JP2010046118A - Surgical microscopic system - Google Patents

Surgical microscopic system Download PDF

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JP2010046118A
JP2010046118A JP2008210518A JP2008210518A JP2010046118A JP 2010046118 A JP2010046118 A JP 2010046118A JP 2008210518 A JP2008210518 A JP 2008210518A JP 2008210518 A JP2008210518 A JP 2008210518A JP 2010046118 A JP2010046118 A JP 2010046118A
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surgical microscope
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JP5317578B2 (en
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Masao Doi
正雄 土居
Toshio Yamazaki
登志夫 山嵜
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Mitaka Kohki Co Ltd
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a surgical microscopic system dispensing with balance adjustment even if an auxiliary optical device is added. <P>SOLUTION: An assistant mirror 34 as an auxiliary optical device is attached to the luminous flux takeout part 31 at the lower end of a suspension arm 20. Further, a video camera 35 as the auxiliary optical device can be attached to a luminous flux takeout part 33 on an opposite side if necessary. Since not only the assistant mirror 34 but also the video camera 35 attached if necessary are attached to the suspension arm 20 not rotated in a right and left direction X or to the body part of an surgical microscope 15 they are not rotated in the right and left direction X even if the weight in the right and left direction X is unbalanced. Accordingly, the balance readjustment in the right and left direction X becomes unnecessary. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

本発明は手術顕微鏡システム、特に補助光学機器を付加してもバランス調整が不要な手術顕微鏡システムに関するものである。   The present invention relates to a surgical microscope system, and more particularly to a surgical microscope system that does not require balance adjustment even when an auxiliary optical device is added.

脳神経外科等において使用される手術顕微鏡は、スタンド装置の支持アームの先端に吊下アームを介して支持されて使用される。手術顕微鏡は、観察方向を自由に変えられるように、該吊下アームにより、前後方向及び左右方向で回動自在に支持されている。   A surgical microscope used in neurosurgery or the like is used while being supported by a tip of a support arm of a stand device via a suspension arm. The surgical microscope is supported by the suspension arm so as to be rotatable in the front-rear direction and the left-right direction so that the observation direction can be freely changed.

具体的には、吊下アーム自体が小型の平行リンクで構成され、吊下アーム自体の形を変形させることにより、吊下アームの下端に支持された手術顕微鏡が左右方向で回動する（傾動する）ようになっている。また、手術顕微鏡は吊下アームの下端に水平な回動軸を中心にして前後方向で回動自在に軸支されている。従って、手術顕微鏡は観察者が見ている方向において、左右方向及び前後方向で回動自在となり、観察する方向を任意に変えることができる（例えば、特許文献１参照）。
特許第２８２５７２１号公報 Specifically, the suspension arm itself is composed of a small parallel link, and by deforming the shape of the suspension arm itself, the surgical microscope supported by the lower end of the suspension arm rotates in the left-right direction (tilt). To do). The surgical microscope is pivotally supported at the lower end of the suspension arm so as to be rotatable in the front-rear direction around a horizontal rotation axis. Therefore, the surgical microscope can be freely rotated in the left-right direction and the front-rear direction in the direction in which the observer is looking, and the observation direction can be arbitrarily changed (see, for example, Patent Document 1).
Japanese Patent No. 2825721

しかしながら、このような従来の技術にあっては、手術顕微鏡を左右方向及び前後方向で全体的に回動させる構造になっているため、特に左右方向の場合、手術顕微鏡の左右どちらか一方に重量のある補助光学機器（アシスタント鏡、ビデオカメラなど）を取付けると、左右方向でのバランスが不均等になるため、補助光学機器を付加する度に全体（手術顕微鏡＋補助光学機器）の重心を移動させるバランス調整が必要となり面倒である。   However, in such a conventional technique, since the surgical microscope is generally rotated in the left-right direction and the front-rear direction, the weight is applied to either the left or right of the surgical microscope, particularly in the left-right direction. If an auxiliary optical device (such as an assistant mirror or video camera) is attached, the balance in the left-right direction will become uneven, so the center of gravity of the whole (surgical microscope + auxiliary optical device) moves each time an auxiliary optical device is added. It is troublesome because it is necessary to adjust the balance.

本発明は、このような従来の技術に着目してなされたものであり、補助光学機器を付加してもバランス調整が不要な手術顕微鏡システムを提供するものである。   The present invention has been made paying attention to such a conventional technique, and provides a surgical microscope system that does not require balance adjustment even when an auxiliary optical device is added.

請求項１記載の発明は、スタンド装置の横方向に延びる支持アームの先端から下方に延びる吊下アームを有し、該吊下アームの下端に手術顕微鏡を前後方向及び左右方向で回動自在に支持した手術顕微鏡システムであって、前記手術顕微鏡が、一端部に一対の接眼部を有し且つ他端部に光束取入部を有する概略筒形構造で、該手術顕微鏡のうち、光束取入部を含む他端部が独立した状態で手術顕微鏡の断面中心を通過する主軸を中心に左右方向へ回動自在に支持され、手術顕微鏡の他端部以外の本体が吊下アームの下端に対して前記主軸に直交する水平軸を中心に前後方向で回動自在に軸支され、手術顕微鏡からの光束取出部をその光軸が水平軸に一致するように設け、該光束取出部に補助光学機器を取付けたことを特徴とする。   The invention according to claim 1 has a suspension arm extending downward from the tip of a support arm extending in the lateral direction of the stand device, and a surgical microscope can be rotated in the front-rear direction and the left-right direction at the lower end of the suspension arm. A surgical microscope system supported, wherein the surgical microscope has a substantially cylindrical structure having a pair of eyepieces at one end and a light beam inlet at the other end. The other end of the surgical microscope is supported so as to be pivotable in the left-right direction around the main axis passing through the center of the cross section of the surgical microscope. The optical axis is pivotally supported around a horizontal axis orthogonal to the main axis so as to be rotatable in the front-rear direction, and a light beam extraction unit from the surgical microscope is provided so that its optical axis coincides with the horizontal axis. It is characterized by having attached.

