JPH11174343A - Mirror body part moving mechanism for microscope - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a mirror body part moving mechanism capable of moving the mirror body part of a microscope at a set moving speed under any condition. SOLUTION: This mechanism is provided with a speed setting switch 45 setting the moving speed of the mirror body part of a microscope in the up-and- down direction, a speedmeter 44 measuring the initial moving speed of the mirror body part at the time of reciprocating in the up-and-down direction, and a driving control part 40. The initial moving speed at the time of reciprocating in the up-and-down direction measured by the speedmeter 44 is compared with the set moving speed by the switch 45 so as to calculate downward direction driving power and upward direction driving power at which the moving speed of the mirror body part is equal to the set moving speed between at the time of moving in a downward direction and at the time of moving in an upward direction of the mirror body part. Then, the switching control of supply power at the time of moving in the downward direction and at the time of moving in the upward direction to a motor is performed by using the calculated driving power.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a microscope body moving mechanism of a microscope.

[0002]

2. Description of the Related Art A mechanism for moving a mirror in a stereomicroscope used for a surgical operation is generally called an up-down fine movement unit. A DC motor is mainly used for the actuator of the vertical fine movement unit.
The C motor is rotated to drive the up / down fine movement unit to move the mirror unit upward or downward.

[0003]

In the case of the above-described mechanism for moving the mirror body, the load applied to the DC motor (the movement of the mirror body) depends on whether the mirror body is moved upward or downward. (E.g., weight, inertia, friction, etc.), so that the moving speed of the mirror body part changes between the upward movement and the downward movement.

In addition, accessories such as an assistant's microscope and a TV camera are often attached to the mirror body of the surgical microscope, and depending on the hospital used, or depending on the mode of use, the mirror may be used. The overall weight of the body varies.
Therefore, the moving speed of the mirror body also changes depending on the weight change of the mirror body due to the presence or absence of the attachment.

As described above, if the moving speed is different between the case where the mirror body is moved upward and the case where the mirror body is moved downward,
For example, when performing fine focusing on an object to be focused, there is a problem that the focusing operation becomes complicated, a burden on a patient increases, and a mental stress of an operator is caused.

According to the present invention, it is possible to move the mirror body at a set moving speed under any conditions, to reduce the burden on the patient by speeding up the operation and the like, and to eliminate the mental stress of the operator. It is an object of the present invention to provide a mirror body moving mechanism of a microscope which can be used.

[0007]

According to a first aspect of the present invention, there is provided a microscope body moving mechanism for a microscope, comprising: a holding body held by an apparatus body; and a rotary drive mounted on the holding body and rotating by power supply. A light source, a rotational force transmitting mechanism for transmitting the rotational force of the rotational drive source, and a mirror of a microscope arranged to be vertically movable with respect to the apparatus body based on the rotational force transmitted by the rotational force transmission mechanism. And a speed setting means for setting a moving speed of the mirror, a moving speed of the mirror moving upward and a moving speed of moving downward. Measuring means for measuring the respective moving speeds in the vertical direction measured by the measuring means, and the moving speed set by the speed setting means, the moving speed in the upward direction and the moving speed in the downward direction Travel speed becomes equal to each set travel speed A drive control unit that calculates the direction drive power and the upward drive power, and controls the switching of the supply power during the downward movement and the upward movement with respect to the rotary drive source using the calculated drive powers. It is assumed that.

According to this invention, first, the moving speed of the mirror body in the vertical direction is set by the speed setting means, and the mirror body is reciprocated once in the vertical direction. The upward and downward moving speeds of the mirror are measured.

Next, the drive control means compares each of the moving speeds in the vertical direction measured by the measuring means with the moving speed set by the speed setting means, and moves the moving body upward in the mirror section. When moving in the downward direction, when the moving speed of the mirror unit is equal to the set moving speed, the upward driving power and the downward driving power are calculated, and the calculated driving powers are used. The switching control of the supply power at the time of the upward movement and the downward movement with respect to the rotary drive source is performed.

Thus, the state in which the moving speed of the mirror unit is equal to the set moving speed when the mirror unit moves upward against gravity and when the mirror unit moves in the downward direction under the action of gravity. To move. As a result, even when weight changes such as attaching a camera for photographing to the mirror body of the surgical microscope can be performed, the mirror body can be moved in the vertical direction at the set moving speed, thereby speeding up surgery and observation. It is possible to reduce the burden on the patient and eliminate mental stress of the operator.

