WO2019194171A1 - Support structure for medical projector - Google Patents
Support structure for medical projector Download PDFInfo
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- WO2019194171A1 WO2019194171A1 PCT/JP2019/014610 JP2019014610W WO2019194171A1 WO 2019194171 A1 WO2019194171 A1 WO 2019194171A1 JP 2019014610 W JP2019014610 W JP 2019014610W WO 2019194171 A1 WO2019194171 A1 WO 2019194171A1
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- medical projector
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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
- A61B90/30—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
- A61B90/35—Supports therefor
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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
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
Definitions
- the present invention relates to a support structure for a medical projector.
- Medical devices such as microscopes and cameras used in surgery are supported by the tip of a support arm that extends laterally from a stand device installed on the floor.
- a holding arm having a plurality of rotating shafts is attached to the tip of the support arm, and one side surface of the medical device is fixed to the tip of the holding arm. Since the medical device is supported by a holding arm having a plurality of rotation axes, the direction of the medical device can be arbitrarily changed. Since medical devices such as a microscope and a camera are relatively small, there is no problem if only one side of the medical device is supported in a so-called cantilever state by a holding arm.
- Related technology is exemplified in Japanese Patent Publication No. 2017-6620 (Patent Document 1).
- a support structure for a medical projector that can reliably support a large-sized medical projector with both ends and can arbitrarily change the orientation in a supported state.
- a holding arm whose front end side branches in a bifurcated manner from the middle is provided at the front end portion of the support arm extending in the lateral direction of the stand device installed on the floor.
- a cylinder that is rotatable about a first rotation axis that matches the first rotation axis, and that is rotatable about a second rotation axis that is orthogonal to the first rotation axis of the support arm, between both ends on the distal end side of the holding arm.
- a medical projector that attaches the outer ring portion of the ring-shaped bearing in which a plurality of rolling elements are interposed between the outer ring and the inner ring, and irradiates light from the lower surface inside the ring-shaped bearing. Is fixed to the inner ring portion of the ring-shaped bearing and is arranged so as to be rotatable about the central axis of the ring-shaped bearing.
- rails extending along the central axis direction of the medical projector in a state of passing through the second rotational axis are provided on both side surfaces in the second rotational axis direction of the medical projector.
- Each of the weights is provided with a weight whose position can be changed along the longitudinal direction of the rail.
- an operating handle for operating a stand device or a medical projector is attached to the lower end of the rail.
- FIG. 10 is a sectional view taken along line SB-SB in FIG. 9;
- FIG. 1 A preferred embodiment of the present invention will be described with reference to FIGS.
- the front-rear and left-right directions are as shown in FIG.
- the stand device 1 installed on the floor in the operating room includes a stand body 2 that can be rotated horizontally on the base.
- a parallel link mechanism R including a front arm 3 and a rear arm 4 is supported on the stand body 2 so as to be rotatable about a rotation shaft 5 set in the middle of the front arm 3.
- the upper side of the parallel link mechanism R is formed by the rear portion of the support arm 6, and the support arm 6 extends forward as it is.
- the lower side of the parallel link mechanism R is formed by a front portion of the lower arm 7, the lower arm 7 extends rearward as it is, and a counterweight 8 is attached to the rear end.
- a holding arm 9 whose tip is branched in a bifurcated manner is attached.
- the holding arm 9 is attached so as to be rotatable about a first rotation axis X that matches the axis of the support arm 6.
- a ring-shaped cylindrical portion 11 is attached between the end portions 10 of the holding arm 9 which are bifurcated.
- the cylindrical portion 11 is rotatably attached to the end portion 10 in a state where the maximum diameter portion is centered on a second rotation axis Y orthogonal to the first rotation axis X.
- a plurality of convex portions 12 are formed on the inner surface of the cylindrical portion 11 along the circumferential direction.
- a ring-shaped bearing 13 is mounted on the convex portion 12.
- the ring-shaped bearing 13 has a structure in which a plurality of rollers (rolling elements) 16 are interposed between the outer ring 14 and the inner ring 15, and the outer ring 14 is fixed to the convex portion 12 with screws 17.
- a medical projector 18 is disposed inside the ring-shaped bearing 13.
