WO2017029906A1 - 医療用観察装置および医療用観察システム - Google Patents
医療用観察装置および医療用観察システム Download PDFInfo
- Publication number
- WO2017029906A1 WO2017029906A1 PCT/JP2016/070467 JP2016070467W WO2017029906A1 WO 2017029906 A1 WO2017029906 A1 WO 2017029906A1 JP 2016070467 W JP2016070467 W JP 2016070467W WO 2017029906 A1 WO2017029906 A1 WO 2017029906A1
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- WIPO (PCT)
- Prior art keywords
- cable
- medical observation
- central axis
- arm
- rotating
- Prior art date
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G11/00—Arrangements of electric cables or lines between relatively-movable parts
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/20—Surgical microscopes characterised by non-optical aspects
- A61B90/25—Supports therefor
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B21/00—Microscopes
- G02B21/0004—Microscopes specially adapted for specific applications
- G02B21/0012—Surgical microscopes
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B21/00—Microscopes
- G02B21/24—Base structure
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B21/00—Microscopes
- G02B21/32—Micromanipulators structurally combined with microscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/373—Surgical systems with images on a monitor during operation using light, e.g. by using optical scanners
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B21/00—Microscopes
- G02B21/36—Microscopes arranged for photographic purposes or projection purposes or digital imaging or video purposes including associated control and data processing arrangements
- G02B21/368—Microscopes arranged for photographic purposes or projection purposes or digital imaging or video purposes including associated control and data processing arrangements details of associated display arrangements, e.g. mounting of LCD monitor
Definitions
- the present invention relates to a medical observation apparatus and a medical observation system.
- the microscope systems disclosed in Patent Documents 1 to 3 include a microscope unit incorporating an imaging unit, and a support unit that has a plurality of arms that are rotatably provided to support the microscope unit. This microscope system can move or tilt the microscope unit to a desired position three-dimensionally by rotating each arm.
- a control unit that controls the operation of the imaging unit and the imaging unit are connected, and a control signal is transmitted from the control unit to the imaging unit, or the imaging unit captures an image.
- a cable including a plurality of transmission lines for transmitting a signal generated by this to the control unit is inserted into the arm.
- the present invention has been made in view of the above, and an object thereof is to provide a medical observation apparatus and a medical observation system that have durability against the rotation of an arm.
- a medical observation apparatus includes a microscope unit that outputs an imaging signal of an object to be observed and a support unit that movably supports the microscope unit.
- a support portion having a plurality of arm portions, and a plurality of joint portions that hold the arm portions so as to be rotatable around a predetermined axis, and connected to the microscope portion.
- One or a plurality of cables that are inserted through the at least one of the plurality of cables, wherein at least one of the plurality of joints rotates the arm unit to be rotated about an axis parallel to a central axis of the arm unit to be rotated.
- the torsional joint portion holds the rotation shaft portion extending in parallel with the central axis of the rotation target arm portion, the rotation target arm portion, and the rotation shaft portion with respect to the central axis of the rotation shaft portion
- the cave at the offset position A rotating part rotatable around the central axis, and an extending part extending from the rotary shaft part, and the cable is fixed at a position where the central axis of the rotating shaft part passes through the cable. And an extending portion.
- the extension portion is fixed to the rotating shaft portion, and is connected to the fixing portion and a plate-like connection that fixes the cable. And a portion.
- the rotating portion is cylindrical and is disposed on an outer peripheral side of the rotating shaft portion, and the connecting portion has a plate width on a main surface. It is smaller than the diameter formed by the outer periphery of the rotating part.
- the diameter of the cable is R 1 and the distance between the center axis of the rotating shaft portion and the center of the cable is D 1 , the diameter R 1 and the distance D 1 satisfy the relationship of 2 ⁇ R 1 ⁇ D 1 .
- the fixed position of the cable by the rotating portion and the fixed position of the cable by the extending portion are the center of the rotating shaft portion in the torsion joint portion. It is characterized by being one end and the other end in the direction of the axis.
