JPH03205048A - Operation microscope having observed point coordinate display function - Google Patents
Operation microscope having observed point coordinate display functionInfo
- Publication number
- JPH03205048A JPH03205048A JP2177133A JP17713390A JPH03205048A JP H03205048 A JPH03205048 A JP H03205048A JP 2177133 A JP2177133 A JP 2177133A JP 17713390 A JP17713390 A JP 17713390A JP H03205048 A JPH03205048 A JP H03205048A
- Authority
- JP
- Japan
- Prior art keywords
- shaft
- affected area
- coordinates
- axis
- observation point
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000001514 detection method Methods 0.000 claims abstract description 28
- 238000003325 tomography Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 10
- 238000001356 surgical procedure Methods 0.000 description 9
- 238000010191 image analysis Methods 0.000 description 6
- 238000002591 computed tomography Methods 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 2
- 238000002595 magnetic resonance imaging Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 238000013170 computed tomography imaging Methods 0.000 description 1
- 238000007428 craniotomy Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000007917 intracranial administration Methods 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
Classifications
-
- 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
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Physics & Mathematics (AREA)
- General Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pathology (AREA)
- Heart & Thoracic Surgery (AREA)
- Optics & Photonics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Analytical Chemistry (AREA)
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- General Physics & Mathematics (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Endoscopes (AREA)
- Microscoopes, Condenser (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は、観察点の位置座標を認識し得る手術用顕微鏡
に関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a surgical microscope capable of recognizing the positional coordinates of an observation point.
〔従来の技術及び発明が解決しようとする課題〕一般に
顕微鏡を用いて行なわれる手術では、ＣＴやＭＲＩ（核
磁気共鳴映像法）等によって患部の位置を把握し、体表
を切開後、患部まで更に掘り下げて治療を行なう。とこ
ろが、患部が小さい場合や切開した開口が小さい場合は
、掘り下げてゆく時に患部の概略位置しか把握すること
かできないために患部へ容易に到達することができす、
手術時間が反引いたり、又、手術をやり直さなければな
らないことかある。[Problems to be solved by the conventional technology and invention] Generally, in surgery performed using a microscope, the location of the affected area is determined by CT or MRI (magnetic resonance imaging), etc., and after an incision is made on the body surface, the location of the affected area is Dig deeper and treat. However, if the affected area is small or the incision opening is small, only the approximate location of the affected area can be grasped while digging, making it easier to reach the affected area.
The surgery time may be delayed or the surgery may have to be repeated.
かかる事態は、特に臓器手術等において人命にかかわる
問題になり、又、更に手術の失敗につながる危険がある
。従って、如何にして確実に患部へ到達し得るようにす
るかは、この種手術において文字どおり死活問題になっ
ていた。Such a situation can be a life-threatening problem, especially in organ surgery, and there is also a risk that it may lead to failure of the surgery. Therefore, how to reliably reach the affected area has literally become a matter of life and death in this type of surgery.
本発明は、かかる実情に鑑み、患部位置と現在観察して
いる観察点位置との位置関係を正確に把握し得るように
した手術用顕微鏡を提供することを目的とする。SUMMARY OF THE INVENTION In view of the above circumstances, an object of the present invention is to provide a surgical microscope that can accurately grasp the positional relationship between the position of an affected area and the position of an observation point currently being observed.
本発明による手術用顕微鏡は、多関節式作動の可動部を
介して顕微鏡の鏡体を三次元的に自由に移動させ得るよ
うになっているが、該可動部の位置及び移動量を検出す
る検知手段と、該検知手段からの検知信号により基準点
に対する観察点の座標を算出する演算手段を備え、該観
察点の座標を表示し得るようにしている。In the surgical microscope according to the present invention, the mirror body of the microscope can be freely moved three-dimensionally through a movable part operated by a multi-joint type, and the position and amount of movement of the movable part can be detected. It is provided with a detection means and a calculation means for calculating the coordinates of the observation point with respect to the reference point based on the detection signal from the detection means, so that the coordinates of the observation point can be displayed.