- the medical projector 18 is a substantially rectangular parallelepiped, and six attachment parts 19 are fixed around the side surface thereof, and the tip end portion is fixed to the inner ring 15 of the ring-shaped bearing 13 by screws 20 from below.
- the center axis Z of the ring-shaped bearing 13 is orthogonal to the first rotation axis X and the second rotation axis Y, and the medical projector 18 is rotatable with respect to the cylindrical portion 11 and the outer ring 14 about the center axis Z. .
- Rails 21 extending along the direction of the central axis Z of the medical projector 18 in a state of passing through the second rotational axis Y are fixed to both side surfaces of the medical projector 18 in the direction of the second rotational axis Y.
- a plurality of screw holes 22 are formed in the rail 21 along the longitudinal direction.
- the rail 21 is provided with a weight 23 having a U-shaped cross section.
- a circular hole 24 is formed in the weight 23, and the position of the weight 23 can be changed along the longitudinal direction of the rail 21 by inserting a screw portion 25 therefrom and screwing it into an arbitrary screw hole 22. .
- the position of the weight 23 can be moved to both sides with the second rotation axis Y as a boundary. Therefore, as shown in FIG. 9, by adjusting the upper and lower weights W1 and W2 around the second rotation axis Y of the medical projector 18, the balance adjustment in the rotation direction around the second rotation axis Y is performed. It can be performed. In some cases, by changing the weight of one of the left and right weights 23, balance adjustment in the rotation direction around the first rotation axis X of the medical projector 18 can also be performed.
- An operation handle 26 is attached to the left and right of the lower end of the rail 21, respectively.
- the operation handle 26 is for operating the electromagnetic clutch and the medical projector 18 in each rotating part of the stand device 1. Since the operation handle 26 is attached to the lower end portion of the highly rigid rail 21, the attachment rigidity of the operation handle 26 is high.
- the illumination 27 irradiates white light H to illuminate the surgical site at hand of Dr. D from all directions, and eliminates the fact that the surgical site becomes dark due to the shadow of Dr. D's hand.
- the medical projector 18 supported by the stand device 1 at a position higher than the head of the doctor D takes a fluorescent part from the organ G during the operation of the patient P, visualizes it, and projects it onto the organ G in real time. It is a device for.
- a window 29 is formed on the lower surface of the medical projector 18, and an excitation light illumination 30 that emits excitation light E having a specific wavelength is provided around the window 29. Since there is the excitation light illumination 30 around the window 29, the excitation light E can be applied to the organ G from all directions.
- a light branching means 31 that partially transmits and reflects light directly above the window 29.
- a projector unit 32 and a camera unit 33 are provided inside.
- a fluorescence camera 34 and a visible light camera 35 are provided inside the camera unit 33, and optical filter means (not shown) for separating the fluorescence and visible light is also provided.
- the patient P is preliminarily administered with a fluorescent reagent safe for the human body.
- the operating light 36 in the operating room is basically turned off (it may be turned on depending on the fluorescence intensity).
- the excitation light illumination 30 irradiates the organ G at the surgical site with the excitation light E having a specific wavelength. Then, in the operative field including the organ G, a blood flow or a lymph vessel flow or a tumor under the surface of the tissue that cannot be seen with the naked eye emits light as the fluorescent light emitting portion F.
- the reflected light A from the surgical field including the fluorescence from the fluorescent light emitting unit F is taken into the medical projector 18 through the window 29 and guided to the camera unit 33.
- the camera unit 33 separates the reflected light A into fluorescence and visible light, and the fluorescence is captured by the fluorescence camera 34 and the visible light is captured by the visible light camera 35.
- the fluorescent image B captured by the fluorescent camera 34 is visualized and sent to the projector unit 32, and is projected from the projector unit 32 to the organ G through the light branching means 31 through the window 29.
- This is projection mapping in which the fluorescent image B is projected onto the organ G in real time. Due to the real-time projection, the deformation and movement of the organ G can be followed without any time difference, and the doctor D can perform an operation with reference to the fluorescent image B projected onto the organ G.
- this medical projector 18 is supported in a double-sided manner by the holding arm 9 branched in a bifurcated manner through the cylindrical portion 11 and the ring-shaped bearing 13, the support state is reliable.
