JPS63296744A - Stand apparatus for medical optical machinery - Google Patents

Abstract

PURPOSE:To develop the function suitable for actual medical work to the max., by operating a parallel link mechanism is conjunction with a counter wt. and setting off the wts. of both of an optical machinery and the parallel link mechanism and the angular moment of the parallel link mechanism around a center shaft by the counter wt. CONSTITUTION:A control handle is provided to the first counter wt. W1 and rotated to make it possible to adjust the height position of the first counter wt. W1. A cover 42 covers the aforementioned first counter wt. W1 and a shaking bar 40. The upper end 43 of the shaking bar 40 and the rear part of a parallel link 24 are connected by a connection arm 44 in a stretched-over state so as to operate a parallel link mechanism 25 in conjunction with the first counter wt. W1. This first counter wt. W1 sets off the wts. of both of an operation use microscope 34 and the parallel link mechanism 25 and the angular moment of the parallel link mechanism 25 around a center shaft 21.

Description

[Detailed description of the invention] <Industrial application field> The present invention relates to a stand device for medical optical equipment.

<Conventional technology and its problems>"Medical optical equipment" is used in brain surgery, heart surgery, etc.
The surgery is performed while observing the affected area with a surgical microscope, and it is a very delicate and nerve-racking surgery, and in many cases the surgery time is long. This is undesirable, as it increases physical and mental fatigue for both the patient and the doctor.

Medical optical instruments such as surgical microscopes play a very important role in such advanced surgeries, and the ease of use of medical optical instruments directly leads to shortening of surgical time.

The ease of use of medical optical equipment is defined by how accurately and quickly the medical optical equipment can be positioned to the target area (affected area), and how it can be moved from the surgical area and positioned at any preparatory position when it is not needed. Whether it can be fixed and whether the observation point once fixed does not shift, etc., depend much more on the stand that supports the medical optical equipment than on the medical optical equipment itself.

Therefore, various stand devices for medical optical equipment have been developed (see Japanese Patent Application Laid-Open No. 56-32110), but these are not necessarily easy to operate when considering actual medical work. Met.

The present invention has been made by focusing on such conventional technology, and provides a stand for medical optical equipment that is suitable for practical medical work and that can maximize the functions of the medical optical equipment. The purpose is to develop a device.

<Means for Solving the Problems> The stand device for medical optical equipment according to the present invention supports the optical equipment at the distal end of a parallel link mechanism, and the base end of the parallel link mechanism is rotatable. An optical device and The weight of the parallel link mechanism and the rotational moment of the parallel link mechanism about the center shaft are offset by a counterweight.

Embodiment> A preferred embodiment of the present invention will be described below with reference to FIGS. 1 to 1O (
The explanation will be based on c). First, we will explain the initial configuration,
Each operation will be explained later.

Reference numeral 21 denotes a center shaft, which is rotatably supported within the inclined holding portion 22 via a bearing. The front side (direction A in the figure) of the center shaft 21 is cut into a plate shape, and the side proximal end portions 26.26 of the parallel link mechanism 25 consisting of parallel links 23.24 are attached to this plate-shaped portion. be.

A rotation fulcrum 2 is provided at the tip 27 of this parallel link mechanism 25.
A rotating piece 29 serving as a "support part" is attached to the rotating piece 29, which can be rotated horizontally about a shaft 31. A second rotary plate 32 is further attached to the tip of the first rotary plate 30 so as to be horizontally rotatable about a shaft 33. A surgical microscope 34 serving as a "medical optical device" is attached to a position directly below this second rotating plate 32 via a hanging arm 35.