請求項２記載の発明は、前記光束取出部が吊下アームの下端に設けられることを特徴とする
請求項３記載の発明は、前記光束取出部が手術顕微鏡の他端部以外の部分に設けられることを特徴とする。 The invention described in claim 2 is characterized in that the light beam extraction portion is provided at the lower end of the suspension arm. The invention according to claim 3 is characterized in that the light beam extraction portion is provided in a portion other than the other end portion of the surgical microscope. It is characterized by being able to.

請求項４記載の発明は、吊下アームが支持アームの先端に対して垂直軸を中心に水平方向で回動自在に支持されていることを特徴とする。   The invention according to claim 4 is characterized in that the suspension arm is supported so as to be rotatable in the horizontal direction around the vertical axis with respect to the tip of the support arm.

請求項５記載の発明は、スタンド装置が、一対づつの平行な縦リンク及び横リンクを組み合わせて形成した平行リンクにおける前記一方の縦リンクの途中部分を、ベースの上部に位置する本体の回動軸点に支持し、該平行リンクの上側横リンクを延長して支持アームを形成すると共に、支持アームの先端に軸支した垂直な先端リンクの下端に吊下アームを支持し、該支持アームの始点となる平行リンクの連結軸点に、該連結軸点と同一の水平線上に位置する水平軸点及び連結軸点と同一の垂直線上に位置する垂直軸点とを有するクランク部材を軸支し、該クランク部材の水平軸点と本体の一部とを前記縦リンクの連結軸点と回動軸点を結ぶ直線と平行で且つ該直線と同一長さを有する縦サブリンクにて連結すると共に、クランク部材の垂直軸点と前記先端リンクの一部とを支持アームの連結軸点と先端とを結ぶ直線と平行で且つ該直線と同一長さを有する横サブリンクにて連結し、
平行リンクの下部に、前記回動軸点を中心とした平行リンクの回転方向、及び前記連結軸点を中心とした支持アームの回転方向に加わる重量を相殺するカウンタウェイトを設けた構造であることを特徴とする。 According to a fifth aspect of the present invention, the stand device rotates the main body located at the upper portion of the base at the middle portion of the one vertical link in the parallel link formed by combining a pair of parallel vertical links and horizontal links. A support arm is formed by extending the upper lateral link of the parallel link and supporting the suspension arm at the lower end of a vertical tip link pivotally supported by the tip of the support arm. A crank member having a horizontal axis point located on the same horizontal line as the connection axis point and a vertical axis point located on the same vertical line as the connection axis point is pivotally supported at the connection axis point of the parallel link as the starting point. And connecting the horizontal axis point of the crank member and a part of the main body with a vertical sub-link that is parallel to and has the same length as the straight line connecting the connecting axis point of the vertical link and the rotation axis point. The vertical axis of the crank member Connected by said transverse sub-link having a portion with a parallel and straight line connecting the connecting axis point of the support arm and the distal end and the straight line of the same length of the tip link,
A counterweight is provided at the bottom of the parallel link to counteract the weight applied to the rotation direction of the parallel link around the pivot axis and the rotation direction of the support arm around the connection axis. It is characterized by.

請求項１記載の発明によれば、光束取出部の光軸を水平軸に一致させるので補助光学機器を付加しても手術顕微鏡が回転することがないため、補助光学機器を付加したことによる再度のバランス調整を行う必要がない。手術顕微鏡は、光束取入部を含む他端部が左右方向へ回動するだけで、本体は回転しない。従って、観察角度が変わっても、接眼部の向きは変わらず、術者は首は曲げる必要がないため、楽である。   According to the first aspect of the present invention, since the optical axis of the light beam extraction portion is aligned with the horizontal axis, the surgical microscope does not rotate even if the auxiliary optical device is added. There is no need to adjust the balance. In the surgical microscope, the other end including the light beam taking-in portion only rotates in the left-right direction, and the main body does not rotate. Therefore, even if the observation angle changes, the direction of the eyepiece does not change, and the operator does not need to bend the neck.

請求項２記載の発明によれば、補助光学機器を吊下アームの下端に取付けるため、手術顕微鏡が回転することはない。吊下アームの下端には光束取出部が設けられているため、手術顕微鏡内部の光束を取り出して観察や録画等の処理を行うことができる。   According to the second aspect of the present invention, since the auxiliary optical device is attached to the lower end of the suspension arm, the surgical microscope does not rotate. Since the light beam extraction unit is provided at the lower end of the suspension arm, the light beam inside the surgical microscope can be extracted to perform processing such as observation and recording.

請求項３記載の発明によれば、手術顕微鏡の他端部以外の本体部分に光束取出部を設け、そこにも補助光学機器を直接取付けることができるため、複数の補助光学機器を取付けることができ便利である。手術顕微鏡の本体部分も回転しない部分なので、そこに別の補助光学機器を取付けても、手術顕微鏡が回転することはなく、左右方向でのバランス調整は不要である。   According to the invention described in claim 3, since the light beam extraction portion is provided in the main body portion other than the other end portion of the surgical microscope, and the auxiliary optical device can be directly attached thereto, a plurality of auxiliary optical devices can be attached. It is convenient. Since the main body portion of the surgical microscope does not rotate, even if another auxiliary optical device is attached thereto, the surgical microscope does not rotate, and balance adjustment in the left-right direction is unnecessary.