- At least one of the cables passes through the central axis of the rotating shaft portion in a state where the rotating portion and the extending portion are not twisted. It is characterized by being on a flat surface.
- the plane passing through the central axis of the at least one cable and the rotation shaft portion in a state where the rotation portion and the extension portion are not twisted is
- the plane is a plane that passes through substantially the center in a range in which the cable can rotate when the rotating portion rotates around the central axis.
- a medical observation system includes the medical observation device according to the above invention and a display device that displays an image corresponding to image data generated by the medical observation device.
- FIG. 1 is a perspective view showing an external configuration of a medical observation system according to an embodiment of the present invention.
- FIG. 2 is a perspective view showing a configuration of a main part of the medical observation system according to the embodiment of the present invention.
- FIG. 3 is a side view showing a configuration of a main part of the medical observation system according to the embodiment of the present invention.
- FIG. 4 is a perspective view showing a configuration of a main part of the medical observation system according to the embodiment of the present invention.
- FIG. 5 is a perspective view illustrating a configuration of a main part of the medical observation system according to the embodiment of the present invention, and illustrates a state of the cable when the rotating unit is rotated from the state illustrated in FIG. 4.
- FIG. 6 is a side view showing the configuration of the main part of the medical observation system according to Modification 1 of the embodiment of the present invention.
- FIG. 7 is a perspective view showing a configuration of a main part of a medical observation system according to Modification 1 of the embodiment of the present invention.
- FIG. 8 is a perspective view showing a configuration of a main part of the medical observation system according to the first modification of the embodiment of the present invention, and the state of the cable when the rotating unit is rotated from the state shown in FIG.
- FIG. 9 is a diagram for explaining the configuration of the main part of the medical observation system according to the second modification of the embodiment of the present invention, in which a plane that passes through the rotating unit and is orthogonal to the third axis is a cut surface.
- FIG. 10 is a diagram for explaining the configuration of the main part of the medical observation system according to the third modification of the embodiment of the present invention, in which a plane that passes through the rotating unit and is orthogonal to the third axis is a cut surface.
- FIG. 1 is a perspective view showing an external configuration of a medical observation system according to an embodiment of the present invention.
- a medical observation system 1 shown in FIG. 1 includes a medical observation device (hereinafter referred to as an observation device) 2 having a function as a microscope for enlarging and imaging a fine structure of an object to be observed, and an image generated by the observation device 2. And a display device 3 for displaying an image corresponding to the data.
- an observation device 2 having a function as a microscope for enlarging and imaging a fine structure of an object to be observed
- an image generated by the observation device 2 and a display device 3 for displaying an image corresponding to the data.
- the observation apparatus 2 is a base part of the observation apparatus 2, a base part 4 that can move on the floor surface, a support part 5 supported by the base part 4, and an object to be observed provided at the tip of the support part 5. And a columnar microscope section 6 for enlarging and imaging a minute part of the.
- the base unit 4 generates image data based on the imaging signal captured by the microscope unit 6 and controls the overall operation of the medical observation system 1 and illumination for illuminating the object to be observed.
- a light source unit that emits light is provided.
- a cable group including cables and the like is disposed from the base portion 4 to the microscope portion 6. The cable group is disposed along the support portion 5.
- the support portion 5 includes a first joint portion 11, a first arm portion 21, a second joint portion 12, a second arm portion 22, a third joint portion 13, a third arm portion 23, a fourth joint portion 14, and a fourth arm. Part 24, fifth joint part 15, fifth arm part 25, and sixth joint part 16.
- the support portion 5 has four sets of two arm portions and four sets of joint portions that rotatably connect one of the two arm portions (tip side) to the other (base end side). Specifically, these four sets are (first arm part 21, second joint part 12, second arm part 22), (second arm part 22, third joint part 13, third arm part 23), (Third arm part 23, fourth joint part 14, fourth arm part 24) and (fourth arm part 24, fifth joint part 15, fifth arm part 25).
- the side continuous with the base portion 4 is referred to as a proximal end side
- the side continuous with the microscope portion 6 is referred to as a distal end side.