従って、演算手段によって算出された基準位置に対する
観察点の位置座標を顕微鏡の視野内に表示することによ
り、観察点の位置を正確に把握することができる。Therefore, by displaying the positional coordinates of the observation point relative to the reference position calculated by the calculation means within the field of view of the microscope, the position of the observation point can be accurately grasped.
以下、図示した実施例に基づき本発明の詳細な説明する
。第１図は本発明による手術用顕微鏡の第一実施例の全
体構成を示す概略図である。図中、ｌはコンピュータ断
層撮影装置、２はその画像解析部、３はコンピュータ断
層撮影装置１の撮影面と同一平面上に配設された第１軸
、４は第１軸３と連結された第１アーム、５は第１アー
ム４の一端に設けた第２軸、６は第２軸５の一端部に設
けた第３軸、７は第３軸６の回りに枢動可能な第２アー
ム、８は第２アーム７と連結された吊下部、８′は吊下
部８と連結された第４軸、９は第４軸８′の一端部に設
けた第５軸、１０は第５軸９に連結された顕微鏡１１の
ための準焦部である。上記第１軸３．第２軸５及び第４
軸８′は鉛直軸の周りに回動可能になっていて顕微鏡Ｉ
Ｉの水平面上での回転方向の位置決めを行ない、又、第
３軸６及び第５軸９は水平軸の周りに回動可能になって
いて顕微鏡１１の鉛直方向及び仰角方向の位置決めを行
なうようになっている。従って顕微鏡１１は、第１軸３
．第２軸５．第３軸６．第４軸８′及び第５軸９の関節
と第１アーム４．第２アーム７及び吊下部８とによって
構成される可動部を介して三次元的に任意の位置に配置
されると共に、その先軸を任意の方向に設定することが
できる。Hereinafter, the present invention will be described in detail based on the illustrated embodiments. FIG. 1 is a schematic diagram showing the overall configuration of a first embodiment of a surgical microscope according to the present invention. In the figure, l is a computed tomography device, 2 is its image analysis unit, 3 is a first axis disposed on the same plane as the imaging plane of the computer tomography device 1, and 4 is connected to the first axis 3. A first arm, 5 is a second shaft provided at one end of the first arm 4, 6 is a third shaft provided at one end of the second shaft 5, and 7 is a second shaft pivotable around the third shaft 6. An arm, 8 is a hanging part connected to the second arm 7, 8' is a fourth shaft connected to the hanging part 8, 9 is a fifth shaft provided at one end of the fourth shaft 8', and 10 is a fifth shaft. A focusing section for a microscope 11 connected to the shaft 9. The first axis 3. 2nd axis 5 and 4th
The shaft 8' is rotatable around a vertical axis, and the microscope I
The third shaft 6 and the fifth shaft 9 are rotatable around the horizontal axis to position the microscope 11 in the vertical direction and the elevation direction. It has become. Therefore, the microscope 11 has the first axis 3
．． Second axis5. Third axis6. The joints of the fourth axis 8' and the fifth axis 9 and the first arm 4. It can be placed in any three-dimensional position via a movable part constituted by the second arm 7 and the hanging part 8, and its tip axis can be set in any direction.
１２．１３，１４．１５及び１６は第１軸３゜第２軸５
４第３軸６．第４軸８及び第５軸９に夫々対応して設け
られていてこれら各軸の回動量及び回動方向等を検出し
得るロータリーエンコンーダ等で成る検知手段、１７は
準焦部１０による顕微鏡１１の光軸方向の移動量等を検
出し得る検知手段、１８はこれらすべての検知手段と接
続されていると共に、画像解析装置２からの信号により
患者Ｍ、における患部Ｐ０の位置情報が入力されていて
、上記検知手段１２乃至１７からの検出信号により顕微
鏡１１の移動量及び位置を算出して、観察点Ｐ、の患部
Ｐ。（基準点）に対する位置座標（Ｘ、Ｙ、Ｚ）を算出
し、観察点Ｐ１の位置情報として顕微鏡１１のＬＥＤや
ＬＣＤ等でなる表示部１１ａへ出力する演算部である。12.13, 14.15 and 16 are the first axis 3 degrees and the second axis 5
4 Third axis 6. Detection means 17 includes a rotary encoder or the like, which is provided corresponding to the fourth axis 8 and the fifth axis 9 and is capable of detecting the amount and direction of rotation of each of these axes; A detection means 18 capable of detecting the amount of movement of the microscope 11 in the optical axis direction, etc. is connected to all of these detection means, and information on the position of the affected area P0 in the patient M is inputted by a signal from the image analysis device 2. The movement amount and position of the microscope 11 are calculated based on the detection signals from the detection means 12 to 17, and the affected area P at the observation point P is detected. This is a calculation unit that calculates positional coordinates (X, Y, Z) with respect to the reference point (reference point) and outputs the positional information of the observation point P1 to the display unit 11a made of an LED, LCD, etc. of the microscope 11.