According to a second aspect of the present invention, in the microscope body moving mechanism of the first aspect, there is provided a tilt angle measuring means for measuring a tilt angle of the moving direction of the mirror section from a vertical direction, The drive control means calculates the upward supply power and the downward supply power in consideration of the measurement value of the inclination angle measurement means.

According to the present invention, when the mirror of the microscope is moved in an arbitrary direction such as a direction inclined obliquely from a vertical direction to perform focusing or the like, first, the mirror is set by speed setting means. The moving speed of the body in an arbitrary direction is set, and the tilt angle measuring means measures the tilt angle of the moving direction of the mirror from the vertical direction.

The drive control means calculates the upward supply power and the downward supply power in consideration of the measurement value of the inclination angle measurement means.

The drive control means uses the calculated converted drive power to control the switching of the supply power during the forward movement and the backward movement with respect to the rotary drive source.

Thus, when the mirror body moves in the inclined direction, the mirror body can be moved in a state where the moving speed of the mirror body is equal to the set moving speed.

As a result, for example, when focusing or the like is performed with the mirror of the operating microscope tilted obliquely, as in the case of orthopedic surgery, the mirror is reciprocated at the set moving speed. This makes it possible to reduce the burden on the patient by accelerating the operation and observation, and to eliminate the mental stress of the operator.

[0017]

Embodiments of the present invention will be described below in detail.

FIG. 1 shows an overall view of a microscope 1 according to the present embodiment. In this microscope 1, a hanging member 3 is attached to a protruding end of a support arm 2, and a box is attached to the hanging member 3. A holding member 4 having a shape is attached. The holder 4 is rotatable in the directions of arrows a and b shown in FIG. The rotation operation of the holding body 4 is performed by rotating the knob 5.

The holder 1 of the microscope is attached to the holder 4.
0 is attached to the vertical moving member 7 by arrows c and d shown in FIG.
It is mounted so as to be movable up and down as indicated by.

As shown in FIG. 1, the mirror unit 10 includes a mirror body 10a having an objective lens, a variable power optical system, a prism and the like, and an eyepiece tube 1 having an eyepiece 9 and the like.
0b, and moves the mirror body 10a to the vertical
To the mirror unit 1 together with the vertical moving member 7.
0 is moved in the directions of arrows c and d.

The movement of the mirror unit 10 is performed by a mirror unit moving mechanism which is disposed inside the holder 4 and is connected to the holder 4 and the vertical moving member 7.

As shown in FIGS. 2 to 4, the mirror body moving mechanism is mounted in the holding body 4 and has a motor 21 that is driven to rotate by the supply of driving power.
And a rotation-to-linear conversion mechanism that converts the transmission force of this rotation reduction mechanism into linear motion and transmits it to the vertical moving member 7.

The rotation reduction mechanism includes a worm (worm gear) 22 attached to a driving shaft of a motor 21 and a pair of bearings 23 attached in the holding body 4 so as to be opposed to each other in the vertical direction indicated by arrows c and d. , 24 and this bearing 2
And a lead screw 26 rotatably supported by 3, 3 and 24 and having a worm wheel 25 at a lower portion thereof.
5 and the rotating nut 19 is meshed with the central part of the lead screw 26.

The rotation / linear conversion mechanism projects a rotation shaft 18 from the center of the inside of the vertical moving member 7 through the inside of the rail receiver 12 into the holder 4, and attaches a rotation nut 19 to the rotation shaft 18. The nut 19 to the lead screw 2
6 are engaged with each other.

FIG. 4 shows a state of connection between the holder 4 and the vertical moving member 7. That is, a substantially cylindrical rail receiver 1 is provided at a portion of an elongated hole 11 provided on one end face of the holder 4.
2 and the inner slide rails 13a and 13b are attached to a pair of both side portions of the rail receiver 12,
Also, outer slide rails 15 respectively corresponding to the inner slide rails 13a and 13b are provided on both sides of the end face of the vertical moving member 7 having a U-shaped cross section facing one end face of the holding body 4.
a and 15b, and slide rail guides 17a and 17b are interposed between the inner slide rail 13a and the outer slide rail 15a and the inner slide rail 13b and the outer slide rail 15b, respectively. Outside slide rail 1
5a and 15b are slidable, whereby the vertical moving member 7 can be moved in the vertical direction indicated by arrows c and d shown in FIG.

Further, an upper limit detection limit switch 27 and a lower limit detection limit switch 28 are arranged vertically above and below the lead screw 25 so as to detect the upper limit position and the lower limit position of the nut 19 which moves while meshing with the lead screw 25. Has become.