請求項４記載の発明によれば、吊下アームが支持アームの先端に対して垂直軸を中心に水平方向で回動自在に支持されているため、手術顕微鏡の観察方向を水平方向において更に大きく変えることができる。   According to the invention described in claim 4, since the suspension arm is supported so as to be rotatable in the horizontal direction around the vertical axis with respect to the tip of the support arm, the observation direction of the surgical microscope is further increased in the horizontal direction. Can be changed.

請求項５記載の発明によれば、支持アームを縦方向で回動させても、平行リンク全体を横方向で回動させても、吊下アームが支持されている先端リンクは常に垂直状態が維持される。従って、吊下アームも姿勢が維持されたまま、縦方向及び横方向へ平行移動することになり、手術顕微鏡の位置の移動が容易である。   According to the fifth aspect of the present invention, even if the support arm is rotated in the vertical direction or the entire parallel link is rotated in the horizontal direction, the tip link on which the suspension arm is supported is always in the vertical state. Maintained. Accordingly, the suspension arm also moves in parallel in the vertical direction and the horizontal direction while maintaining the posture, and the position of the surgical microscope can be easily moved.

以下、本発明の実施形態を図１〜図６に基づいて説明する。尚、以上及び以下の説明において、左右方向とは、術者が観察している向きでの左右方向であり、前方向とは術者が観察している方向である。   Hereinafter, embodiments of the present invention will be described with reference to FIGS. In the above and the following description, the left-right direction is the left-right direction in the direction observed by the operator, and the forward direction is the direction observed by the operator.

スタンド装置
まず、最初にスタンド装置１の説明をする。２がベースで、このベース２の下面にはロック機構付きのキャスタ３が備えてあり、このキャスタ３によりスタンド装置１はフロア４上を移動できるようになっている。このベース２の上部には側面形状が概略コ字状の本体５が設置されている。この本体５は鉛直方向を向く垂直軸Ｖ１を中心に回動自在にされていると共に、この垂直軸Ｖ１は電磁クラッチ方式によりその回動をロック及びフリーにすることができる。 First, the stand device 1 will be described first. 2 is a base, and a lower surface of the base 2 is provided with a caster 3 with a lock mechanism. The caster 3 allows the stand device 1 to move on the floor 4. A main body 5 having a substantially U-shaped side surface is installed on the base 2. The main body 5 is rotatable about a vertical axis V1 oriented in the vertical direction, and the vertical axis V1 can be locked and freed by an electromagnetic clutch system.

この本体５の上部の回動軸点ｂ１に平行リンク６が軸支されている。この平行リンク６はそれぞれ２本で１組の平行な縦リンク７、８と横リンク９、１０の両端を各々連結軸点ｂ２〜ｂ５で連結して形成したもので、この平行リンク６の縦リンク７の下側の途中部分が前記回動軸点ｂ１に軸支されている。この回動軸点ｂ１も電磁クラッチ方式により、縦リンク７の横方向Ｒ１での回動位置をロック及びフリーにすることができる。   A parallel link 6 is pivotally supported at a rotation axis b1 at the top of the main body 5. Each of the parallel links 6 is formed by connecting both ends of a pair of parallel vertical links 7 and 8 and horizontal links 9 and 10 at connection axis points b2 to b5, respectively. A middle portion of the lower side of the link 7 is pivotally supported by the rotation axis point b1. This rotation axis point b1 can also lock and free the rotation position of the vertical link 7 in the horizontal direction R1 by an electromagnetic clutch system.

そして、この回動軸点ｂ１にて軸支される縦リンク７は回動軸ｂ２〜ｂ５により規定される平行四辺形の一辺が内側に凹む方向に湾曲形成されており、作業空間を確保して主術者等と干渉しにくい構造となっている。また、下側の横リンク１０にはカウンタウェイト１１が取付けられている。   The vertical link 7 that is pivotally supported by the rotation axis b1 is curved in a direction in which one side of the parallelogram defined by the rotation axes b2 to b5 is recessed inward to secure a work space. This makes it difficult to interfere with the main surgeon. A counterweight 11 is attached to the lower horizontal link 10.

平行リンク６の上側の横リンク９には、横リンク９をそのまま横方向に向けて延長した支持アーム１２が一体的に形成されており、その先端には垂直な先端リンク１３が連結軸点ｂ６にて回動自在に取付けられている。この支持アーム１２も上側に向けて湾曲形成されており、作業空間を確保して主術者等の頭部と干渉しにくい構造となっている。   The horizontal link 9 on the upper side of the parallel link 6 is integrally formed with a support arm 12 in which the horizontal link 9 is extended in the horizontal direction as it is, and a vertical tip link 13 is connected to the tip of the link arm b6. It is attached so that it can rotate freely. The support arm 12 is also curved upward and has a structure that ensures a working space and does not interfere with the head of the main operator or the like.

この先端リンク１３の下部は、垂直軸Ｖ２を中心に水平方向で回転自在な箱形の支持ボックス１４になっている。   A lower portion of the tip link 13 is a box-shaped support box 14 that is rotatable in the horizontal direction about the vertical axis V2.