又、顕微鏡ｌｌ内に設けられたＬＥＤやＬＣＤ等で成る
表示部１１ａは手術者Ｍｔの視野内にかかる観察点Ｐ１
の座標を表示し得るようになっている。In addition, a display section 11a consisting of an LED, LCD, etc. provided in the microscope ll displays an observation point P1 within the field of view of the operator Mt.
It is now possible to display the coordinates of
第２図は本実施例の第１軸３．第２軸５を含む第１アー
ム４の断面図である。ここで、２３及び２６は夫々第１
軸３及び第２軸５の軸端に固定された大ギヤ、２４及び
２７は夫々第１アーム４に設けられた検知手段１２及び
１３の回転入力軸２５及び２８の軸端に固着され且つ大
ギヤ２３及び２６と噛合する小ギヤである。従って、第
１アーム４及び第２アーム７の各水平回転角即ち第１軸
３及び第２軸５の回転角はギヤ伝達により夫々各検知手
段１２及び１３で検知され、各回転角に対応する出力が
演算部１８に入力されるようになっている。FIG. 2 shows the first axis 3. 3 is a cross-sectional view of the first arm 4 including the second shaft 5. FIG. Here, 23 and 26 are the first
Large gears 24 and 27 fixed to the shaft ends of the shaft 3 and the second shaft 5 are fixed to the shaft ends of the rotation input shafts 25 and 28 of the detection means 12 and 13 provided on the first arm 4, respectively. This is a small gear that meshes with gears 23 and 26. Therefore, each horizontal rotation angle of the first arm 4 and the second arm 7, that is, the rotation angle of the first shaft 3 and the second shaft 5, is detected by each detection means 12 and 13, respectively, by gear transmission, and corresponds to each rotation angle. The output is input to an arithmetic unit 18.
第３図は本実施例の第３軸６を含む第２軸５の断面図で
ある。第３軸６は第２軸の一端部に設けられた嵌合穴２
９に回転可能に嵌合されており、更に第２軸５の一端部
に固定された検知手段Ｉ４の回転入力軸３０に固定され
ている。従って、第２アーム７の鉛直面内での動きは第
３軸６の回転となり、この回転角が直接検知手段１４で
検知され、該回転角に対応する出力が演算部１８に入力
されるようになっている。FIG. 3 is a sectional view of the second shaft 5 including the third shaft 6 of this embodiment. The third shaft 6 is a fitting hole 2 provided at one end of the second shaft.
9, and is further fixed to a rotation input shaft 30 of the detection means I4 fixed to one end of the second shaft 5. Therefore, the movement of the second arm 7 in the vertical plane results in a rotation of the third axis 6, and this rotation angle is directly detected by the detection means 14, and an output corresponding to the rotation angle is input to the calculation unit 18. It has become.