- the electromagnetic clutch of the rotating part of the stand device 1 is released by operating while holding the operation handle 26, and the medical projector 18 is moved up and down as a whole. Alternatively, it can be moved back and forth and left and right.
- the medical projector 18 rotates with the holding arm 9 about the first rotation axis X, rotates with the ring-shaped bearing 13 about the second rotation axis Y, and rotates about the central axis Z of the ring-shaped bearing 13 Therefore, the projection direction can be arbitrarily changed.
- the medical projector can be reliably supported in the both-sided state by the holding arm branched in a bifurcated shape.
- the medical projector rotates with the holding arm around the first rotation axis, rotates with the ring bearing around the second rotation axis, and rotates around the center axis of the ring bearing. Can be changed arbitrarily.
- the second technical aspect of the present invention by changing the position of the weight along the rail, it is possible to adjust the balance in the rotation direction around the second rotation axis of the medical projector.
- the mounting rigidity of the operating handle can be increased.
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Abstract
Provided is a support structure for a medical projector, the support structure being configured such that a medical projector (18) can be firmly supported in a double-supported state by a holding arm (9) that is bifurcated, and the direction of the medical projector (18) can be freely changed because the medical projector (18) can be rotated about a central axis (Z), while the holding arm (9) being rotated about a first rotation axis (X) and a ring-shaped bearing (13) being rotated about a second rotation axis (Y).
Description
本発明は医療用プロジェクターの支持構造に関する。
The present invention relates to a support structure for a medical projector.
手術で使用される顕微鏡やカメラ等の医療機器は、フロアに設置されたスタンド装置から横方向に延びる支持アームの先端部に支持される。支持アームの先端部には複数の回転軸を有する保持アームが取付けられ、その保持アームの先端に医療機器の片方の側面が固定される。複数の回転軸を有する保持アームにより支持するため医療機器はその向きを任意に変更することができる。顕微鏡やカメラ等の医療機器は比較的小型のため、医療機器の片方の側面だけを保持アームにより所謂片持ち状態で支持しても問題ない。関連技術は日本国特許公開公報特開２０１７－６６２０号（特許文献１）に例示される。
Medical devices such as microscopes and cameras used in surgery are supported by the tip of a support arm that extends laterally from a stand device installed on the floor. A holding arm having a plurality of rotating shafts is attached to the tip of the support arm, and one side surface of the medical device is fixed to the tip of the holding arm. Since the medical device is supported by a holding arm having a plurality of rotation axes, the direction of the medical device can be arbitrarily changed. Since medical devices such as a microscope and a camera are relatively small, there is no problem if only one side of the medical device is supported in a so-called cantilever state by a holding arm. Related technology is exemplified in Japanese Patent Publication No. 2017-6620 (Patent Document 1).
しかしながら近年では顕微鏡やカメラ等の機能を内蔵した大型の医療機器も開発されている。例えば、手術部位の臓器における蛍光画像を撮影し、それを可視画像化してプロジェクションマッピング技術により臓器に直接投影する医療用プロジェクターが開発されている。このように大型の医療機器の場合は片持ちでは支持が不安定になるため、両持ちで且つ向きを任意に変更可能な新たな支持構造の提案が待たれている。
However, in recent years, large medical devices with built-in functions such as a microscope and a camera have been developed. For example, a medical projector has been developed that takes a fluorescent image of an organ at a surgical site, visualizes it, and projects it directly onto the organ using a projection mapping technique. Thus, in the case of a large-sized medical device, the support becomes unstable if it is cantilevered, and a proposal of a new support structure that can be arbitrarily changed in both directions while being held is awaited.
本発明によれば、大型の医療用プロジェクターを両持ちで確実に支持でき且つ支持した状態で向きを任意に変更可能な医療用プロジェクターの支持構造を提供することができる。
According to the present invention, it is possible to provide a support structure for a medical projector that can reliably support a large-sized medical projector with both ends and can arbitrarily change the orientation in a supported state.