支持アーム１２の始点となっている連結軸点ｂ５にはＬ字形のクランク部材１７が軸支されており、このクランク部材１７には連結軸点ｂ５と同一の水平線Ｈ１に位置する水平軸点ｂ７と、また連結軸点ｂ５と同一の垂直線Ｖ３上に位置する垂直軸点ｂ８が設定されている。   An L-shaped crank member 17 is pivotally supported on the connecting shaft point b5 which is the starting point of the support arm 12, and a horizontal shaft point b7 located on the same horizontal line H1 as the connecting shaft point b5 is supported on the crank member 17. Also, a vertical axis point b8 located on the same vertical line V3 as the connection axis point b5 is set.

そして、前記水平軸点ｂ７と、回動軸点ｂ１と同一の水平線Ｈ２上に位置する本体５の連結軸点ｂ９とを、縦リンク７（回動軸点ｂ１と連結軸点ｂ５を結ぶ直線Ｄ１）と平行で且つ同直線Ｄ１と同一長さの縦サブリンク１８にて連結している。したがって、回動軸点ｂ１及び連結軸点ｂ９，ｂ７，ｂ５により規定されるサブの平行リンクによってリンク要素ｂ５−ｂ７は本体５に位置固定されたリンク要素ｂ９−ｂ１と常に平行に維持される。   The horizontal axis b7 and the connecting axis point b9 of the main body 5 located on the same horizontal line H2 as the rotating axis point b1 are connected to the vertical link 7 (the straight line connecting the rotating axis point b1 and the connecting axis point b5). D1) and the vertical sublink 18 having the same length as the straight line D1. Therefore, the link elements b5 to b7 are always maintained in parallel with the link elements b9 to b1 fixed to the main body 5 by the sub parallel links defined by the rotation axis point b1 and the connection axis points b9, b7, and b5. .

また、クランク部材１７の他方の垂直軸点ｂ８と先端リンク１３の上端の連結軸点ｂ１０との間を、支持アーム１２（連結軸点ｂ５と連結軸点ｂ６を結ぶ直線Ｄ２）と平行で且つ同直線Ｄ２と同一長さの横サブリンク１９にて連結している。したがって、連結軸点ｂ５，ｂ８，ｂ１０，ｂ６により規定されるサブの平行リンクによってリンク要素ｂ１０−ｂ６はリンク要素ｂ５−ｂ８と常に平行に維持される。すなわち、本体５に一辺が固定されたサブの平行リンク（回動軸点ｂ１及び連結軸点ｂ９，ｂ７，ｂ５により規定）と、サブの平行リンクＢ（連結軸点ｂ５，ｂ８，ｂ１０，ｂ６により規定）が、クランク部材１７を介して連結しているため、後者のサブの平行リンクの一辺としての先端リンク１３および回動軸Ｖ２はリンク要素ｂ９−ｂ１に対して常に一定の角度を維持する。   Further, the space between the other vertical axis b8 of the crank member 17 and the connecting axis b10 at the upper end of the tip link 13 is parallel to the support arm 12 (straight line D2 connecting the connecting axis b5 and the connecting axis b6) and It is connected by a horizontal sublink 19 having the same length as the straight line D2. Therefore, the link elements b10-b6 are always maintained in parallel with the link elements b5-b8 by the sub parallel links defined by the connecting axis points b5, b8, b10, b6. That is, a sub parallel link (defined by the rotation axis point b1 and the connection axis points b9, b7, and b5) and a sub parallel link B (connection axis points b5, b8, b10, and b6) whose one side is fixed to the main body 5. However, the distal end link 13 and the rotation shaft V2 as one side of the latter sub-parallel link always maintain a constant angle with respect to the link element b9-b1. To do.

このように、縦サブリンク１８、クランク部材１７、横サブリンク１９を設けたことにより、スタンド装置１の電磁クラッチ類をフリーにして、回動軸点ｂ１を中心に平行リンク６を横方向Ｒ１へ回動させても、支持アーム１２を連結軸ｂ５を中心に縦方向Ｒ２へ回動させても、或いは、それらを同時に回動させても、クランク部材１７は回転しないので、先端リンク１３の垂直状態は常に維持される。   Thus, by providing the vertical sub link 18, the crank member 17, and the horizontal sub link 19, the electromagnetic clutches of the stand device 1 are freed, and the parallel link 6 is moved in the horizontal direction R1 around the rotation axis point b1. Since the crank member 17 does not rotate even if the support arm 12 is rotated in the longitudinal direction R2 about the connecting shaft b5 or they are simultaneously rotated, the crank member 17 does not rotate. The vertical state is always maintained.

このように垂直状態が維持された先端リンク１３の支持ボックス１４に対して、手術顕微鏡１５が概略逆Ｌ形の吊下アーム２０により支持されている。吊下アーム２０は支持ボックス１４の下面に取付けられ、支持ボックス１４ごと垂直軸Ｖ２を中心に水平方向Ｚで回動することができる。この垂直軸Ｖ２を中心した回動も、電磁クラッチによりロック及びフリーにすることができる。   The operation microscope 15 is supported by a substantially inverted L-shaped suspension arm 20 with respect to the support box 14 of the distal end link 13 maintained in this vertical state. The suspension arm 20 is attached to the lower surface of the support box 14 and can rotate in the horizontal direction Z about the vertical axis V <b> 2 together with the support box 14. The rotation about the vertical axis V2 can also be locked and free by the electromagnetic clutch.