第４図は本実施例の第４軸８′、第５軸９を含む吊下部
８の断面図、第５図は本実施例の第１図における紙面に
平行な面での準焦部１０の断面図である。ここで、第４
軸８′は吊下部８に設けられた検知手段１５の回転入力
軸３１に固定され、第４軸８′の回転角が直接検知手段
１５で検知され、該回転角に対応する出力が演算部１８
に入力されるようになっている。同様に、第５軸９も準
黒部ｌＯに設けられた検知手段１６の回転入力軸３２に
固定されており、これにより第５軸９の回転角が検知手
段１６で検知され、該回転角に対応する出力が演算部１
８に入力されるようになっている。FIG. 4 is a sectional view of the hanging part 8 including the fourth axis 8' and the fifth axis 9 of this embodiment, and FIG. FIG. Here, the fourth
The shaft 8' is fixed to a rotation input shaft 31 of a detection means 15 provided on the hanging part 8, and the rotation angle of the fourth shaft 8' is directly detected by the detection means 15, and an output corresponding to the rotation angle is sent to the calculation section. 18
is now entered. Similarly, the fifth shaft 9 is also fixed to the rotation input shaft 32 of the detection means 16 provided in the semi-black part 1O, so that the rotation angle of the fifth shaft 9 is detected by the detection means 16, and the rotation angle is The corresponding output is the calculation part 1
8 is input.
又、３３は顕微鏡１１と一体となったオスアリ、３４は
準焦部１０に設けられたメスアリであって、これらは顕
微鏡１１の光軸方向への移動の案内をする。又、３５は
オスアリ３３に設けられたラックギヤ、３６はこのラッ
クギヤ３５と噛合し且っ準焦部１０の外部に位置してい
る準焦ハンドル３７に結合しているピニオンギヤである
。更に、３８は同じくラックギヤ３５と噛合し且つ準焦
部１０に設けられたロータリーエンコーダ等の回動量及
び回動方向を検知し得る検知手段１７の回転入力軸３９
に固定されている小ギヤである。従って、準焦ハンドル
３７を回転すると、ピニオンギヤ３６とラックギヤ３５
により顕微鏡１１は光軸方向に移動せしめられると共に
、この動きはまたラックギヤ３５と小ギヤ３８により回
転運動に変換されて回転角の変化として検知手段１７で
検知され、該回転角に対応する出力が演算部１８に入力
されるようになっている。Further, 33 is a male dovetail integrated with the microscope 11, and 34 is a female dovetail provided in the focusing section 10, which guide the movement of the microscope 11 in the optical axis direction. Further, 35 is a rack gear provided on the male dovetail 33, and 36 is a pinion gear that meshes with the rack gear 35 and is connected to a focusing handle 37 located outside the focusing section 10. Furthermore, 38 is a rotation input shaft 39 of the detection means 17 which similarly meshes with the rack gear 35 and can detect the amount and direction of rotation of a rotary encoder or the like provided in the focusing section 10.
This is a small gear fixed to the Therefore, when the focusing handle 37 is rotated, the pinion gear 36 and the rack gear 35
The microscope 11 is moved in the optical axis direction, and this movement is also converted into a rotational movement by the rack gear 35 and the small gear 38, which is detected by the detection means 17 as a change in rotation angle, and an output corresponding to the rotation angle is detected. It is designed to be input to the calculation unit 18.
第６図は本実施例の電気回路のブロック図である。ここ
で、３９はＣＰＵ、４０は各アーム長。FIG. 6 is a block diagram of the electric circuit of this embodiment. Here, 39 is the CPU, and 40 is the length of each arm.
対物レンズの作動距離などの情報を蓄えているメモリ、
４１は画像解析部２からの患部Ｐ。の位置情報を蓄えて
いるメモリ、４２は表示部１１ａを駆動する表示駆動回
路であって、これらが演算部１８を構成している。そし
て、各検知手段１２゜・・・・、１７からの回転角情報
は、ＣＰＵ３９に取り込まれてメモリ４０内の各アーム
長、対物レンズの作動距離などの情報と共に演算され、
移動量の情報に変換される。そして、メモリ４１に蓄え
られている画像解析部２からの患部Ｐ。の位置情報と前
記移動量情報により、観察点Ｐ、の位置が演算される。A memory that stores information such as the working distance of the objective lens.
41 is the affected area P from the image analysis unit 2. 42 is a display drive circuit that drives the display section 11a, and these constitute the arithmetic section 18. The rotation angle information from each of the detection means 12°, .