本発明の第１の技術的側面によれば、フロアに設置されたスタンド装置の横方向に延びる支持アームの先端部に、途中から先端側が二股状に分岐した保持アームを、支持アームの軸心に合致した第１回転軸を中心に回転自在に取付け、保持アームの先端側の両方の端部間に、支持アームの第１回転軸に直交する第２回転軸を中心にして回転自在な円筒部を取付け、該円筒部に、外輪と内輪との間に複数の転動体を介在させたリング状ベアリングの外輪部分を固定し、リング状ベアリングの内部に、下面より光線を照射する医療用プロジェクターを、リング状ベアリングの内輪部分に固定した状態で、リング状ベアリングの中心軸を中心にして回転自在に配置したことを特徴とする。
According to the first technical aspect of the present invention, a holding arm whose front end side branches in a bifurcated manner from the middle is provided at the front end portion of the support arm extending in the lateral direction of the stand device installed on the floor. A cylinder that is rotatable about a first rotation axis that matches the first rotation axis, and that is rotatable about a second rotation axis that is orthogonal to the first rotation axis of the support arm, between both ends on the distal end side of the holding arm. A medical projector that attaches the outer ring portion of the ring-shaped bearing in which a plurality of rolling elements are interposed between the outer ring and the inner ring, and irradiates light from the lower surface inside the ring-shaped bearing. Is fixed to the inner ring portion of the ring-shaped bearing and is arranged so as to be rotatable about the central axis of the ring-shaped bearing.
本発明の第２の技術的側面によれば、医療用プロジェクターの第２回転軸方向における両方の側面に、第２回転軸を通過する状態で医療用プロジェクターの中心軸方向に沿って延びるレールを設け、該レールに対してレールの長手方向に沿って位置を変更自在なウェイトをそれぞれ設けたことを特徴とする。
According to the second technical aspect of the present invention, rails extending along the central axis direction of the medical projector in a state of passing through the second rotational axis are provided on both side surfaces in the second rotational axis direction of the medical projector. Each of the weights is provided with a weight whose position can be changed along the longitudinal direction of the rail.
本発明の第３の技術的側面によれば、レールの下端部にスタンド装置或いは医療用プロジェクターを操作するための操作ハンドルを取付けたことを特徴とする。
According to a third technical aspect of the present invention, an operating handle for operating a stand device or a medical projector is attached to the lower end of the rail.
本発明の好適な実施形態を図１～図１０に基づいて説明する。以下において前後左右の方向性は図１に示された通りである。
A preferred embodiment of the present invention will be described with reference to FIGS. In the following, the front-rear and left-right directions are as shown in FIG.
手術室内のフロア上に設置されているスタンド装置１は、ベース上で水平方向に回転自在なスタンド本体２を備えている。スタンド本体２には、前アーム３及び後アーム４を含む平行リンク機構Ｒが、前アーム３の途中に設定された回転軸５を中心にして回転自在に支持されている。
The stand device 1 installed on the floor in the operating room includes a stand body 2 that can be rotated horizontally on the base. A parallel link mechanism R including a front arm 3 and a rear arm 4 is supported on the stand body 2 so as to be rotatable about a rotation shaft 5 set in the middle of the front arm 3.
平行リンク機構Ｒの上辺は支持アーム６の後側部分により形成され、支持アーム６はそのまま前方へ延びている。平行リンク機構Ｒの下辺は下アーム７の前側部分により形成され、下アーム７はそのまま後方へ延び、後端にはカウンタウェイト８が取付けられている。
The upper side of the parallel link mechanism R is formed by the rear portion of the support arm 6, and the support arm 6 extends forward as it is. The lower side of the parallel link mechanism R is formed by a front portion of the lower arm 7, the lower arm 7 extends rearward as it is, and a counterweight 8 is attached to the rear end.
支持アーム６の先端部には、途中から先端側が二股状に分岐した保持アーム９が取付けられている。保持アーム９は支持アーム６の軸心に合致した第１回転軸Ｘを中心に回転自在に取付けられている。
At the tip of the support arm 6, a holding arm 9 whose tip is branched in a bifurcated manner is attached. The holding arm 9 is attached so as to be rotatable about a first rotation axis X that matches the axis of the support arm 6.
保持アーム９の二股状に分岐した先端側の端部１０間にはリング状の円筒部１１が取付けられている。円筒部１１はその最大直径部分が、第１回転軸Ｘに直交する第２回転軸Ｙを中心にした状態で、端部１０に対して回転自在に取付けられている。
A ring-shaped cylindrical portion 11 is attached between the end portions 10 of the holding arm 9 which are bifurcated. The cylindrical portion 11 is rotatably attached to the end portion 10 in a state where the maximum diameter portion is centered on a second rotation axis Y orthogonal to the first rotation axis X.