This surgical microscope 34 can be tilted and supported at various angles of inclination of 450.90° from a vertical position about a rotation fulcrum 36 of a hanging arm 35. The focal point f of the surgical microscope 34 supported in this way is when the surgical microscope 34 is in the vertical state...4
Regardless of whether the cane is in a 5° tilted state or a 90° tilted cane state, it is always positioned on the vertical line S passing through the rotation fulcrum 28. The details will be described later. Moreover, the focus f of this surgical microscope 34 is the same as that of the parallel link mechanism 25.
The position of the focal point f does not change even if the parallel link mechanism 25 is deformed because it is positioned on the extension line connecting the side proximal ends 26 and 26 of the center shirt 21, that is, on the extension line of the axis of the center . Further, 37 is an operation handle, which is used when moving (swinging) the surgical microscope 34. Attachment portions 38 are provided at the proximal and distal ends of the rotating piece 29, respectively, for changing the operating handle 37 depending on the position of the operator.

Further, a pendulum-shaped first counterweight W1 that swings about a pivot point 39 is suspended from a rear side (direction B in the figure) of the center shaft 21 and is supported via a swing bar 40 . The first counterweight W1 is provided with an adjustment handle 41, and by rotating the adjustment handle 41, the height position of the first counterweight W1 can be adjusted. A cover 42 covers the first counterweight W1 and the swing bar 40. Then, the upper end 43 of the swing bar 40 and the rear portion of the parallel link 24 are connected by a connecting arm 44 so as to cross the frame, so that the parallel link mechanism 25 and the first counterweight W1 are interlocked. do. The first counterweight W1 configured in this way is connected to the surgical microscope 34 and the parallel link mechanism 2.
5 and the rotational moment of the parallel link mechanism 25 about the center shaft 21, respectively. This point is the greatest feature of the present invention. Also,
Since the center shaft 21 is inclined by the angle α, the first counterweight W1 and the like are excluded from the surgical area, and a wide and free surgical area can be sufficiently secured for the operator.

Further, on the upper surface of the cover 42 for the first counterweight Wl, a second counterweight W2 that swings in a substantially horizontal direction via another swing bar 45 is disposed while being covered with a cover 46. ing.

The base end of the swing bar 45 for the second counterweight W2 is fixed to a pivot shaft 47, and the pivot shaft 47 is connected to the center via a pair of bevel gears 48 that convert rotational force in a right angle direction. It is designed to interlock with a rotatable disc 49 located on the side near the rear end of the shaft 21. Then, the base end portion 26 of the parallel link mechanism 25
Disks 51 to 53 similar to the disk 49 are rotatably disposed in the vicinity, at the joint portion 50 of the parallel link mechanism 25, and at the tip 27 of the parallel link mechanism 25.

These discs 49, 51 to 53 are connected to each other by a pair of linkers 54, so that rotational force can be transmitted. A disk 53 at the tip 27 of the parallel link mechanism 25 is connected to another pivot shaft 56 fixed to the rotating piece 29 by a bevel gear 55 similar to that described above.

Therefore, when the rotating piece 29 is rotated in the horizontal direction, this rotational force is transferred from the aforementioned pivot shaft 56 to bevel gear 55 to
Via the disk 53 → disk 52 → disk 51 → disk 49 → bevel gear 48 → pivot shaft 47, move the swing bar 45 (i.e., second counterway) W2) in the opposite direction to the rotating piece 29. By rotating the rotating piece 29, the rotational moment about the center shaft 21 generated by the rotation of the rotating piece 29 is offset. And this second counterweight W
2 is also provided with an adjustment handle 57, and by rotating this adjustment handle 57, the position of the second counterweight W2 can be adjusted to the tilt angle of the surgical microscope 34 (vertical, 45
degree, 90°). The swing locus portion of the second counterweight W2 in the cover 46 is in an open state, and furthermore, a vertical slit 58 is formed in the upper surface portion. This slit 58 has marks (memories) 5 corresponding to each of the three tilt angles.
9 are provided at three locations, and by aligning the reference mark of the second counterweight W2 facing through the slit 58 with each of these marks 59, the three stages of adjustment by the adjustment handle 57 of the second counterweight W2 can be performed. Easy and accurate.

The holding part 22 that rotatably supports the center shaft 21 is provided with a cylindrical part 60 rotatable through a bearing on the lower side, and this cylindrical part 60 is connected to a multistage parallel link mechanism 61. has been done.