- the first joint unit 11 holds the microscope unit 6 rotatably on the distal end side, and is held on the first arm unit 21 while being fixed to the distal end portion of the first arm unit 21 on the proximal end side.
- the first joint portion 11 has a cylindrical shape and holds the microscope portion 6 so as to be rotatable around a first axis O 1 that is a central axis in the height direction.
- the first arm portion 21 has a shape extending from the side surface of the first joint portion 11 in a direction orthogonal to the first axis O 1 .
- the second joint portion 12 holds the first arm portion 21 rotatably at the distal end side, and is held by the second arm portion 22 while being fixed to the distal end portion of the second arm portion 22 at the proximal end side.
- the second joint portion 12 has a cylindrical shape, and is rotatable about a second axis O 2 that is a central axis in the height direction and orthogonal to the first axis O 1. Hold.
- the second arm portion 22 has a substantially L shape, and is connected to the second joint portion 12 at one end portion of the L shape (the end portion of the vertical line portion).
- the third joint portion 13 rotatably holds the other L-shaped end portion (the end portion of the horizontal line portion) of the second arm portion 22 on the distal end side, and the distal end of the third arm portion 23 on the proximal end side. It is held by the third arm portion 23 in a state of being fixed to the portion.
- the third joint portion 13 has a cylindrical shape, is a central axis in the height direction, is an axis orthogonal to the second axis O 2 , and is an axis parallel to the direction in which the second arm portion 22 extends. rotatably about a third axis O 3 for holding the second arm portion 22.
- the distal end side of the third arm portion 23 has a cylindrical shape, and a hole portion penetrating in a direction perpendicular to the height direction of the distal end side cylinder is formed on the proximal end side.
- the third joint portion 13 is rotatably held by the fourth joint portion 14 through this hole. Details of the third joint portion 13 will be described later.
- the fourth joint portion 14 holds the third arm portion 23 rotatably at the distal end side, and is held by the fourth arm portion 24 in a state of being fixed to the fourth arm portion 24 at the proximal end side.
- the fourth joint portion 14 has a cylindrical shape, and is pivotable about a fourth axis O 4 that is a central axis in the height direction and orthogonal to the third axis O 3. Hold.
- the fifth joint portion 15 rotatably holds the fourth arm portion 24 on the distal end side, and is fixedly attached to the fifth arm portion 25 on the proximal end side.
- the fifth joint portion 15 has a cylindrical shape, and the fourth arm portion 24 can be rotated around a fifth axis O 5 that is a central axis in the height direction and is parallel to the fourth axis O 4. Hold on.
- the fifth arm portion 25 includes a bent portion 251 that is bent in an L shape, and a rod-like portion 252 that extends downward from the bottom surface of the bent portion 251 in a rod shape.
- the fifth joint portion 15 is attached to an end portion on the opposite side to the side on which the rod-like portion 252 of the bent portion 251 extends on the proximal end side.
- the sixth joint portion 16 rotatably holds the fifth arm portion 25 on the distal end side, and is fixedly attached to the upper surface of the base portion 4 on the proximal end side.
- the sixth joint portion 16 has a cylindrical shape, and the fifth arm portion 25 can be rotated around a sixth axis O 6 that is a central axis in the height direction and orthogonal to the fifth axis O 5. Hold on.
- a proximal end portion of the rod-like portion 252 of the fifth arm portion 25 is attached to the distal end side of the sixth joint portion 16.
- the support unit 5 having the above-described configuration realizes a total of 6 degrees of freedom of movement in the microscope unit 6 including 3 degrees of translation and 3 degrees of freedom of rotation.
- the cable described above is inserted into the first joint portion 11 to the sixth joint portion 16 and the first arm portion 21 to the fifth arm portion 25 to connect the base portion 4 and the microscope portion 6. To do.
- the first joint part 11 to the sixth joint part 16 have electromagnetic brakes that prohibit the rotation of the microscope part 6 and the first arm part 21 to the fifth arm part 25, respectively.
- Each electromagnetic brake is released in a state where an operation switch (described later) provided in the microscope unit 6 is pressed, and allows the microscope unit 6 and the first arm unit 21 to the fifth arm unit 25 to rotate.