なお、本明細書において平行リンクの各辺要素は典型的にはリンク棒であるがこれに限定されない。例えば２つのスプロケット、引っ張り可能な力伝導要素としてのエンドレスチェーンまたはその一部、および２つのスプロケットの中心を軸支して引っ張り力を付与するリンク棒を備えて本発明の平行リンクを構成することは可能である。この場合には、スプロケット（またはその一部）とチェーンとの作用領域の端部が節動要素としての離接点であって、離接点により平行リンクが規定される。また、たとえば本発明のクランク部材１７に連結されるサブの平行リンクにこのようなチェーン機構を適用する場合には一方のスプロケットが連結要素に固定されるか一体に形成される。   In this specification, each side element of the parallel link is typically a link bar, but is not limited thereto. For example, the parallel link of the present invention comprises two sprockets, an endless chain or a part thereof as a pullable force conducting element, and a link rod that pivotally supports the centers of the two sprockets to apply a tensile force. Is possible. In this case, the end of the action region between the sprocket (or part of it) and the chain is a separation contact as a driving element, and a parallel link is defined by the separation contact. For example, when such a chain mechanism is applied to a sub parallel link connected to the crank member 17 of the present invention, one sprocket is fixed to the connecting element or formed integrally.

手術顕微鏡
手術顕微鏡１５は、水平方向に延びる概略円筒形状で、手前側に一対の接眼部２２を有し、反対側の下面に術部Ｔからの光束Ｌを取り入れる光束取入部２１を有している。光束取入部２１を含む他端部１６は本体から分離されており、手術顕微鏡１５の断面中心を通過する主軸Ｓを中心に左右方向Ｘに独立して回動できるようになっている。手術顕微鏡１５の本体と他端部１６との間には所定の摩擦力が付与されており、他端部１６を回動させた位置が維持される。尚、摩擦力に代えて電磁クラッチ手段でロック及びフリーにしても良い。 Surgical microscope The surgical microscope 15 has a substantially cylindrical shape extending in the horizontal direction, has a pair of eyepieces 22 on the front side, and has a light flux taking-in part 21 for taking in the light flux L from the surgical part T on the lower surface on the opposite side. ing. The other end portion 16 including the light beam taking-in portion 21 is separated from the main body, and can be independently rotated in the left-right direction X about the main axis S passing through the cross-sectional center of the surgical microscope 15. A predetermined frictional force is applied between the main body of the surgical microscope 15 and the other end portion 16, and the position where the other end portion 16 is rotated is maintained. In place of the frictional force, the electromagnetic clutch means may be locked and freed.

他端部１６の光束取入部２１から取り入れられた光束Ｌは、対物レンズ２３を経た後、第１ミラー２４で水平に反射され、ズーム２５を通って、結像レンズ２６に至り、第２ミラー２７で反射されて、そこから接眼部２２のプリズム２８やレンズ２９を通って、術者の瞳に入る。尚、対物レンズ２３は第１ミラー２４の下側に横配置する代わりに、第１ミラー２４とズーム２５との間に縦配置しても良い。   The light beam L taken from the light beam taking-in portion 21 of the other end portion 16 passes through the objective lens 23, is reflected horizontally by the first mirror 24, passes through the zoom 25, reaches the imaging lens 26, and reaches the second mirror. The light is reflected at 27 and passes through the prism 28 and the lens 29 of the eyepiece 22 and enters the surgeon's pupil. The objective lens 23 may be arranged vertically between the first mirror 24 and the zoom 25 instead of being arranged horizontally below the first mirror 24.

ズーム２５と結像レンズ２６の間にはビームスプリッタ３０が設けられ、光束Ｌの一部を光束取出部３１に取り出すことができる。   A beam splitter 30 is provided between the zoom 25 and the imaging lens 26, and a part of the light beam L can be extracted to the light beam extraction unit 31.

手術顕微鏡１５の本体には取付座面３２が形成され、そこに吊下アーム２０の下端が水平軸Ｈ３を中心に前後方向Ｙで回動に取付けられている。円筒状部３１の断面中心である主軸Ｓは水平軸Ｈ３と直交し、水平軸Ｈ３と垂直軸Ｖ２は直交するように位置づけられる。また円筒状部３１の主軸Ｓと水平軸Ｈ３の直交点が垂直軸Ｖ２の延長上に位置づけられる。   A mounting seat surface 32 is formed on the main body of the surgical microscope 15, and the lower end of the suspension arm 20 is attached to the main body of the surgical microscope 15 in the front-rear direction Y about the horizontal axis H <b> 3. The main axis S which is the center of the cross section of the cylindrical portion 31 is positioned to be orthogonal to the horizontal axis H3, and the horizontal axis H3 and the vertical axis V2 are orthogonal to each other. The orthogonal point between the main axis S of the cylindrical portion 31 and the horizontal axis H3 is positioned on the extension of the vertical axis V2.

従って、水平軸Ｈ３は吊下アーム２０を介して先端リンク１３と常に直交関係となり、水平軸Ｈ３が軸Ｖ２のまわりに回転移動する仮想平面は本体５に固定されたリンク要素ｂ９−ｂ１と平行であり水平面を成す。   Therefore, the horizontal axis H3 is always orthogonal to the tip link 13 via the suspension arm 20, and the virtual plane in which the horizontal axis H3 rotates around the axis V2 is parallel to the link elements b9-b1 fixed to the main body 5. It forms a horizontal plane.

手術顕微鏡１５は水平軸Ｈ３を中心に前後方向Ｙで回動自在となる。水平軸Ｈ３には所定の摩擦力が付与されており、手術顕微鏡１５を前後方向Ｙで回動させた位置が維持される。尚、摩擦力に代えて電磁クラッチ手段でロック及びフリーにしても良い。   The surgical microscope 15 is rotatable in the front-rear direction Y about the horizontal axis H3. A predetermined frictional force is applied to the horizontal axis H3, and the position where the surgical microscope 15 is rotated in the front-rear direction Y is maintained. In place of the frictional force, the electromagnetic clutch means may be locked and freed.