円筒部１１の内面には複数の凸部１２が円周方向に沿って形成されている。この凸部１２上にリング状ベアリング１３が取付けられている。リング状ベアリング１３は、外輪１４と内輪１５との間に複数のコロ（転動体）１６を介在させた構造で、その外輪１４がネジ１７により凸部１２に固定されている。
A plurality of convex portions 12 are formed on the inner surface of the cylindrical portion 11 along the circumferential direction. A ring-shaped bearing 13 is mounted on the convex portion 12. The ring-shaped bearing 13 has a structure in which a plurality of rollers (rolling elements) 16 are interposed between the outer ring 14 and the inner ring 15, and the outer ring 14 is fixed to the convex portion 12 with screws 17.
リング状ベアリング１３の内部には医療用プロジェクター１８が配置されている。医療用プロジェクター１８は概略直方体で、その側面の周囲に６個の取付部品１９が固定されており、その先端部がリング状ベアリング１３の内輪１５に下側からネジ２０により固定されている。リング状ベアリング１３の中心軸Ｚは前記第１回転軸Ｘ及び第２回転軸Ｙと直交し、医療用プロジェクター１８はこの中心軸Ｚを中心に円筒部１１及び外輪１４に対して回転自在となる。
A medical projector 18 is disposed inside the ring-shaped bearing 13. The medical projector 18 is a substantially rectangular parallelepiped, and six attachment parts 19 are fixed around the side surface thereof, and the tip end portion is fixed to the inner ring 15 of the ring-shaped bearing 13 by screws 20 from below. The center axis Z of the ring-shaped bearing 13 is orthogonal to the first rotation axis X and the second rotation axis Y, and the medical projector 18 is rotatable with respect to the cylindrical portion 11 and the outer ring 14 about the center axis Z. .
医療用プロジェクター１８の第２回転軸Ｙの方向における両側面には、第２回転軸Ｙを通過した状態で、医療用プロジェクター１８の中心軸Ｚの方向に沿って延びるレール２１が固定されている。このレール２１には長手方向に沿って複数のネジ穴２２が形成されている。レール２１には断面コ字状のウェイト２３が設けられる。ウェイト２３には円孔２４が形成され、そこからネジ部２５を挿入して任意のネジ穴２２に螺合することにより、ウェイト２３の位置をレール２１の長手方向に沿って変更することができる。
Rails 21 extending along the direction of the central axis Z of the medical projector 18 in a state of passing through the second rotational axis Y are fixed to both side surfaces of the medical projector 18 in the direction of the second rotational axis Y. . A plurality of screw holes 22 are formed in the rail 21 along the longitudinal direction. The rail 21 is provided with a weight 23 having a U-shaped cross section. A circular hole 24 is formed in the weight 23, and the position of the weight 23 can be changed along the longitudinal direction of the rail 21 by inserting a screw portion 25 therefrom and screwing it into an arbitrary screw hole 22. .
レール２１が第２回転軸Ｙを通過する状態で延びるため、ウェイト２３の位置を第２回転軸Ｙを境として両側へ移動させることができる。そのため、図９で示すように、医療用プロジェクター１８の第２回転軸Ｙを中心とした上下の重量Ｗ１、Ｗ２を等しくすることで、第２回転軸Ｙを中心とした回転方向でのバランス調整を行うことができる。場合によっては、左右のウェイト２３のいずれか一方の重さを変えることにより、医療用プロジェクター１８の第１回転軸Ｘを中心とした回転方向でのバランス調整も行うことができる。
Since the rail 21 extends while passing through the second rotation axis Y, the position of the weight 23 can be moved to both sides with the second rotation axis Y as a boundary. Therefore, as shown in FIG. 9, by adjusting the upper and lower weights W1 and W2 around the second rotation axis Y of the medical projector 18, the balance adjustment in the rotation direction around the second rotation axis Y is performed. It can be performed. In some cases, by changing the weight of one of the left and right weights 23, balance adjustment in the rotation direction around the first rotation axis X of the medical projector 18 can also be performed.