As shown in FIG. 3, a control PC board 30 is mounted in the vertically moving member 7, and a part of a control system such as a drive control unit 40 described later is incorporated in the control PC board 30. .

FIG. 5 shows a control system according to the present embodiment. The control system includes a drive control unit 40 for performing overall control.
A power switch 50 for supplying predetermined power from the power supply unit 50 to the drive control unit 40, and for starting and stopping the motor 21 by stepping on a foot switch (not shown); A limit switch 27, a lower limit detection limit switch 28, a motor driver 42 for rotating the motor 21, a speed reset switch 43, and a time for moving the nut 19, ie, the vertical moving member 7 from the upper limit position to the lower limit position, the lower limit A speedometer 44, which is a measuring means for measuring the moving speed from the position to the upper limit position, a speed setting switch 45 using a variable resistor for setting the moving speed of the mirror unit 10, and a storage means for storing various data Is connected to the memory 46.

Next, the operation of the microscope body moving mechanism of the microscope will be described by taking as an example a case where focusing is performed on an operation target (or observation target) 100.

First, the moving speed of the mirror unit 10 is set to a desired speed by the speed setting switch 45.

When a command to move the mirror unit 10 is issued by stepping on the foot switch 41, the drive control unit 4
Under the control of 0, the motor driver 42
Is driven to rotate. The worm 22 also rotates by the rotation of the motor 21, and the worm wheel 25, the lead screw 2
The nut 19 moves up and down along the lead screw 26 via 6.

As a result, the vertical moving member 7 and the mirror body 10
Also moves up and down (directions against gravity indicated by arrows c and d and directions in which gravity acts).

The upper limit position and the lower limit position of the mirror unit 10 are regulated by the operation of an upper limit detection limit switch 27 and a lower limit detection limit switch 28 for detecting the upper limit position and the lower limit position of the nut 19, respectively. The drive control unit 40 sends a stop command to the motor driver 42 according to a detection signal from the lower limit detection limit switch 28, whereby the motor 21 stops and the mirror unit 10 stops at the upper limit position or the lower limit position.

When the speed reset switch 43 is pressed, the mirror unit 10 is automatically moved to the upper limit position under the control of the drive control unit 40. The initial movement speed at the time of the downward and upward movements is measured by the speedometer 44.

The drive control unit 40 compares the initial moving speed in the downward direction and the initial moving speed in the upward direction measured by the speedometer 44 with the moving speed set by the speed setting switch 45, and An upward drive power (gravity reverse drive power) in which the moving speed of the mirror unit 10 is equal to the set moving speed between the upward movement and the downward movement.
The downward drive power (gravity direction drive power) is calculated and stored in the memory 46.

By the second stepping operation of the foot switch 41, the drive control unit 40 controls the motor driver 42 using each drive power stored in the memory 46, and when the motor 21 moves upward, The switching control of the supply power at the time of moving in the direction is performed so that the moving speed at the time of moving the mirror body 10 in the upward direction and the moving speed at the time of moving down is the set moving speed.

At this time, the driving power during the upward movement and the driving power during the downward movement are set to be smaller during the downward movement. As a result, the upward moving speed and the downward moving speed of the mirror unit 10 are substantially the same.

In this manner, the moving speed of the mirror body 10 is set when the mirror body 10 moves upward against gravity and when it moves downward under the action of gravity. It is possible to move in a state equal to the moving speed.

As a result, even when the camera body for photographing is attached to the mirror unit 10 of the surgical microscope and the weight changes, for example, the mirror unit 10 is moved at the set moving speed in each of the up and down directions based on the operation described above. It is possible to reduce the burden on the patient by accelerating the operation and to eliminate the mental stress of the operator.

FIG. 6 shows a modification of the present embodiment. In addition to the control system shown in FIG. 5, the mirror 10 is operated by operating the knob 5, for example, as shown in FIG. As shown in FIG.
In the case where the mirror unit 10 is tilted only, a potentiometer 60 which is a tilt angle measuring means for measuring a tilt angle of the moving direction of the mirror unit 10 from the vertical direction, and each of the motors 21 when the mirror unit 10 moves in each of up and down directions. A feature is that a reference power storage unit 70 that stores a reference value of drive power is added. The potentiometer 60 is arranged at the position of the shaft 6 of the microscope 1.