In other words, as part of the multi-stage parallel link mechanism 61, the holding portion 2
2. A cylindrical portion 60 is provided, and this multi-stage parallel link mechanism 61 supports all the structures (weight) above the center shaft 21 so as to be able to move up and down. This multistage parallel link mechanism 61
is pivotally supported by a stand shaft portion 63 rotatably erected on a stand base 62, and is composed of a pair of left and right upper parallel links 64 and a lower parallel link 65, which are stacked vertically. There is. The lower parallel link 65 is pivotally supported by a rotation shaft 67 at the tip of the protrusion 66 of the stand shaft portion 63, and the upper parallel link 64 is supported by the lower parallel link 65.
Rotating wheel 68 near the upper end of stand shaft portion 63 above
It is supported by And this upper end parallel link 64
and the lower parallel link 65 are connected by a connecting link 69 and are configured to interlock with each other. Further, the rear end of the lower parallel link 65 is provided with the center shaft 21.
A third counterweight W3 is arranged to offset the weight of the above structure (hereinafter referred to as "upper structure").

An adjustment handle 70 similar to that described above is also attached to this third counterweight W3. This multi-stage parallel link mechanism 61 has the lower parallel link 65 and the upper parallel link 64 placed one above the other in this way, so that if one parallel link is to be used to support the upper parallel link 64, the upper parallel link 64 will be held substantially longer. 22 to the rotation axis 68), and the substantial length of the lower parallel link 65 from the rotation axis 68 to the third
The distance to the counterweight W3) 12 and the rotation axis 68 and rotation axis 67 are required.
The length size can be shortened by the overlapping distance of 23, making the entire stand device smarter, and the third
Counterway) W3 does not protrude rearward, so it is less likely to interfere with surrounding people or equipment, which is preferable from a safety standpoint.

Note that 71 is another connecting link for reinforcing the lower parallel links 65 together. A cover 72 covers the stand shaft portion 63 and the lower parallel link 65. Furthermore, bellows 73 and 74 expand and contract following the vertical movement of the upper parallel link 64 and the vertical movement of the third counterweight W3, and prevent the interior of the cover 72 from being exposed.

And 75 is an operation panel. Furthermore, each operating (indirect) part of this stand device is equipped with an electromagnetic clutch (not shown), and the lock/free state of each part can be arbitrarily selected and operated using a foot switch (not shown), etc. ing.

Next, each operation of the stand device will be explained.

Back and forth movement (A-B direction in the figure) As shown in FIG. 6, when the surgical microscope 34 is pushed in the back and forth direction, the stand shaft section 63 and the cylinder section 60 follow and rotate by an appropriate angle accordingly. 1, the angle θ1 between the parallel link mechanism 25 and the surgical microscope 34 during forward and backward movement;
The change in θ2 also depends on the rotating piece 2 that supports the surgical microscope 34.
9 can be automatically adjusted by rotating in the F direction, the surgical microscope 34 can be moved back and forth (translationally) while keeping the observation angle constant.

Upper Movement (C direction in the middle) When the surgical microscope 34 is pushed in the vertical direction, the "upper structure" easily moves up and down in an unloaded state balanced with the third counterweight W3 due to the deformation of the multi-stage parallel link mechanism 61.

Left/Right Operation DII+ As shown in FIG. 7, when the surgical microscope 34 is pushed in the left and right direction, the stand shaft part 63 and the cylinder part 60 follow and rotate by an appropriate angle accordingly. Also, the angle change between the parallel link mechanism 25 and the surgical microscope 34 when moving back and forth,
Since automatic adjustment is possible by rotating the rotary piece 29 supporting the surgical microscope 34 in the F direction, the surgical microscope 34 can be translated in the left-right direction while keeping the observation angle constant.