レール２１の下端部には操作ハンドル２６が左右にそれぞれ取付けられている。この操作ハンドル２６はスタンド装置１の各回転部における電磁クラッチや医療用プロジェクター１８を操作するためのものである。操作ハンドル２６が剛性の高いレール２１の下端部に取付けられているため、操作ハンドル２６の取付剛性が高い。
An operation handle 26 is attached to the left and right of the lower end of the rail 21, respectively. The operation handle 26 is for operating the electromagnetic clutch and the medical projector 18 in each rotating part of the stand device 1. Since the operation handle 26 is attached to the lower end portion of the highly rigid rail 21, the attachment rigidity of the operation handle 26 is high.
医療用プロジェクター１８の側面部には、その下端周囲に７つの照明２７が異なる長さの支持バー２８により医療用プロジェクター１８から放射方向に離れた状態で且つ円周状に並んだ状態で配置されている。この照明２７は白色光Ｈを照射してドクターＤの手元の手術部位をあらゆる方向から照らして、ドクターＤの手の陰により手術部位が暗くなることを解消するためのものである。
On the side surface of the medical projector 18, seven illuminations 27 are arranged around the lower end of the medical projector 18 in a state of being separated from the medical projector 18 in a radial direction and arranged circumferentially by a support bar 28 having different lengths. ing. The illumination 27 irradiates white light H to illuminate the surgical site at hand of Dr. D from all directions, and eliminates the fact that the surgical site becomes dark due to the shadow of Dr. D's hand.
スタンド装置１によりドクターＤの頭部より高い位置に支持された医療用プロジェクター１８は患者Ｐの手術中の臓器Ｇから蛍光部分を撮影して、それを可視画像化してリアルタイムで臓器Ｇに投影するための装置である。医療用プロジェクター１８の下面には窓２９が形成され、その周囲には特定波長の励起光Ｅを発する励起光照明３０が設けられている。窓２９の周囲に励起光照明３０があるため、励起光Ｅを臓器Ｇに対してあらゆる方向から照射することができる。
The medical projector 18 supported by the stand device 1 at a position higher than the head of the doctor D takes a fluorescent part from the organ G during the operation of the patient P, visualizes it, and projects it onto the organ G in real time. It is a device for. A window 29 is formed on the lower surface of the medical projector 18, and an excitation light illumination 30 that emits excitation light E having a specific wavelength is provided around the window 29. Since there is the excitation light illumination 30 around the window 29, the excitation light E can be applied to the organ G from all directions.
医療用プロジェクター１８の内部には窓２９の真上に光を部分的に透過・反射する光分岐手段３１が設けられている。更に内部にはプロジェクター部３２とカメラ部３３が設けられている。カメラ部３３の内部には蛍光カメラ３４と可視光カメラ３５が設けられており、蛍光と可視光に分離する図示せぬ光学フィルタ手段も設けられている。
In the inside of the medical projector 18, there is provided a light branching means 31 that partially transmits and reflects light directly above the window 29. Further, a projector unit 32 and a camera unit 33 are provided inside. A fluorescence camera 34 and a visible light camera 35 are provided inside the camera unit 33, and optical filter means (not shown) for separating the fluorescence and visible light is also provided.
患者Ｐには予め人体に安全な蛍光試薬が投与される。手術室内の無影灯３６は基本的に消灯する（蛍光強度によっては点灯する場合もある）。励起光照明３０から特定波長の励起光Ｅを手術部位の臓器Ｇに照射する。すると臓器Ｇを含む術野において、肉眼では見えない組織表面下の血管やリンパ管の流れ或いは腫瘍等が蛍光発光部Ｆとして発光する。その蛍光発光部Ｆからの蛍光を含む術野からの反射光Ａを窓２９から医療用プロジェクター１８の内部に取入れてカメラ部３３に導く。カメラ部３３では反射光Ａを蛍光と可視光に分離し、蛍光は蛍光カメラ３４で、可視光は可視光カメラ３５で撮影する。
The patient P is preliminarily administered with a fluorescent reagent safe for the human body. The operating light 36 in the operating room is basically turned off (it may be turned on depending on the fluorescence intensity). The excitation light illumination 30 irradiates the organ G at the surgical site with the excitation light E having a specific wavelength. Then, in the operative field including the organ G, a blood flow or a lymph vessel flow or a tumor under the surface of the tissue that cannot be seen with the naked eye emits light as the fluorescent light emitting portion F. The reflected light A from the surgical field including the fluorescence from the fluorescent light emitting unit F is taken into the medical projector 18 through the window 29 and guided to the camera unit 33. The camera unit 33 separates the reflected light A into fluorescence and visible light, and the fluorescence is captured by the fluorescence camera 34 and the visible light is captured by the visible light camera 35.