- An air brake may be applied instead of the electromagnetic brake.
- the microscope unit 6 has a cylindrical shape and is provided with an imaging unit for enlarging an image of the object to be observed, and releases the electromagnetic brakes in the first joint unit 11 to the sixth joint unit 16 to each joint.
- An operation switch that accepts an operation input that allows rotation of the unit, an operation lever that can change an enlargement magnification in the imaging unit and a focal length to the object to be observed, and the like are provided.
- the optical axis of the imaging unit coincides with, for example, the first axis O 1 .
- the imaging unit images the object to be observed and outputs an imaging signal under the control of the control unit.
- This imaging unit is configured using an imaging element such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor) that receives an object image and converts it into an electrical signal.
- CCD Charge Coupled Device
- CMOS Complementary Metal Oxide Semiconductor
- FIG. 2 is a perspective view showing the configuration of the main part of the medical observation system according to the embodiment of the present invention, and is a perspective view showing the configuration of the main part of the third joint unit 13.
- FIG. 3 is a side view showing the configuration of the main part of the medical observation system according to the embodiment of the present invention, and is a side view in which the cover 70 described later is removed in the configuration shown in FIG. 4 is a perspective view showing a configuration of a main part of the medical observation system according to the embodiment of the present invention, and is a perspective view in which a cover 70 described later is removed in the configuration shown in FIG. 2 to 4, only the cable 100 (for example, a light guide cable) having the largest cable diameter is illustrated in the cable group through which the support portion 5 is inserted.
- the cable 100 for example, a light guide cable
- the cable 100 is located on the outermost periphery of the cable group.
- the cable 100 may be a transmission cable that forms the outermost periphery of the cable group depending on the thickness or the like, or a light guide cable and a transmission cable are arranged, and the outermost periphery of the cable group that is exposed on the outermost periphery is arranged It may pass.
- the third joint portion 13 functions as a torsion joint portion that rotates the second arm portion 22 around an axis parallel to the central axis of the second arm portion 22.
- 2 to 4 show a state where a twisting load due to the rotation of the rotating portion 73 is not applied to the cable 100, that is, a state where the cable 100 is not twisted.
- the state where the torsional load is not applied here means that the rotating portion 73 is located at a central position in a range in which the rotating portion 73 can rotate around the rotating shaft portion 72 described later, and the central axis of the cable 100 is the rotating shaft portion. It is in a state where it is on a plane passing through the central axis 72 (third axis O 3 ).
- the center position in the rotatable range is an intermediate position between the rotation limit positions of the cable 100 rotated by the rotation of the rotation unit 73, and one rotation limit at the rotation center (third axis O 3 ).
- the angle formed by the position and the other rotation limit position is 300 °, the angle is 150 °. If no twisting load is applied, a position slightly shifted from the intermediate position may be set as the center position.
- the third joint portion 13 has a cylindrical shape, a cover 70 (see FIG. 2) to which the second arm portion 22 is attached on the outer periphery, and a longitudinal direction of the third arm portion 23 from the end of the third arm portion 23.
- the extending portion 71 extending along the (third axis O 3 ) and the end portion of the extending portion 71, which is provided at the end portion on the side different from the fourth joint portion 14 side, and the central axis is the above-described first axis.
- a rotation shaft portion 72 that coincides with the three axes O 3 and a rotation portion 73 that can rotate around the rotation shaft portion 72 are provided.
- the extending part 71 is connected to the disk-like fixing part 711 fixed to the rotating shaft part 72 and the fixing part 711, and is connected to the fixing part 711 and the third arm part 23.
- a guide portion 713 that is C-shaped, has an open end fixed to the connecting portion 712, and forms a hollow space that can be guided through a plurality of cables including the cable 100.
- the connecting portion 712 extends in a plate shape along the third axis O 3 .