水平軸Ｈ３を中心した前後方向Ｙでの回動は、接眼部２２の位置が上下するだけで術者は首を曲げる必要がない。   Rotation in the front-rear direction Y about the horizontal axis H3 merely moves the eyepiece 22 up and down, and the operator does not need to bend the neck.

また、観察方向を左右方向Ｘで変える場合は、手術顕微鏡１５の他端部１６だけを手で持って主軸Ｙを中心にして左右方向Ｘへ回動させる。そうすると、角度が変わっても光束Ｌが回転した第１ミラー２４により内部に取り込まれ、接眼部２２から観察することができる。   When the observation direction is changed in the left-right direction X, only the other end 16 of the surgical microscope 15 is held by hand and rotated in the left-right direction X about the main axis Y. Then, even if the angle changes, the light beam L is taken in by the rotated first mirror 24 and can be observed from the eyepiece 22.

他端部１６を回転させることにより、図６に示すように、手術顕微鏡１５自体の位置をスタンド装置１により変化させながら、術部Ｔを観察する方向を左右方向で自由に変化させることができるが、接眼部２２の向きは不変のため、術者は首を曲げる必要がなく楽である。尚、左右方向Ｘでの位置を保持するために、他端部１６と、手術顕微鏡１５の本体との間に所定の摩擦力を付与しているが、これに代えて、電磁クラッチ手段でロック及びフリーにしても良い。   By rotating the other end portion 16, as shown in FIG. 6, the direction of observing the surgical portion T can be freely changed in the left-right direction while the position of the surgical microscope 15 itself is changed by the stand device 1. However, since the orientation of the eyepiece 22 is unchanged, the operator does not need to bend the neck and is easy. In order to maintain the position in the left-right direction X, a predetermined frictional force is applied between the other end portion 16 and the main body of the surgical microscope 15, but instead, it is locked by electromagnetic clutch means. And you may make it free.

先端リンク１３に加わる前記手術顕微鏡１５等の重量は、全てカウンタウェイト１１と釣り合っている。従って、スタンド装置１の電磁クラッチ類をフリーにして手術顕微鏡１５等を移動させ、移動先において手を離しても手術顕微鏡１５等は空中に停止する（バランスが保たれるため）。   The weight of the surgical microscope 15 and the like applied to the distal link 13 is all balanced with the counterweight 11. Therefore, even if the surgical microscope 15 and the like are moved with the electromagnetic clutches of the stand device 1 being free and the hand is released at the moving destination, the surgical microscope 15 and the like are stopped in the air (because the balance is maintained).

このバランス状態は、手術顕微鏡１５を前後方向Ｙで回動させたり、他端部１６を左右方向Ｘで回動させても保たれる。つまり、先端リンク１３の垂直状態が常に維持されているため、それに吊下アーム２０を介して支持されている手術顕微鏡１５の向きが変化しても、カウンタウェイト１１による全体のバランス状態は不変で、再度のバランス調整が不要である。   This balanced state is maintained even if the surgical microscope 15 is rotated in the front-rear direction Y or the other end 16 is rotated in the left-right direction X. That is, since the vertical state of the distal link 13 is always maintained, even if the direction of the surgical microscope 15 supported by the suspension arm 20 is changed, the overall balance state by the counterweight 11 is not changed. No need to adjust the balance again.

補助光学機器
吊下アーム２０の下端における光束取出部３１には、補助光学機器としてのアシスタント鏡３４が取付けられている。また、手術顕微鏡１５の本体部分の反対側にも光束取入部３３が形成されており、そこには補助光学機器としてのビデオカメラ３５を必要に応じて取付けることができる。 Auxiliary Optical Device An assistant mirror 34 as an auxiliary optical device is attached to the light beam extraction unit 31 at the lower end of the suspension arm 20. Further, a light beam taking-in portion 33 is also formed on the opposite side of the main body portion of the surgical microscope 15, and a video camera 35 as an auxiliary optical device can be attached thereto as necessary.

光束取出部３１，３３を通る光束Ｌの光軸は水平軸Ｈ３と一致するため、手術顕微鏡１５の前後方向Ｙの傾斜に拘わらず一定位置で光束Ｌを取り出すことができ、補助光学機器（３４，３５）の取入口における光束Ｌの光軸は常に水平面内にある。したがって、特にアシスタント鏡３４を使用する場合には手術顕微鏡１５と同じアイレベルで観察をすることができ、また相互に干渉しにくい位置関係となる。   Since the optical axis of the light beam L passing through the light beam extraction units 31 and 33 coincides with the horizontal axis H3, the light beam L can be extracted at a fixed position regardless of the inclination of the surgical microscope 15 in the front-rear direction Y, and the auxiliary optical device (34 , 35), the optical axis of the light beam L is always in the horizontal plane. Therefore, especially when the assistant mirror 34 is used, observation can be performed at the same eye level as the operation microscope 15 and the positional relationship is less likely to interfere with each other.

アシスタント鏡３４も、必要に応じて取付けるビデオカメラ３５も、左右方向Ｘで回転しない吊下アーム２０や、手術顕微鏡１５の本体部分に取付けられているため、左右方向での重量バランスが不均衡でも、それらが左右方向Ｘで回転することはない。従って、左右方向での再度のバランス調整が不要である。   Since the assistant mirror 34 and the video camera 35 to be attached as necessary are attached to the suspension arm 20 that does not rotate in the left-right direction X and the main body portion of the surgical microscope 15, even if the weight balance in the left-right direction is unbalanced. , They do not rotate in the left-right direction X. Therefore, it is not necessary to adjust the balance again in the left-right direction.