蛍光カメラ３４で撮影された蛍光画像Ｂは可視画像化されてプロジェクター部３２へ送られ、プロジェクター部３２から光分岐手段３１を介して窓２９より臓器Ｇに投影される。蛍光画像Ｂが臓器Ｇにリアルタイムで投影されるプロジェクションマッピングとなる。リアルタイムの投影のため、臓器Ｇの変形や移動にも時差なく追従し、ドクターＤはその臓器Ｇに投影された蛍光画像Ｂを参考にして手術を行うことができる。
The fluorescent image B captured by the fluorescent camera 34 is visualized and sent to the projector unit 32, and is projected from the projector unit 32 to the organ G through the light branching means 31 through the window 29. This is projection mapping in which the fluorescent image B is projected onto the organ G in real time. Due to the real-time projection, the deformation and movement of the organ G can be followed without any time difference, and the doctor D can perform an operation with reference to the fluorescent image B projected onto the organ G.
この医療用プロジェクター１８は二股状に分岐した保持アーム９により円筒部１１及びリング状ベアリング１３を介して両持ち状態で支持されるため、支持状態が確実である。
Since this medical projector 18 is supported in a double-sided manner by the holding arm 9 branched in a bifurcated manner through the cylindrical portion 11 and the ring-shaped bearing 13, the support state is reliable.
手術中に医療用プロジェクター１８の投影方向を変更する場合は、操作ハンドル２６を握りながら操作することにより、スタンド装置１の回転部分の電磁クラッチをフリーにして、医療用プロジェクター１８を全体的に上下或いは前後左右に移動させることができる。そして医療用プロジェクター１８が、第１回転軸Ｘを中心に保持アーム９ごと回転し、第２回転軸Ｙを中心にリング状ベアリング１３ごと回転し、リング状ベアリング１３の中心軸Ｚを中心に回転するため、投影方向を任意に変更することができる。
When changing the projection direction of the medical projector 18 during the operation, the electromagnetic clutch of the rotating part of the stand device 1 is released by operating while holding the operation handle 26, and the medical projector 18 is moved up and down as a whole. Alternatively, it can be moved back and forth and left and right. The medical projector 18 rotates with the holding arm 9 about the first rotation axis X, rotates with the ring-shaped bearing 13 about the second rotation axis Y, and rotates about the central axis Z of the ring-shaped bearing 13 Therefore, the projection direction can be arbitrarily changed.
本発明の第１の技術的側面によれば、二股状に分岐した保持アームにより医療用プロジェクターを両持ち状態で確実に支持することができる。医療用プロジェクターが、第１回転軸を中心に保持アームごと回転し、第２回転軸を中心にリング状ベアリングごと回転し、リング状ベアリングの中心軸を中心に回転するため、医療用プロジェクターの向きを任意に変更することができる。
According to the first technical aspect of the present invention, the medical projector can be reliably supported in the both-sided state by the holding arm branched in a bifurcated shape. The medical projector rotates with the holding arm around the first rotation axis, rotates with the ring bearing around the second rotation axis, and rotates around the center axis of the ring bearing. Can be changed arbitrarily.
本発明の第２の技術的側面によれば、レールに沿ってウェイトの位置を変更することにより、医療用プロジェクターの第２回転軸を中心とした回転方向でのバランス調整を行うことができる。
According to the second technical aspect of the present invention, by changing the position of the weight along the rail, it is possible to adjust the balance in the rotation direction around the second rotation axis of the medical projector.
本発明の第３の技術的側面によれば、操作ハンドルが剛性の高いレールの下端部に取付けられているため、操作ハンドルの取付剛性を高めることができる。
According to the third technical aspect of the present invention, since the operating handle is attached to the lower end of the highly rigid rail, the mounting rigidity of the operating handle can be increased.