Tsuchiura H's observation (optional) (4°-view) The focal point f of the surgical microscope 34 is located at the proximal end 26 of the parallel link mechanism 25.
26, that is, on the axial extension of the center shaft 21, the focal point f remains fixed at one point even if the parallel link 25 is deformed (rotated). Therefore, it is possible to arbitrarily adjust the viewing angle in the direction along the parallel link mechanism 25. At this time, since the first counterweight W1 swings by an angle corresponding to the deformation of the parallel link mechanism 25, the surgical microscope 34
and parallel link 8I! The weight of 25 is offset by the first counterweight W1, and the weight balance is automatically maintained.

The position of the first counterweight W1 is the same as that of the surgical microscope 3.
It is necessary to adjust the adjustment handle 41 according to the accessories (for example, a microscope for an assistant, a video camera, etc.) that are loaded on the adjustment handle 41.

Rotational movement around the center shaft (1 surgical microscope 34 in the figure)
When swung in the direction of rotation around the center shaft 21, it rotates together with the parallel link mechanism 25, but the first counterweight W1 also swings in the direction of rotation along with the swing bar 40, so the weight balance is maintained. , the surgical microscope 34 stops at the rotated movement position.

Horizontal rotation due to rotation (direction F in the figure) By rotation of the rotation piece 29, the surgical microscope 34 can be horizontally rotated in the F direction, for example, the surgical microscope 34 can be rotated once around the patient's head 76. .

Even when the rotating piece 29 is no longer positioned along the longitudinal direction of the parallel link mechanism 25 (especially when it protrudes in a direction perpendicular to the parallel link mechanism 25), the rotating piece 29 can be rotated. Depending on the movement, the disks 49, 51 to 53,
With link par 54, bevel gear 48.55, etc., the second
Since the counterweight W2 swings to the opposite side, the weight balance is maintained when the rotating piece 29 is rotated, and rotation in the E direction about the center shaft 21 does not occur.

Observation by tilting the microscope by hand The observation angle of the surgical microscope 34 may have to be changed significantly depending on the affected area of the patient.

For example, in the case of brain surgery, etc., there are cases where the top part of the head 76 is operated on, and cases where the side part of the head 76 is operated on.

The stand device according to this embodiment solves this problem with two first
・It was decided to perform this using the second rotating plate 30.32. That is, vertical support: Both the first and second rotating plates 30, 32 are in a state facing inward (toward the rotating portion 28 of the rotating piece 29) [see FIG. 8].

45° Support: First, the surgical microscope 34 in a vertically supported state is tilted at 45° about the rotation fulcrum 36 [FIG. 9(A)].

The distance 14 between the focus f" at this time and the vertical line S where the original focus position f was located is exactly twice the distance 25 between the vertical line S and the vertical line of the axis 33.

Therefore, if the second rotating plate 32 is rotated 180 degrees around the shaft 33, the focal point f' will coincide with the vertical line S [Fig. 9 (b)
]. Then, the rotation piece 29 is further moved 18 times around the rotation fulcrum 28.
If you rotate it by 0", even if you tilt it by 45",
The focal point f' is located on the same vertical line S and can be observed from the same direction as in the vertically supported state [Fig. 9 (
c)].

Therefore, by simply moving the surgical microscope 34 up and down slightly using a vertical mechanism (not shown) attached to the surgical microscope 34 itself, the same location as the original focal point f can be observed.

90° support: The surgical microscope 34 in a vertically supported state is rotated 90 degrees around the rotation fulcrum 36.
Tilt it to 0° [Figure 10 (a)]. The focus f at this time
The distance i between ゛ and the vertical line S! , 6 are the vertical line S and the axis 31
It is exactly twice the distance 27 from the vertical line. Therefore,
If the first rotating plate 30 is rotated 180 degrees around the shaft 31,
The focal point f° coincides with the vertical line S [Figure 10 (b)]. Then, if the rotating piece 29 is further rotated 180 degrees around the rotation fulcrum 28, the focal point f will be located on the same vertical line S, even though it is tilted 90'', similar to the previous 45@ support. death,
Moreover, it can be observed from the same direction as in the vertically supported state [Figure 10 (c)].

In the above description, a surgical microscope was used as an example of a "medical optical device," but the present invention is not limited to this, and can be widely applied to various medical laser devices. Further, although this embodiment uses a floor stand type, similar effects can be obtained with a ceiling suspended stand type.