It is converted to information on the amount of movement. The affected area P from the image analysis unit 2 is stored in the memory 41. The position of the observation point P is calculated based on the position information and the movement amount information.
更に、その値が表示駆動部４２を介して表示部１１ａに
表示される。Furthermore, the value is displayed on the display section 11a via the display drive section 42.
第７図は、その時の視野内の観察点Ｐ、の座標表示の様
子を示している。ここで、Ｘ、Ｙ、Ｚは第１図における
座標を意味し、各数値は夫々の座標軸における患部Ｐ０
に対する観察点Ｐの位置を示している。特にこの場合は
、患部Ｐ０の上方を観察していることを示している。FIG. 7 shows how the coordinates of the observation point P within the field of view are displayed at that time. Here, X, Y, and Z mean the coordinates in Figure 1, and each numerical value represents the affected area P0 in the respective coordinate axes.
It shows the position of observation point P with respect to. In particular, this case indicates that the upper part of the affected area P0 is being observed.
本実施例は上記のように構成されているから、コンピュ
ータ断層撮影装置１による患者Ｍ１の断層撮影後、画像
解析装置２によって患部Ｐ。の装置の基準点からの位置
を決定し、そして該患部Ｐｏの位置情報か演算部１８へ
送られる。一方、第１軸３．第２軸５．第３軸６．第４
軸８′及び第５軸９並びに準焦部１０の夫々の検知手段
１２゜１３．１４，１５．１６及び１７の位置情報によ
り観察点Ｐ、の装置の基準点からの位置が算出され、上
記患部Ｐ０の位置情報と比較されて該患部Ｐ０を基準と
した観察点Ｐ、の座標が求められる。Since the present embodiment is configured as described above, after the computed tomography apparatus 1 performs tomography of the patient M1, the image analysis apparatus 2 analyzes the affected area P. The position of the device from the reference point is determined, and the position information of the affected area Po is sent to the calculation unit 18. On the other hand, the first axis 3. Second axis5. Third axis6. Fourth
The position of the observation point P from the reference point of the apparatus is calculated from the position information of the axis 8', the fifth axis 9, and the detection means 12, 13, 14, 15, 16, and 17 of the focusing section 10, and the above-mentioned It is compared with the positional information of the affected area P0, and the coordinates of the observation point P based on the affected area P0 are determined.
そして、この観察点Ｐ、の座標情報が手術者Ｍ２の視野
内に表示されるため、手術者Ｍ２は患部Ｐ０に対する観
察点Ｐ、の正確な座標を認識することができる。Since the coordinate information of this observation point P is displayed within the visual field of the operator M2, the operator M2 can recognize the accurate coordinates of the observation point P with respect to the affected area P0.
このように手術者Ｍ２は患部Ｐ０に対する観察点Ｐ１の
位置関係を適確に把握することにより、患部Ｐ、まて正
確且つ容易に到達することができ、従って手術のやり直
しや失敗の危険性をなくすることができる。そして特に
脳外科手術等における開頭手術の際、頭蓋内圧の変化に
よる患部位置変化に有効に対応することができ、このよ
うな場合でも確実に患部に到達することができる。In this way, by accurately understanding the positional relationship of the observation point P1 with respect to the affected area P0, the operator M2 can reach the affected area P accurately and easily, thereby reducing the risk of redoing the surgery or failure. It can be eliminated. In particular, during craniotomy in brain surgery, etc., it is possible to effectively cope with changes in the position of the affected area due to changes in intracranial pressure, and even in such cases, it is possible to reach the affected area reliably.