（米国指定）
本国際特許出願は米国指定に関し、２０１８年４月３日に出願された日本国特許出願第２０１８－０７１３２３号について米国特許法第１１９条（ａ）に基づく優先権の利益を援用し、当該開示内容を引用する。 (US designation)
This international patent application is related to the United States designation, and the disclosure of the Japanese patent application No. 2018-071323 filed on Apr. 3, 2018, using the benefit of priority under US Patent Act 119 (a). Cite the contents.
本国際特許出願は米国指定に関し、２０１８年４月３日に出願された日本国特許出願第２０１８－０７１３２３号について米国特許法第１１９条（ａ）に基づく優先権の利益を援用し、当該開示内容を引用する。 (US designation)
This international patent application is related to the United States designation, and the disclosure of the Japanese patent application No. 2018-071323 filed on Apr. 3, 2018, using the benefit of priority under US Patent Act 119 (a). Cite the contents.
Claims (3)
- フロアに設置されたスタンド装置の横方向に延びる支持アームの先端部に、途中から先端側が二股状に分岐した保持アームを、支持アームの軸心に合致した第１回転軸を中心に回転自在に取付け、
保持アームの先端側の両方の端部間に、支持アームの第１回転軸に直交する第２回転軸を中心にして回転自在な円筒部を取付け、
該円筒部に、外輪と内輪との間に複数の転動体を介在させたリング状ベアリングの外輪部分を固定し、
リング状ベアリングの内部に、下面より光線を照射する医療用プロジェクターを、リング状ベアリングの内輪部分に固定した状態で、リング状ベアリングの中心軸を中心にして回転自在に配置したことを特徴とする医療用プロジェクターの支持構造。 A holding arm whose front end is bifurcated from the middle to the front end of the support arm that extends in the lateral direction of the stand device installed on the floor is rotatable about the first rotation axis that matches the axis of the support arm. Installation,
A cylindrical portion that is rotatable about a second rotation axis that is orthogonal to the first rotation axis of the support arm is attached between both ends on the distal end side of the holding arm,
Fixing the outer ring portion of the ring bearing in which a plurality of rolling elements are interposed between the outer ring and the inner ring to the cylindrical portion;
A medical projector that emits light from the lower surface inside the ring-shaped bearing is fixed to the inner ring portion of the ring-shaped bearing and is arranged to be rotatable about the central axis of the ring-shaped bearing. Support structure for medical projectors. - 医療用プロジェクターの第２回転軸方向における両方の側面に、第２回転軸を通過する状態で医療用プロジェクターの中心軸方向に沿って延びるレールを設け、該レールに対してレールの長手方向に沿って位置を変更自在なウェイトをそれぞれ設けたことを特徴とする請求項１記載の医療用プロジェクターの支持構造。 Rails extending along the central axis direction of the medical projector in a state of passing through the second rotation axis are provided on both side surfaces in the second rotation axis direction of the medical projector, and along the longitudinal direction of the rail with respect to the rail 2. The support structure for a medical projector according to claim 1, further comprising weights whose positions can be freely changed.
- レールの下端部にスタンド装置或いは医療用プロジェクターを操作するための操作ハンドルを取付けたことを特徴とする請求項１又は請求項２記載の医療用プロジェクターの支持構造。 3. The support structure for a medical projector according to claim 1 or 2, wherein an operation handle for operating the stand device or the medical projector is attached to a lower end portion of the rail.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20210321076A1 (en) * | 2020-01-14 | 2021-10-14 | Karl Storz Se & Co. Kg | Optical observation instrument |
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| JPS59108545A (en) * | 1982-11-25 | 1984-06-23 | デルマ，エレクトロ−ウント・メデイツイニツシエ・アパラテバウ・ゲゼルシヤフト・エムベエハア | Lamp for operation room |
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| US20210321076A1 (en) * | 2020-01-14 | 2021-10-14 | Karl Storz Se & Co. Kg | Optical observation instrument |
| US11770514B2 (en) * | 2020-01-14 | 2023-09-26 | Karl Storz Se & Co. Kg | Optical observation instrument |
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| JP7239942B2 (en) | 2023-03-15 |
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