 to O4 including the rotation axis O1. And a plurality of arms 3a to 3d arranged parallel to each other including the rotation axis O5, which are arranged rotatably around a rotation axis O5 parallel to the rotation axis O1 with respect to the column 1. Around each axis of rotation O5-O8 A line connecting the second parallelogram link 3 rotatably connected and the rotation axis O1 in the plane of the first parallelogram link 2 and one rotation axis O4 adjacent thereto. And a line segment parallel to the second parallelogram link 3 and the rotation axis O5 of the second parallelogram link 3 corresponding to the rotation axis O1 and the rotation axis O4 in the plane of the second parallelogram link 3 and adjacent thereto. One of the arms 2a of the first parallelogram link 2 that rotates about the rotation axis O1 and the rotation axis so that the line segment that is parallel to the line segment that connects the one rotation axis O8 is always parallel. First interlocking rotation with one arm 3a of the second parallelogram link 3 centered on O5
And a line segment parallel to a line segment connecting the rotation axis O1 and the other rotation axis O2 adjacent to the rotation axis O1 in the plane of the first parallelogram link 2, and the second parallelogram. The line segment parallel to the line segment connecting the rotation axis O5 and the other rotation axis O6 adjacent to the rotation axis O5 in the plane of the shaped link 3 is rotated about the rotation axis O1 so as to be always parallel. A second interlocking mechanism for interlocking the other arm 2b of the one parallelogram link 2 with the other arm 3b of the second parallelogram link 3 which rotates about the rotation axis O5. , A mirror body connected to an arm 2d opposite to the arm 2b of the first parallelogram link 2 and attached to the tip of the arm 2d can be tilted about two rotation axes O9 and O10 orthogonal to each other. 1 incline And a tilt which is connected to an arm 3d of the second parallelogram link 3 opposite to the arm 3b and can be tilted about rotation axes O21 and O12 parallel to the rotation axes O9 and O10, respectively. Rod 25
The tilting motion of the mirror body around the rotation axes O9 and O10 can be directly transmitted to the tilting motion of the tilt rod 25 around the rotation axes O21 and O12 at the same ratio. A surface including the vertical axis O0, which includes a motion transmission mechanism configured by a flexible motion transmission member, and a motion restriction mechanism capable of limiting the movement locus of the tilted rod 25 to a predetermined position with respect to the installation site. Rotation axis O in the plane parallel to
A surgical microscope apparatus characterized by arranging rotating shafts so that a triangle connecting 1, O4 and O10 is similar to a triangle connecting rotating shafts O5, O8 and O12 in the same plane.

(2) The first interlocking mechanism is the arm 2a.
And an arm 3a and a first transmission rod 7 that connects the arm 2a and the arm 3a. The second interlocking mechanism connects the arm 2b, the arm 3b, and the arm 2b and the arm 3b. The surgical microscope apparatus according to item (1), which comprises the second transmission rod 8.

(3) The first interlocking mechanism is the arm 2a.
66 connected to the arm 3a and the sprocket 66, respectively.
a, 66b and a chain 67a connecting the two sprockets 66a, 66b, and the second interlocking mechanism is
Sprockets 66c and 66d connected to the arm 2b and the arm 3b, and both sprockets 66c and 66d.
The surgical microscope apparatus according to item (1), characterized in that it comprises a chain 67b for connecting the two.

(4) The surgical microscope apparatus according to item (1), wherein the first tilting arm comprises a parallelogram linkage mechanism 10.

(5) The first tilt arm has a rotation axis O
9. The surgical microscope apparatus according to item (1), which comprises a connecting arm 68 rotatable around 9 and an inclined block 69 movable around a rotation axis O10 connected to the connecting arm 68.

(6) In the motion transmitting mechanism, a rotating member that rotates around a rotation axis, a motion transmitting wire connected to the rotating member, and this wire are inserted so as to be movable in the length direction. The surgical microscope apparatus according to item (1), characterized in that the surgical microscope apparatus comprises an outer tube having both ends fixed to fixing members.

(7) The motion transmitting mechanism is arranged on the first tilt arm and the first parallelogram link to rotate the mirror body 12 about the rotation axis O10 in the first parallelogram. Conversion into rotation around the rotation axis O4 of 1 in link 2 2
The surgical microscope apparatus according to item (1), which is provided with three slider crank mechanisms.