第８図は本発明による手術用顕微鏡の第二実施例の全体
構成を示す概略図である。先づ、顕微鏡１１を任意の位
置及び方向に担持するようになっている可動部の基本的
構成は第一実施例の場合と同様であるためその説明を省
略するが、この例では第１軸３は移動可能な基台１９に
取付けられている。又、１２’、１３’、１４’、１５
’、＋６′及び１７′は、夫々第一実施例における検知
手段１２，１３，１４．１５．１６及び１７に夫々対応
して設けられ、これらと同等の検知機能を有する位置検
知器付駆動手段であり、制御部２０に接続されている。FIG. 8 is a schematic diagram showing the overall configuration of a second embodiment of the surgical microscope according to the present invention. First, the basic configuration of the movable part that supports the microscope 11 in any position and direction is the same as in the first embodiment, so its explanation will be omitted. 3 is attached to a movable base 19. Also, 12', 13', 14', 15
', +6' and 17' are provided corresponding to the detection means 12, 13, 14, 15, 16 and 17 in the first embodiment, respectively, and drive means with position detectors having the same detection function as these. and is connected to the control section 20.
従って、可動部を介して移動せしめられた顕微鏡１１の
観察点Ｐ、の座標は表承部１１ａに表示されるか、制御
部２０は更に観察点Ｐ１の座標を入力することができる
コントロール・ボート２１に接続されていて、このコン
トロール・ボード２１からの入力信号により制御部２０
は入力座標に相当する前記各軸及び焦準部の位置を算出
して上記位置検知器付駆動手段１２′１３’ １４
’、１５’、１６’及び１７’に駆動制御信号を送り、
可動部を介して顕微鏡１１を所望の位置に移動せしめ得
るようになっている。Therefore, the coordinates of the observation point P of the microscope 11 moved via the movable part are displayed on the representation part 11a, or the control part 20 further displays the coordinates of the observation point P1 on the control board into which the coordinates of the observation point P1 can be input. 21, and the control unit 20 is connected to the control board 21 by input signals from the control board 21.
calculates the positions of the respective axes and the focusing section corresponding to the input coordinates, and calculates the position of the driving means 12'13'14 with the position detector.
Send drive control signals to ', 15', 16' and 17',
The microscope 11 can be moved to a desired position via the movable part.
尚、準焦部１０はフットスイッチ４３で独立しても操作
できるようになっている。一方、患者Ｍには、ＣＴか〜
ｉＲＩ等によって発見された患部Ｐ、の位置を指示し得
るように患部前後左右方向用指示マーク２２ａ及び患部
上下方向用指示マーク２２ｂが付設された指示枠２２が
覆いかぶされ、これらの両マーク２２ａ、２２ｂにより
患部Ｐ０の位置が認識される。Note that the focusing section 10 can be operated independently using a foot switch 43. On the other hand, for patient M, CT...
In order to indicate the position of the affected area P discovered by iRI or the like, an indication frame 22 with an indication mark 22a for the front, back, left, and right direction of the affected area and an indication mark 22b for the up/down direction of the affected area is covered, and both of these marks 22a are attached. , 22b, the position of the affected area P0 is recognized.
第９図は本実施例の第１軸３．第２軸５を含む第１アー
ム４の断面図である。FIG. 9 shows the first axis 3. 3 is a cross-sectional view of the first arm 4 including the second shaft 5. FIG.
ここで、小ギヤ２４及び２７は夫々第１アーム４上に設
けられた位置検知器付駆動手段１２′及び１３′の回転
軸４４及び４５に固定されており、各軸３及び５は制御
部２０からの信号を受けた各位置検知器付駆動手段１２
′及び１３′により夫々回転駆動されると共に、その回
転角も検知される。各回転角に対応する出力が制御部２
０に入力されるようになっている。Here, the small gears 24 and 27 are fixed to rotating shafts 44 and 45 of drive means with position detectors 12' and 13' provided on the first arm 4, respectively, and the respective shafts 3 and 5 are connected to the control unit. Each drive means 12 with a position sensor receives a signal from 20
' and 13', and their rotation angles are also detected. The output corresponding to each rotation angle is output from the control section 2.
It is set to be input as 0.