- the rotating part 73 is connected to the inner peripheral part of the cover 70 by a connecting member 701. For this reason, when the rotating part 73 rotates around the rotating shaft part 72, the cover 70 rotates in conjunction with the rotation of the rotating part 73. When the cover 70 rotates, the second arm portion 22 rotates around the rotation shaft portion 72 (third axis O 3 ).
- a plurality of cables including the cable 100 are fixed to the connecting portion 712 and the rotating portion 73 by binding bands 714 and 731.
- the binding band 714 is inserted through the connecting portion 712 and fixes a plurality of cables including the cable 100.
- the binding band 731 fixes the plurality of cables including the cable 100 by surrounding the plurality of cables including the cable 100 and the outer periphery of the rotating unit 73.
- the fixing position of the cable 100 by the binding bands 714 and 731 is preferably provided at one end and the other end of the third joint portion 13 in the direction of the third axis O 3 .
- the one end and the other end include an end portion and a region within a predetermined range from the end portion.
- the fixed position is preferably located in the region on the end side.
- the cable 100 is fixed by the binding band 714 at a position where the central axis of the cable 100 substantially coincides with the third axis O 3 in the guide portion 713, and the binding band 731 at a position different from the third axis O 3 in the rotating portion 73. It is fixed by. For this reason, the fixed part of the cable 100 in the connecting part 712 and the fixed part of the cable 100 in the rotating part 73 are offset from the direction of the third axis O 3 . Note that “offset” means that the fixed portion of the cable 100 in the connecting portion 712 and the fixed portion of the cable 100 in the rotating portion 73 are arranged at different positions when viewed from the direction of the third axis O 3. .
- FIG. 5 is a perspective view illustrating a configuration of a main part of the medical observation system according to the embodiment of the present invention, and illustrates a state of the cable when the rotating unit 73 is rotated from the state illustrated in FIG. 4. It is a figure to do.
- a twisting load due to the rotation of the rotating portion 73 is applied to the cable 100.
- the cable 100 is twisted in a state where the fixed portion of the cable 100 in the connecting portion 712 and the fixed portion of the cable 100 in the rotating portion 73 are offset.
- the distance D 1 is, for example, 1/2 ⁇ R 1 + 1 / 2R 2 , and it is preferable that the diameter R 1 and the distance D 1 satisfy the relationship of 2 ⁇ R 1 ⁇ D 1 .
- the torsional load applied to the cable 100 becomes smaller than the torsional load applied in a state where the central axis of the cable 100 coincides with the third axis O 3 .
- the center of gravity of the cable group is replaced with the center of gravity of the shape.
- the width of the connecting portion 712 and the width in the direction orthogonal to the third axis O 3 on the main surface is D 3 (see FIG. 4)
- the diameter R 2 and the width D 3 are D 3 ⁇ R It is preferable to satisfy the relationship of 2 .
- the main surface here means a surface having the largest area in the connecting portion 712. Satisfying this relationship is effective in reducing the interference between the cable 100 and the connecting portion 712 when the rotating portion 73 rotates. While satisfying the above-described relationship, by increasing the width D 3, and the rotary shaft 72 connecting the third arm portion 23 can be made more robust.
- distance D 2 in terms of reducing torsional load larger is preferable.
- the third joint portion 13 holds the rotation shaft portion 72 extending in parallel with the central axis of the second arm portion 22 to be rotated and the second arm portion 22, and the rotation shaft portion.
- a rotating portion 73 that can be rotated around the central axis of the rotating shaft portion 72, and an extending portion 71 that extends from the rotating shaft portion 72.
- An extension portion 71 that fixes the cable 100 at a position where the central axis of the shaft portion 72 passes through the cable 100 is provided.
- the torsional load applied to the cable 100 by the rotation of the rotating unit 73 is smaller than the torsional load applied in a state where the central axis of the cable 100 coincides with the third axis O 3.
- the observation apparatus 2 it is possible to reduce the operation force when performing the operation so as to twist this axis (the third axis O 3 ).
- the shape of the connecting portion 712 extends from the end portion on the side continuous with the guide portion 713 to the end portion on the side continuous with the fixed portion 711 with the same cross-sectional shape.