(8) The movement transmitting mechanism includes two pulleys for converting the rotation of the mirror body about the rotation axis O0 into the rotation about one rotation axis O4 of the first parallelogram link 2. The surgical microscope apparatus according to item (7), further comprising a flexible wire wound between the pulleys and the idle pulley that changes the direction of the flexible wire between the two pulleys.

(9) The motion transmitting member is a hydraulic drive unit capable of converting a rotation around the rotation axis into a linear motion and converting the linear motion into a rotation around the rotation axis and converting the motion into a hydraulic pressure. The surgical microscope apparatus according to item (1), which comprises a tube for transmitting the hydraulic pressure.

(10) The motion transmitting member is a wire which is connected to a rotating member which rotates about a rotation axis and which converts the movement of the rotating member into a movement in the longitudinal direction and transmits the movement.
The surgical microscope apparatus according to item (1), wherein the wire is inserted movably in the length direction and guided by outer tubes having both ends fixed to fixing members.

(11) The motion transmitting member is a hydraulic drive unit capable of converting rotation about the rotation axis into linear motion and converting the linear motion into rotation around the rotation axis and converting the motion into hydraulic pressure. The surgical microscope apparatus according to item (1), which comprises a means for transmitting hydraulic pressure, for example, a flexible tube.

[0257]

As described above, according to the present invention, even if the surgical microscope apparatus is provided with a mechanism capable of tilting the mirror body around the observation point, the mechanism for supporting the mirror body is large. It is possible to make it compact without changing. Moreover, the movement of the mirror body can be performed with a light force. That is, it is possible to significantly reduce the fatigue of the operator without interfering with other devices or disturbing the operator and the assistant during the operation.

[Brief description of drawings]

FIG. 1 is a side view schematically showing an entire surgical microscope apparatus according to a first embodiment of the present invention.

2 is a cross-sectional view of a portion including a rotation axis O1 as viewed from the direction of arrow a in FIG.

3 is a cross-sectional view of a portion including a rotation axis O5 as viewed from the direction of arrow b in FIG.

FIG. 4 is a perspective view showing details of a second parallel link, a second tilt arm, a tilt rod, and a motion restricting mechanism of the surgical microscope apparatus according to the first embodiment.

FIG. 5 is an explanatory diagram similarly showing a configuration of a mirror body and an electric circuit of the surgical microscope apparatus according to the first embodiment.

FIG. 6 is an explanatory diagram of a movement when the mirror body of the surgical microscope apparatus according to the first embodiment is moved in a substantially horizontal plane.

FIG. 7 is an explanatory view of a movement when the microscope body of the surgical microscope apparatus according to the first embodiment is moved substantially up and down.

FIG. 8 is an explanatory view of a tilting movement of the mirror body of the surgical microscope apparatus according to the first embodiment about a point on the observation optical axis.

FIG. 9 is an enlarged view of the motion transmission mechanism portion of the surgical microscope apparatus according to the first embodiment.

FIG. 10 is also an enlarged view of the motion restricting mechanism portion of the surgical microscope apparatus according to the first embodiment.

FIG. 11 is an explanatory diagram for observing a deep portion of a conventional aperture.

FIG. 12 is an explanatory diagram of a work in a case where the mirror body is tilted around the observation point in the deep portion.

FIG. 13 is a diagram schematically showing an entire surgical microscope apparatus using a motion transmission mechanism according to another embodiment.

14 is an enlarged view of an upper portion of the motion transmission mechanism of FIG.

FIG. 15 is a side view schematically showing the entire surgical microscope apparatus according to the second embodiment of the present invention.

FIG. 16 is a plan view schematically showing the entire surgical microscope apparatus according to the second embodiment.

FIG. 17 is an explanatory diagram of a configuration of a hydraulic drive unit in the surgical microscope apparatus according to the second embodiment.

FIG. 18 is an explanatory diagram similarly showing a configuration of a mirror body and an electric circuit of the surgical microscope apparatus according to the second embodiment.

FIG. 19 is an enlarged view of the main part of the surgical microscope apparatus according to the second embodiment.

FIG. 20 is a side view schematically showing the entire surgical microscope apparatus according to the third embodiment of the present invention.