According to such a configuration, basically, the same operation as in the above-described case is exhibited, but the mirror body 10 as described above is tilted in an arbitrary direction. When moving, the data of the inclination angle of the mirror unit 10 measured by the potentiometer 60 is also sent to the drive control unit 40, so that the drive control unit 40 Is compared with the moving speed set by the speed setting switch 45, and the data of the inclination angle of the mirror unit 10 measured by the potentiometer 60 and the reference power storage unit 70
Based on the reference values of the respective drive powers for the motor 21 when the mirror unit 10 is moved up and down in each direction stored in advance, when the mirror unit 10 is moved upward and when it is moved downward. Then, the respective calculated driving powers at the time of the upward movement and the downward movement of the motor 21 at which the moving speed of the mirror body unit 10 becomes equal to the set moving speed are calculated.

Further, the drive control unit 40 uses the calculated converted drive power to move the motor 21 upward when the motor 21 moves upward.
The switching control of the power supply during the downward movement is performed.

Thus, the moving speed of the mirror unit 10 can be changed between when the mirror unit 10 moves upward and when it moves downward.
It can be moved in a state equal to the set moving speed.

As a result, for example, when focusing or the like is performed with the mirror unit 10 of the operating microscope tilted obliquely as in the case of orthopedic surgery, the mirror unit 10 is reciprocated at the set moving speed. The patient can be moved, and the burden on the patient can be reduced by speeding up the operation, and the mental stress of the operator can be eliminated.

[0045]

According to the first aspect of the present invention, the mirror body can be moved up and down at a set moving speed under any conditions, and the burden on the patient can be reduced by speeding up operations and the like. It is possible to provide a microscope body moving mechanism that can eliminate mental stress of a person.

According to the second aspect of the present invention, when performing focusing or the like with the mirror body tilted obliquely, the mirror body can be moved up and down at the set moving speed, so that the operation can be performed quickly. Therefore, it is possible to provide a microscope body moving mechanism capable of reducing the burden on the patient due to the conversion and eliminating mental stress of the operator.

[Brief description of the drawings]

FIG. 1 is a schematic diagram of a microscope including a lens unit moving mechanism according to an embodiment of the present invention.

FIG. 2 is a schematic cross-sectional view taken along line AA of FIG.

FIG. 3 is a schematic longitudinal sectional view of a mirror body moving mechanism according to the embodiment of the present invention.

FIG. 4 is a schematic sectional view taken along line BB of FIG. 2;

FIG. 5 is a block diagram illustrating a control system of the mirror unit moving mechanism according to the embodiment of the present invention.

FIG. 6 is a block diagram showing a control system of a modification of the lens unit moving mechanism according to the embodiment of the present invention.

FIG. 7 is a schematic diagram showing a state where a mirror body of the microscope according to the embodiment of the present invention is tilted.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Microscope 2 Support arm 3 Hanging member 4 Holder 5 Knob 7 Vertical moving member 10 Mirror 12 Rail receiver 13a Inner slide rail 13b Inner slide rail 15a Outer slide rail 15b Outer slide rail 18 Rotating shaft 19 Nut 21 Motor 22 Warm 25 Worm wheel 26 Lead screw 27 Upper limit detection limit switch 28 Upper limit detection limit switch 30 Control PC board 40 Drive controller 41 Foot switch 42 Motor driver 43 Speed reset switch 44 Speedometer 45 Speed setting switch 46 Memory 100 Surgical object

Claims (2)

[Claims] 1. A holding body held by an apparatus main body, a rotating drive source mounted on the holding body and rotating by power supply, a rotating force transmitting mechanism for transmitting a rotating force of the rotating driving source, A mirror body moving mechanism for a microscope, comprising: a mirror body arranged in a vertically movable manner with respect to the apparatus main body based on a rotating force transmitted by a rotating force transmitting mechanism; Speed setting means for setting the moving speed of the unit, measuring means for measuring the upward moving speed and the downward moving speed of the mirror unit, and each of the vertical directions measured by the measuring means. Movement speed,
By comparing the moving speed set by the speed setting means with the moving speed in the upward direction and the moving speed in the downward direction, the downward driving power and the upward driving power are calculated such that the moving speeds set in the upward direction are equal to the set moving speeds. And a drive control means for performing switching control of supply power during downward movement and upward movement with respect to the rotary drive source using the calculated drive powers, and a microscope body moving mechanism for a microscope, comprising: . 2. The apparatus according to claim 1, further comprising: an inclination angle measuring unit configured to measure an inclination angle of the moving direction of the mirror unit from a vertical direction, wherein the drive control unit considers a measurement value of the inclination angle measuring unit. 2. The mechanism according to claim 1, wherein an upward supply power and a downward supply power are calculated.