- the shape of the connecting portion 712 extends from the end portion on the side continuous with the guide portion 713 to the end portion on the side continuous with the fixed portion 711 with the same cross-sectional shape.
- FIG. 6 is a side view showing the configuration of the main part of the medical observation system according to Modification 1 of the embodiment of the present invention.
- FIG. 7 is a perspective view showing a configuration of a main part of a medical observation system according to Modification 1 of the embodiment of the present invention.
- FIG. 8 is a perspective view showing a configuration of a main part of the medical observation system according to the first modification of the embodiment of the present invention, and the state of the cable when the rotating unit is rotated from the state shown in FIG. FIG.
- the connecting portion 712 is an end portion in the direction of the third axis O 3 and is provided at an end portion on the side connected to the fixed portion 711, and is an inclined surface inclined with respect to the third axis O 3 .
- the solid reinforcement part 712a which has is provided.
- the reinforcing portion 712a can increase the cross-sectional area in the vicinity of the fixed portion 711 in the connecting portion 712 and increase the rigidity in the vicinity of the fixed portion 711.
- the cable 100 has been described as being the cable located on the outermost periphery of the cable group.
- a plurality of cables are combined into one, such as a light guide cable and a transmission cable.
- a cable may be used.
- FIG. 9 is a diagram illustrating the configuration of the main part of the medical observation system according to the second modification of the embodiment of the present invention, and is a plane that passes through the rotating unit 73 and is orthogonal to the third axis O 3. It is a fragmentary sectional view which uses as a cut surface.
- the length R 1 ′ corresponding to the diameter R 1 of the cable 100 at this time is the smallest of the lengths between the outer surfaces of the covering material 100c in the direction orthogonal to the third axis O 3 (see FIG. 3 and the like). Length.
- the length R 1 ′ and the distance D 1 preferably satisfy the relationship of 2 ⁇ R 1 ′ ⁇ D 1 as in the above-described embodiment.
- FIG. 10 is a diagram for explaining the configuration of the main part of the medical observation system according to the third modification of the embodiment of the present invention, and is a plane that passes through the rotating unit 73 and is orthogonal to the third axis O 3. It is a fragmentary sectional view which uses as a cut surface.
- the composite cable 102 in which the three cables (the first cable 100d, the second cable 100e, and the third cable 100f) are aligned by the covering material 100g with the extending direction aligned Length R 1'' corresponding to the diameter R 1 of the cable 100 at this time, the third shaft O 3 (see FIG. 3) and of the length between the outer surface of the dressing 100g in a direction orthogonal, the minimum Is the length of The length R 1 ′′ and the distance D 1 preferably satisfy the relationship of 2 ⁇ R 1 ′′ ⁇ D 1 as in the above-described embodiment.
- the composite cables 101 and 102 in the above-described modified examples 2 and 3 are flat surfaces on which at least one cable passes through the central axis of the rotating shaft portion 72 in a state where the rotating portion 73 and the extending portion 71 are not twisted. Thus, it is on a plane that passes through a substantially central position in the rotatable range.
- the present invention should not be limited only by the embodiment described above.
- the configuration of the third joint portion 13 has been described as an example.
- the cable 100 has been described as being fixed to the connecting portion 712 and the rotating portion 73 by the binding bands 714 and 731. , Not limited to unity bands.
- the light guide cable can be obtained by using an external light source device or the like. If there is no cable, a single cable such as one having only a transmission cable may be used.
- the medical observation device and the medical observation system according to the present invention are useful for imparting durability against arm rotation.
