JPS6247351A - Laser knife apparatus having manipulator - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a laser scalpel device, and more particularly to a laser scalpel device having a so-called manipulator consisting of a bendable joint and an arm with a built-in reflecting mirror. be.

[Prior Art] Conventionally, a laser scalpel device having this type of manipulator has connected a so-called counterweight to an arm to balance the rotational moment of the manipulator, so that the manipulator can be kept stationary in an arbitrary posture.

If the manipulator arm protrudes from the device when the device is not in use, people or objects are likely to hit the arm, and the manipulator may be damaged by the impact. When storing the device, the arm is rotated downward to prevent the arm from protruding from the device as much as possible.

[Problems to be Solved by the Invention] The above-mentioned conventional device simply connected a counterweight to an arm.

When starting to use the device, the arm must be manually rotated to a convenient position, and the laser The operation to prepare the scalpel for use was a hassle.

It is an object of the present invention to overcome these conventional drawbacks and to provide a laser scalpel device having a manipulator that allows the device to be easily prepared for use and can be used easily at any time.

[Means for Solving the Problems] In order to achieve the above object, the laser scalpel device having a manipulator of the present invention is a laser scalpel device having a manipulator having a cylindrical arm rotatably connected to a joint with a built-in reflecting mirror. In the scalpel device, arm driving means is provided to automatically rotate the arm to a predetermined position convenient for starting use, and after the arm reaches the predetermined position, the arm can be freely rotated. It is characterized by the following.

[Operation] When the device is not in use and is stored, the arm of the manipulator is rotated downward.

When using the device, by operating the arm drive means, the arm automatically rotates to a convenient position for starting use and comes to a standstill.After that, the drive means also stops, allowing the arm to rotate freely. The operator is now ready to use the device at any time.

[Embodiment] Next, an embodiment of a laser scalpel device having a manipulator according to the present invention will be described based on FIGS. 1 to 3.

■ indicates the device main body of the laser scalpel device, and the device main body 1
For example, a carbon dioxide laser oscillator (not shown) is built vertically inside the oscillator, and a laser beam is emitted vertically upward. It is emitted from the tip of piece 3.

The manipulator 2 is made up of four bendable joints 4, 5, 6, 7 with built-in reflecting mirrors, a connecting pipe 8 and arms 9, 10 that connect them. A first mirror 11 is arranged to reflect the emitted laser beam at right angles in the horizontal direction. Reference numeral 12 denotes a first mirror holder constituting a first joint. It is rotatably provided.

Regarding the electromagnetic lock 13, the patent application proposed by the applicant in 1973
8-150948 (Japanese Unexamined Patent Publication No. Sho Go-45342), and since this is not the gist of the present invention, water was saved. 1! Lock the rotation of i4,
When the device is used, the lock is released by turning on the switch, and the first link fM4 can freely rotate. 14 is a vertical optical axis of the laser beam, and 15 is a horizontal optical axis of the laser beam reflected by the first mirror 11.

A second mirror 16 is disposed within the second barrier t155 so as to further reflect the laser beam reflected in the horizontal direction by the first mirror 11 in a direction perpendicular to the laser beam. 17 is a second mirror holder constituting the second joint 5, and the second mirror holder 17 supports the second mirror 16 at a predetermined position, and also supports the horizontal optical axis 1.
It is connected to the first mirror holder 12 via a connecting pipe 8 so as to be rotatable about the mirror holder 5 . Reference numeral 18 denotes an electromagnetic lock interposed therebetween, and its function is similar to that of the electromagnetic lock 13 described above.

9 is the optical axis 19 of the beam reflected by the second mirror 16.
The main arm is connected to the second mirror holder 17 so as to surround the main arm 9, and the laser beam passes through the main arm 9 to the joint 6, the front arm 10. It reaches the handpiece 3 via the joint 7.

Reference numeral 20 denotes an auxiliary arm having a counterweight 21 attached to one end for balancing the rotational moment of the manipulator 2 around the horizontal optical axis 15, and the other end connected to the main arm 9; A holder is shown that is rotatably provided in the apparatus main body 1 via a bearing 23 about the vertical optical axis 14, and the auxiliary arm 20 is rotatable about the horizontal optical axis 15 via the bearing 24 on the holder 22. All the weight of the counterweight 21 etc. that is freely supported and added to the auxiliary arm 20 is transferred to the holder 2.
2, and an elastic body 25 such as rubber or sponge is interposed in the gap between the inner surface of the annular portion 20a, which is the center of rotation of the auxiliary arm 20, and the connecting vibe 8.