更に、他端部１６の左右方向Ｘでの回動及び手術顕微鏡１５の前後方向Ｙでの回動は吊下アーム２０の構造には関与しない。したがって、吊下アーム２０は単なるアーム形状でよく、従来のような平行リンクにする必要がない。従って、吊下アーム２０の形状が簡略で、製造が容易になる。   Further, the rotation of the other end portion 16 in the left-right direction X and the rotation of the surgical microscope 15 in the front-rear direction Y are not involved in the structure of the suspension arm 20. Therefore, the suspension arm 20 may have a simple arm shape, and does not need to be a parallel link as in the prior art. Therefore, the shape of the suspension arm 20 is simple, and manufacture becomes easy.

尚、以上の実施形態によれば、手術顕微鏡１５の他端部１６を回転させるのに、他端部１６を手で持って回転させる例を示したが、他端部１６にハンドル（図示せず）を設けて、そのハンドルを手で持って回転させても良い。   In addition, according to the above embodiment, although the other end part 16 of the operation microscope 15 was rotated, the other end part 16 was rotated by hand, the handle (not shown) 2) may be provided, and the handle may be held by hand and rotated.

本発明の実施形態に係る手術顕微鏡システムを示す側面図。The side view which shows the surgical microscope system which concerns on embodiment of this invention. 吊下アーム及び手術顕微鏡を示す斜視図。The perspective view which shows a suspension arm and a surgical microscope. 手術顕微鏡を示す斜視図。The perspective view which shows a surgical microscope. 手術顕微鏡内の光学構造を示す斜視図。The perspective view which shows the optical structure in a surgical microscope. 手術顕微鏡の断面図。Sectional drawing of a surgical microscope. 手術顕微鏡の左右方向での回動状態を示す図。The figure which shows the rotation state in the left-right direction of a surgical microscope.

符号の説明Explanation of symbols

１ スタンド装置
２ ベース
５ 本体
６ 平行リンク
１１ カウンタウェイト
１２ 支持アーム
１３ 先端リンク
１５ 手術顕微鏡
１６ 他端部
１７ クランク部材
１８ 縦サブリンク
１９ 横サブリンク
２０ 吊下アーム
２１ 光束取入部
２２ 接眼部
３０ ビームスプリッタ
３１、３３ 光束取出部
３４ アシスタント鏡（補助光学機器）
３５ ビデオカメラ（補助光学機器）
Ｔ 術部
Ｌ 光束 DESCRIPTION OF SYMBOLS 1 Stand apparatus 2 Base 5 Main body 6 Parallel link 11 Counter weight 12 Support arm 13 End link 15 Surgical microscope 16 Other end part 17 Crank member 18 Vertical sublink 19 Lateral sublink 20 Suspension arm 21 Light flux taking-in part 22 Eyepiece part 30 Beam splitter 31, 33 Beam extraction part 34 Assistant mirror (auxiliary optical equipment)
35 Video camera (auxiliary optical equipment)
T operative part L luminous flux

Claims (5)