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Abstract
Description
図1は、本発明の一実施の形態に係る医療用観察システムの外観構成を示す斜視図である。同図に示す医療用観察システム1は、被観察体の微細構造を拡大して撮像する顕微鏡としての機能を有する医療用観察装置(以下、観察装置という)2と、観察装置2が生成した画像データに対応する画像を表示する表示装置3と、を備える。
上述した実施の形態では、延在部71において、連結部712の形状が、ガイド部713に連なる側の端部から固定部711に連なる側の端部まで、同一断面形状をなして延びているものとして説明したが、例えば図5に示すような捻転状態においてケーブル100が連結部712に巻き付く挙動をする際に、ケーブル100の可動軌跡と干渉しない形状であれば、例えば固定部711近傍では断面積を増やした形状として剛性を高めるようにしても、同様の効果を得ることができる。
上述した実施の形態では、ケーブル100が、ケーブル群の最外周に位置するケーブルであるものとして説明したが、ライトガイドケーブルと伝送ケーブルとが配設されるなど、複数のケーブルを一つにまとめたケーブルであってもよい。
図10は、本発明の実施の形態の変形例3に係る医療用観察システムの要部の構成を説明する図であって、回転部73を通過し、かつ第3軸O3と直交する面を切断面とする部分断面図である。
2 医療用観察装置
3 表示装置
4 ベース部
5 支持部
6 顕微鏡部
11 第1関節部
12 第2関節部
13 第3関節部
14 第4関節部
15 第5関節部
16 第6関節部
21 第1アーム部
22 第2アーム部
23 第3アーム部
24 第4アーム部
25 第5アーム部
70 カバー
71 延在部
72 回転軸部
73 回転部
100 ケーブル
101,102 複合ケーブル
711 固定部
712 連結部
713 ガイド部
714,731 結束バンド
Claims (8)
- 被観察体の撮像信号を出力する顕微鏡部と、
前記顕微鏡部を移動可能に支持する支持部であって、複数のアーム部と、前記アーム部同士を所定の軸のまわりに回動可能に保持する複数の関節部とを有する支持部と、
前記顕微鏡部に接続されてなり、前記支持部の内部に挿通される1または複数のケーブルと、
を備え、
前記複数の関節部の少なくとも一つは、回転対象のアーム部の中心軸と平行な軸のまわりに該回転対象のアーム部を回転させる捻転関節部を含み、
前記捻転関節部は、
前記回転対象のアーム部の中心軸と平行に延びる回転軸部と、
前記回転対象のアーム部を保持するとともに、前記回転軸部の中心軸に対してオフセットした位置で前記ケーブルを固定し、該中心軸のまわりに回転可能な回転部と、
前記回転軸部から延びる延在部であって、前記回転軸部の中心軸が前記ケーブルを通過する位置で該ケーブルを固定する延在部と、
を有することを特徴とする医療用観察装置。 - 前記延在部は、
前記回転軸部に固定される固定部と、
前記固定部に連結され、前記ケーブルを固定する板状の連結部と、
を有することを特徴とする請求項1に記載の医療用観察装置。 - 前記回転部は、円筒状をなし、前記回転軸部の外周側に配置されてなり、
前記連結部は、主面における板幅が、前記回転部の外周のなす径よりも小さいことを特徴とする請求項2に記載の医療用観察装置。 - 前記ケーブルの径をR1、前記回転軸部の中心軸と前記ケーブルの中心との間の距離をD1としたとき、径R1と距離D1とは、2×R1≦D1の関係を満たす
ことを特徴とする請求項3に記載の医療用観察装置。 - 前記回転部による前記ケーブルの固定位置、および前記延在部による前記ケーブルの固定位置は、前記捻転関節部における前記回転軸部の中心軸の方向の一端および他端である
ことを特徴とする請求項1に記載の医療用観察装置。 - 前記ケーブルの少なくとも一つは、前記回転部と前記延在部とが捻転していない状態において、前記回転軸部の中心軸を通過する平面上にある
ことを特徴とする請求項1に記載の医療用観察装置。 - 前記回転部と前記延在部とが捻転していない状態において少なくとも一つの前記ケーブルおよび前記回転軸部の中心軸を通過する平面は、前記回転部が前記中心軸のまわりに回転した際に前記ケーブルが回転可能な範囲における略中央を通過する平面である
ことを特徴とする請求項6に記載の医療用観察装置。 - 請求項1~7のいずれか一項に記載の医療用観察装置と、
前記医療用観察装置が生成した画像データに対応する画像を表示する表示装置と、
を備えたことを特徴とする医療用観察システム。
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