Further, as shown by the two-dot chain line and solid line in FIG. 2, the holder 22 is arranged so as not to interfere with the main arm 9 and the auxiliary arm 20 so that the main arm 9 can freely rotate from a horizontal position to vertically downward. It is set up.

26 is a fine adjustment weight for finely adjusting the balance of the rotational moment of the manipulator 2, and the auxiliary arm 20
It is provided so that it can be slid freely and fixed at any position using a ratchet (not shown).

Further, 27 is composed of a coil spring 27a and a dogleg-shaped steel wire frame 27b, and gently limits the rotation of the front arm 10 so that the front arm 10 does not rotate too far to the opposite side about the optical axis 19. It is a stopper.

Also, 28 is the second member of the above! A storage case formed in a portion of the main body of the apparatus below i'i5 is shown, and when the main arm 9 and the front arm 10 are extended vertically downward substantially in a straight line, they are stored in the storage case 28.

io indicates a motor that is a driving means provided on the holder 22, and the motor 30 is connected to a rubber pulley 32 via an electromagnetic clutch 31 that is connected when the switch is turned on.
to drive. The pulley 32 is pressed against the annular portion 20a of the auxiliary arm 20 formed around the horizontal optical axis 15, and by driving the motor 30, the auxiliary arm 20 rotates via these. At the same time, the main arm 9 rotates. Note that a belt or other transmission means may be used in place of the pulley 32.

FIG. 3 shows a circuit of the motor 30 and the electromagnetic clutch 31. The motor 30 and the electromagnetic clutch 31 are connected in parallel to a power source, and an electromagnetic switch 33 is provided between them and the power source. And this electromagnetic switch 33
is turned on continuously by pressing a push button switch 34 provided on the main body 1 of the device, and a microswitch 35 provided on the holder 22 comes into contact with a protrusion 36 formed protrudingly on the annular portion 20a of the auxiliary arm 20. The switch is turned off continuously by operating the switch.

Next, the operation of the present invention will be explained.

When the device is stored when not in use, the main arm 9 of the manipulator is rotated vertically downward into the storage case 28, as shown by the solid line in FIG. It is stored in.

When using the device, the motor 30 is driven by pressing the push button switch 34, and the electromagnetic clutch 31 is connected to the pulley 32 and the auxiliary arm 20.
When the main arm 9 is rotated upward to a horizontal position convenient for starting use, for example, as shown by the two-dot chain line in FIG.
The motor 30 stops, the main arm 9 stands still, and the electromagnetic clutch 31 is released, allowing the operator to freely rotate the manipulator 2.
This state continues until you press 4.

Although the motor 30 is used as the driving means in the above embodiment, the drive means is not limited to this, and a hydraulic pump, a spring, or other means may also be used.Furthermore, a friction clutch or the like may be used instead of the electromagnetic clutch 31. Alternatively, the motor 30 and the pulley 32 may be directly connected so that the rotor within the motor 30 rotates as the main arm 9 rotates. Further, the push button switch 34 may be operated in conjunction with a main switch of the device or the like.

[Effects of the Invention] The laser scalpel device having the manipulator of the present invention has the following effects:
Since the arm automatically rotates to a convenient predetermined position and stops, the operator is freed from the hassle of preparing to use the laser scalpel, and once the arm reaches the predetermined position,
Since the arm can be rotated freely, the laser scalpel can be used easily.

[Brief explanation of the drawing]

FIG. 1 is a sectional view of a main part of an embodiment of the present invention, FIG. 2 is a perspective view of the entire device of the embodiment, and FIG. 3 is a circuit diagram thereof.

Claims (1)

[Claims] In a laser scalpel device having a manipulator in which a cylindrical arm is rotatably connected by a joint with a built-in reflection mirror, the arm is automatically rotated to a predetermined position convenient for starting use. 1. A laser scalpel device having a manipulator, characterized in that an arm driving means is provided, and the arm can be freely rotated after the arm reaches the above-mentioned predetermined position.