スタンド装置の横方向に延びる支持アームの先端から下方に延びる吊下アームを有し、該吊下アームの下端に手術顕微鏡を前後方向及び左右方向で回動自在に支持した手術顕微鏡システムであって、
前記手術顕微鏡が、一端部に一対の接眼部を有し且つ他端部に光束取入部を有する概略筒形構造で、
該手術顕微鏡のうち、光束取入部を含む他端部が独立した状態で手術顕微鏡の断面中心を通過する主軸を中心に左右方向へ回動自在に支持され、手術顕微鏡の他端部以外の本体が吊下アームの下端に対して前記主軸に直交する水平軸を中心に前後方向で回動自在に軸支され、
手術顕微鏡からの光束取出部をその光軸が水平軸に一致するように設け、該光束取出部に補助光学機器を取付けたことを特徴とする手術顕微鏡システム。 A surgical microscope system having a suspension arm that extends downward from a tip of a support arm that extends in a lateral direction of a stand device, and a surgical microscope supported at the lower end of the suspension arm so as to be rotatable in the front-rear direction and the left-right direction. ,
The surgical microscope has a generally cylindrical structure having a pair of eyepieces at one end and a light beam intake at the other end,
A main body other than the other end portion of the surgical microscope supported by the surgical microscope so that the other end including the light beam receiving portion is independent and pivotable in the left-right direction around the main axis passing through the cross-sectional center of the surgical microscope. Is pivotally supported in the front-rear direction around a horizontal axis perpendicular to the main axis with respect to the lower end of the suspension arm,
A surgical microscope system characterized in that a light beam extraction portion from the surgical microscope is provided so that its optical axis coincides with the horizontal axis, and an auxiliary optical device is attached to the light beam extraction portion. 前記光束取出部は吊下アームの下端に設けられることを特徴とする請求項１記載の手術顕微鏡システム。   The surgical microscope system according to claim 1, wherein the light beam extraction unit is provided at a lower end of a suspension arm. 前記光束取出部は手術顕微鏡の他端部以外の部分に設けられることを特徴とする請求項１記載の手術顕微鏡システム。   The surgical microscope system according to claim 1, wherein the light beam extraction unit is provided in a portion other than the other end of the surgical microscope. 吊下アームが支持アームの先端に対して垂直軸を中心に水平方向で回動自在に支持されていることを特徴とする請求項１乃至３のいずれか１項に記載の手術顕微鏡システム。   The surgical microscope system according to any one of claims 1 to 3, wherein the suspension arm is supported so as to be rotatable in a horizontal direction about a vertical axis with respect to a tip of the support arm. スタンド装置が、
一対づつの平行な縦リンク及び横リンクを組み合わせて形成した平行リンクにおける前記一方の縦リンクの途中部分を、ベースの上部に位置する本体の回動軸点に支持し、
該平行リンクの上側横リンクを延長して支持アームを形成すると共に、支持アームの先端に軸支した垂直な先端リンクの下端に吊下アームを支持し、
該支持アームの始点となる平行リンクの連結軸点に、該連結軸点と同一の水平線上に位置する水平軸点及び連結軸点と同一の垂直線上に位置する垂直軸点とを有するクランク部材を軸支し、
該クランク部材の水平軸点と本体の一部とを前記縦リンクの連結軸点と回動軸点を結ぶ直線と平行で且つ該直線と同一長さを有する縦サブリンクにて連結すると共に、クランク部材の垂直軸点と前記先端リンクの一部とを支持アームの連結軸点と先端とを結ぶ直線と平行で且つ該直線と同一長さを有する横サブリンクにて連結し、
平行リンクの下部に、前記回動軸点を中心とした平行リンクの回転方向、及び前記連結軸点を中心とした支持アームの回転方向に加わる重量を相殺するカウンタウェイトを設けた構造であることを特徴とする請求項１〜４のいずれか１項に記載の手術顕微鏡システム。 Stand device
The middle part of the one vertical link in the parallel link formed by combining a pair of parallel vertical links and horizontal links is supported on the pivot point of the main body located at the upper part of the base,
The upper side link of the parallel link is extended to form a support arm, and the suspension arm is supported at the lower end of a vertical tip link pivotally supported at the tip of the support arm.
A crank member having a connecting axis of a parallel link serving as a starting point of the support arm, a horizontal axis located on the same horizontal line as the connecting axis, and a vertical axis located on the same vertical line as the connecting axis To support
Connecting the horizontal axis point of the crank member and a part of the main body with a vertical sub-link that is parallel to and has the same length as the straight line connecting the connecting axis point and the rotating axis point of the vertical link; Connecting the vertical axis of the crank member and a part of the tip link with a horizontal sub-link that is parallel to and has the same length as the straight line connecting the connecting axis of the support arm and the tip;
A counterweight is provided at the bottom of the parallel link to counteract the weight applied to the rotation direction of the parallel link around the pivot axis and the rotation direction of the support arm around the connection axis. The surgical microscope system according to any one of claims 1 to 4.
JP2008210518A 2008-08-19 2008-08-19 Surgical microscope system Expired - Fee Related JP5317578B2 (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012095799A (en) * 2010-11-01 2012-05-24 Mitaka Koki Co Ltd Surgical operation microscopic system
CN106842532A (en) * 2015-11-18 2017-06-13 三鹰光器株式会社 Stereovision device is used in operation

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JPH04164442A (en) * 1990-10-29 1992-06-10 Sawara Kesanori Stand device of optical apparatus for medical service
JPH07227398A (en) * 1993-12-22 1995-08-29 Olympus Optical Co Ltd Operational tool supporting apparatus
JPH09182759A (en) * 1995-12-28 1997-07-15 Mitaka Koki Co Ltd Autobalance structure for medical stand device
JPH11231226A (en) * 1998-02-17 1999-08-27 Olympus Optical Co Ltd Tilt angle variable binocular lens-barrels for stereo microscope
JP2004109488A (en) * 2002-09-18 2004-04-08 Olympus Corp Stereoscopic microscope
JP2004167240A (en) * 2002-11-15 2004-06-17 Carl Zeiss Stiftung Trading As Carl Zeiss Surgical microscope arrangement and interface unit for surgical microscope
JP2005010206A (en) * 2003-06-16 2005-01-13 Olympus Corp Surgical microscope
JP2005312529A (en) * 2004-04-27 2005-11-10 Mitaka Koki Co Ltd Weight balancing switch structure of stand apparatus for operation microscope

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JPH04164442A (en) * 1990-10-29 1992-06-10 Sawara Kesanori Stand device of optical apparatus for medical service
JPH07227398A (en) * 1993-12-22 1995-08-29 Olympus Optical Co Ltd Operational tool supporting apparatus
JPH09182759A (en) * 1995-12-28 1997-07-15 Mitaka Koki Co Ltd Autobalance structure for medical stand device
JPH11231226A (en) * 1998-02-17 1999-08-27 Olympus Optical Co Ltd Tilt angle variable binocular lens-barrels for stereo microscope
JP2004109488A (en) * 2002-09-18 2004-04-08 Olympus Corp Stereoscopic microscope
JP2004167240A (en) * 2002-11-15 2004-06-17 Carl Zeiss Stiftung Trading As Carl Zeiss Surgical microscope arrangement and interface unit for surgical microscope
JP2005010206A (en) * 2003-06-16 2005-01-13 Olympus Corp Surgical microscope
JP2005312529A (en) * 2004-04-27 2005-11-10 Mitaka Koki Co Ltd Weight balancing switch structure of stand apparatus for operation microscope

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012095799A (en) * 2010-11-01 2012-05-24 Mitaka Koki Co Ltd Surgical operation microscopic system
CN106842532A (en) * 2015-11-18 2017-06-13 三鹰光器株式会社 Stereovision device is used in operation

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