第１０図は本実施例の第３軸６を含む第２軸５の断面図
、第１１図は本実施例の第４軸８′、第５軸９を含む吊
下部８の断面図である。第３軸６゜第４軸８′及び第５
軸９は、第２軸５の一端部に固定された位置検知器付駆
動手段１４’の回転軸４６、吊下部８に設けられた位置
検知器付駆動手段１５’の回転軸４７及び準焦部１０に
設けられ位置検知器付駆動手段１６′の回転軸４８に夫
々固定されており、各軸６，８′及び９は制御部２０か
らの信号を受けた各位置検知器付駆動手段１４’、１５
’及び１６′により夫々回転駆動されると共に、その回
転角も検知され、各回転角に対応する出力が制御部２０
に入力されるようになっている。FIG. 10 is a sectional view of the second shaft 5 including the third shaft 6 of this embodiment, and FIG. 11 is a sectional view of the hanging portion 8 including the fourth shaft 8' and the fifth shaft 9 of this embodiment. . 3rd axis 6° 4th axis 8' and 5th axis
The shaft 9 includes a rotating shaft 46 of a driving means with a position detector 14' fixed to one end of the second shaft 5, a rotating shaft 47 of a driving means with a position detector 15' provided on the hanging part 8, and a focusing shaft. The shafts 6, 8' and 9 are respectively fixed to rotating shafts 48 of drive means 16' with position detectors provided in section 10. ', 15
' and 16', and their rotation angles are also detected, and outputs corresponding to each rotation angle are sent to the control unit 20.
is now entered.
第１２図は第８図における紙面に平行な面での準焦部１
０の断面図である。小ギヤ３８は準焦部ｌＯに設けられ
た準焦部位置検知器付駆動手段１７′の回転軸４９に固
定されており、このため顕微鏡１１は制御部２０からの
信号を受けた準焦部位置検知器付駆動手段１７′と小ギ
ヤ３８とラックキャ３５により移動させられると共に、
その位置も検知され、その位置に対応する出力が制御部
２０に入力されるようになっている。Figure 12 shows the focusing section 1 in the plane parallel to the plane of the paper in Figure 8.
FIG. The small gear 38 is fixed to a rotating shaft 49 of a driving means 17' with a focusing section position detector provided in the focusing section 10, and therefore the microscope 11 is moved to the focusing section 10 when receiving a signal from the control section 20. It is moved by a drive means 17' with a position detector, a small gear 38, and a rack carrier 35, and
The position is also detected, and an output corresponding to the position is input to the control section 20.
第１３図は本実施例の電気回路のブロック図である。こ
こで、ＣＰＵ３９と、メモリ４０と、表示駆動部４２と
、各位置検知器付駆動手段１２’・・・・ １６’
１７’を夫々駆動する各駆動回路５０、・・・・、５
４．５５とで制御部２０を構成している。又、フットス
イッチ４３は駆動回路５５を独立に作用させるようにな
っている。そして、コントロール・ボード２１から信号
を受けたＣＰＵ３９又はフットスイッチ４３により各駆
動回路５０、・・・・ ５４．５５を介して各位置検知
器付駆動手段１２′、・・・弓６’、１７’により各軸
が回転せしめられて観察点の移動が行われると共に準焦
部１０が移動せしめられてピント合わせが行われるよう
になっている。又、第１実施例と同様に各位置検知器付
駆動手段１２′、・・、１７′からの回転角情報はＣＰ
Ｕ３９に取り込まれてメモリ４０内の各アーム長、対物
レンズの作動距離などの情報と共に演算され、算出され
た観察点の位置情報は再びメモリ４０へ蓄えられ、更に
コントロール・ボード２１からの入力により表示部１１
ａに観察点の位置を表示させるようになっている。FIG. 13 is a block diagram of the electric circuit of this embodiment. Here, the CPU 39, the memory 40, the display drive section 42, and each position sensor attached drive means 12'...16'
Each drive circuit 50,..., 5 drives each drive circuit 17'
4.55 constitutes the control section 20. Further, the foot switch 43 is configured to operate the drive circuit 55 independently. Then, the CPU 39 or the foot switch 43 which receives the signal from the control board 21 sends the drive circuits 50, . . . ', each axis is rotated to move the observation point, and the focusing section 10 is moved to perform focusing. Also, as in the first embodiment, the rotation angle information from each drive means 12', . . . , 17' with position detectors is
The information on the position of the observation point is stored in the memory 40 again, and is calculated along with information such as each arm length and the working distance of the objective lens in the memory 40. Display section 11
The position of the observation point is displayed in a.