<Effects> Since the stand device for medical optical equipment according to the present invention has the content as described above, it can produce the following effects.

(a) The weight of the optical equipment and parallel link mechanism and the rotational moment of the parallel link mechanism around the center shaft are offset by a pendulum-type counterweight, so the structure is simple and there is no noise or track. It is possible to achieve a smooth and smooth weight balance. In addition, since a rotatable center shaft is employed, a counterweight in the rotation direction is not required for the balance of the parallel link mechanism, etc., and the structure is extremely simplified.

Further, according to the embodiment of the present invention, (b) the focus of the medical optical device remains unchanged (fixed at one point) even if the parallel link mechanism is deformed, and the focus does not shift during operation of the parallel link mechanism. Therefore, there is no need for time for focusing medical optical equipment, and surgical time can be significantly shortened. In addition, since the affected area can be observed from various angles with the focus fixed at one point, the affected area can be observed from the optimal position (direction), and operations such as surgery can be performed more reliably and quickly.

(C) Since the rotational moment around the center shaft caused by the rotation of the support part is offset by the counterweight, even if the support part supporting heavy medical optical equipment is rotated in the horizontal direction, A medical optical device can be stopped at any desired rotational position without losing the weight balance around the center shaft.

(d) One end of the uppermost parallel link of the multistage parallel link mechanism supports the arm main body so as to be able to move up and down, and a counterweight is provided at the other end of the lowermost balance link to offset the weight of the arm main body. , the entire upper structure above the center shaft can be easily moved up and down. Moreover,
The entire stand device can be made smarter, and since the counterweight does not protrude rearward, it is less likely to interfere with surrounding people or equipment, which is favorable from the standpoint of safety.

(e) By rotating the first rotating plate or the second rotating plate 180° horizontally, the focal point of the optical instrument tilted and supported at 45° or 90° matches the focal position in the vertically supported state. Therefore, the medical optical equipment can be used at the optimal observation angle, and since the focal point is located on the same vertical line, the time required to focus the medical optical equipment is shortened, significantly shortening the surgical time, etc. It will be possible to achieve this.

[Brief explanation of drawings]

FIG. 1 is an overall perspective view showing a stand device for medical optical equipment according to an embodiment of the present invention, and FIG. 2 is a schematic side view showing the weight balance structure of the stand device shown in FIG. The figure is a schematic side view as seen from the direction indicated by the arrow in Figure 2. Figure 4 is an explanatory diagram of the operation of the parallel link mechanism showing arbitrary adjustment of the observation angle in the front and rear directions of medical optical equipment. Figure 5 is a rotating piece. FIG. 6 is a schematic plan view of the stand device showing the back and forth movement of the medical optical device; FIG. 7 is the horizontal movement of the medical optical device FIG. 8 is a side view of the medical optical device in a vertically supported state; FIGS. 9(a) to (c) each show the process of changing the angle to 45° support. FIGS. 10A to 10C are side views of the medical optical device, each showing a process of changing the angle to 90° support. 21-... Center shaft 25- Parallel link mechanism 26-... Base end portion 29- of the parallel link mechanism Rotating piece (support part) 31... First rotating plate 33- Second rotating plate 34- Surgical microscope (medical optical equipment) 61 ・-・・
Multistage parallel link mechanism W1 - 1st counterweight W2 ... 2nd counterweight W3 - 3rd counterweight @ Figure 3! Figure 5 Figure 9 (A) Figure 9 (B) Figure 9 () Figure 10 (B) Figure 10 (C) Procedural amendment (voluntary) June 29, 1988

Claims (1)

[Claims] An optical device is supported at the distal end of a parallel link mechanism, the base end of the parallel link mechanism is provided at one end of a rotatable center shaft, and the parallel link mechanism is perpendicular to the other end of the center shaft. By suspending and supporting a pendulum-shaped counterweight that swings in the direction of the A stand device for medical optical equipment, characterized in that rotational moment is offset by a counterweight.