FIG. 21 is a detailed perspective view of a motion restricting mechanism portion of the surgical microscope apparatus according to the third embodiment.

FIG. 22 is an explanatory view similarly showing the configuration of a mirror body and an electric circuit of the surgical microscope apparatus according to the third embodiment.

FIG. 23 is an enlarged view of the motion restricting portion of the surgical microscope apparatus according to the third embodiment.

[Explanation of symbols]

1 ... Strut, 2 ... 1st parallelogram link, 2a-2d ...
Arm, 3 ... 2nd parallelogram link, 3a-3d ... Arm, 4 ... Support stand, 7 ... 1st transmission rod, 8 ... 2nd transmission rod, 10 ... Parallelogram link mechanism, 12 ... Mirror Body, 25 ... Inclined rod, 66a, 66b, 66c, 66
d ... Sprocket, 67a, 67b ... Chain, 68 ...
Connection arm, 69 ... Inclined block, Oi ... Rotation axis.

Claims (1)

[Claims] 1. A mirror body 12 of a microscope is supported, and the mirror body 12 is supported.
In a surgical microscope apparatus that can be moved three-dimensionally and can be limited to a specific movement locus, a column that is attached to the installation site such as the floor or ceiling of a clinical room and is rotatable about a vertical axis O0. 1 and a rotation axis O different from the vertical axis O0 with respect to the column 1.
A plurality of arms 2a to 2 that are rotatably connected around one
d is rotation axes O1 to O parallel to each other, including the rotation axis O1.
A first parallelogram link 2 which is rotatably connected to each other around 4 and arranged on one side above or below the first parallelogram link 2 and which is provided with respect to the support column 1. A plurality of arms 3a to 3d are rotatably connected about a rotation axis O5 parallel to the rotation axis O1 and are rotatably connected to rotation axes O5 to O8 parallel to each other including the rotation axis O5. A second parallelogram link 3; a line segment parallel to a line segment connecting the rotation axis O1 and one rotation axis O4 adjacent to the rotation axis O1 in the plane of the first parallelogram link 2; Second parallelogram link 3
A line segment parallel to the line segment connecting the rotation axis O5 in the second parallelogram link 3 corresponding to the rotation axis O1 and the rotation axis O4 and one rotation axis O8 adjacent thereto in the plane of However, the rotation axis O should always be parallel.
One arm 2a in the first parallelogram link 2 rotating about 1 and one arm 3a in the second parallelogram link 3 centering on the rotation axis O5.
A first interlocking mechanism for interlocking the rotation of the first parallelogram link 2 and a line parallel to the line segment connecting the rotation axis O1 and the other rotation axis O2 adjacent to the rotation axis O1 in the plane of the first parallelogram link 2. Minutes and the second parallelogram link 3
A line parallel to a line connecting the rotation axis O5 and the other rotation axis O6 adjacent to the rotation axis O5 in the plane is always rotated about the rotation axis O1 so as to be always parallel. The other arm 2b of the quadrilateral link 2
A second interlocking mechanism that interlocks the rotation of the other arm 3b of the second parallelogram link 3 that rotates about the rotation axis O5, and the first parallelogram link 2 The arm 2
A mirror body connected to an arm 2d opposite to b and attached to the tip of the arm 2d has two rotation axes O9, O orthogonal to each other.
A first tilting arm capable of tilting about 10 and the arm 3 in the second parallelogram link 3
a second tilt arm, which is connected to an arm 3d opposite to b and has a tilt rod 25 attached at its tip end which is tiltable about rotary shafts O21 and O12 parallel to the rotary shafts O9 and O10, respectively; And a motion transmitting mechanism constituted by a flexible motion transmitting member for directly transmitting the tilting motion around the rotation axes O9 and O10 of the tilting rod 25 to the tilting motion around the rotation shafts O21 and O12 of the tilt rod 25 at the same ratio, A movement restricting mechanism capable of limiting the movement locus of the inclined rod 25 to a predetermined position with respect to the installation site, and the rotation axes O1, O in a plane parallel to the plane including the vertical axis O0.
The triangle connecting 4 and O10 is the axis of rotation O in the same plane.
A surgical microscope apparatus characterized by arranging each rotation axis so as to have a shape similar to a triangle connecting 5, O8 and O12 respectively.