本実施例は上述の如く構成されているから、先づ、観察
点Ｐ１を患部前後左右方向用指示マーク２２ａに合わせ
てコントロール・ボード２１の操作により患部Ｐ。の位
置を前後左右方向の基準点座標として認識させると共に
観察点Ｐ、を患部上下方向用指示マーク２２ｂに合わせ
てコントロール・ボード２１の操作により患部Ｐ０の位
置を上下方向の基準点座標として認識させることにより
、基準点（患部Ｐ。）を決定し、患部Ｐ。の位置情報が
制御部２０へ送られる。一方、観察点Ｐ１の現在の位置
は、位置検知器付駆動手段１２’、１３’、１４’、１
５’、１６’及び１７′からの検出信号により制御部２
０によって算出され、上記患部Ｐ。の位置情報と比較さ
れて該患部Ｐ。を基準とした観察点Ｐ１の座標が求めら
れ、顕微鏡１１の表示部１１ａを介して観察点Ｐ１の座
標は視野内に表示される。又、観察点Ｐ１を、観察し。Since the present embodiment is constructed as described above, first, the observation point P1 is aligned with the direction mark 22a for the direction of the affected area, and the affected area P is moved by operating the control board 21. The position of the affected area P0 is recognized as the reference point coordinates in the front, back, left and right directions, and the observation point P is aligned with the direction mark 22b for the up and down direction of the affected area, and the position of the affected area P0 is recognized as the reference point coordinates in the up and down direction by operating the control board 21. By this, the reference point (affected area P.) is determined, and the affected area P. The position information is sent to the control unit 20. On the other hand, the current position of the observation point P1 is as follows:
The control unit 2 is controlled by the detection signals from 5', 16' and 17'.
0, and the affected area P. The affected area P is compared with the position information of the affected area P. The coordinates of the observation point P1 are determined with reference to , and the coordinates of the observation point P1 are displayed within the visual field via the display section 11a of the microscope 11. Also, observe observation point P1.
たい別の位置に移動する場合、コントロール・ポート２
１に観察し、たい位置の座標を入力すると、かかる移動
に対応する各軸及び焦準部１０の位置が制御部２０によ
って算出され、更に該制御部２０はこの算出結果を駆動
制御信号として位置検知器付駆動手段１．２’、１３’
、１４’、１５’＋６’及び１７’に送出し、これによ
り観察点Ｐ１は目標とする座標位置へ移動せしめられる
。control port 2 if you want to move it to another position.
1, when the coordinates of the desired position are input, the control unit 20 calculates the positions of the respective axes and the focusing unit 10 corresponding to the movement, and the control unit 20 uses this calculation result as a drive control signal to determine the position. Drive means with detector 1.2', 13'
, 14', 15'+6' and 17', thereby moving the observation point P1 to the target coordinate position.
尚、この場合、前述の如く準焦部１０において独立して
ピント操作を行い得るようになっている。In this case, as described above, the focus operation can be performed independently in the focusing section 10.
この第二実施例の場合も、手術者Ｍ、は正確且つ容易に
観察点Ｐ１を患部Ｐ。に到達させることができるが、特
にコントロール・ボード２１の操作により観察点Ｐ１と
患部Ｐ。との位置を合わせて置けば、始めに準焦部１０
の準焦操作により体表部にピントを合わせ、その後は準
焦部１０の準焦操作だけで患部Ｐ。まで簡単に掘り下げ
てゆくことができる点極めて便利である。In the case of this second embodiment as well, the operator M accurately and easily locates the observation point P1 at the affected area P. In particular, by operating the control board 21, the observation point P1 and the affected area P can be reached. If you align the position with
Focus on the body surface by focusing operation of the focusing section 10, and then focus on the affected area P by simply focusing operation of the focusing section 10. It is extremely convenient that you can easily dig into the details.
［発明の効果〕
上述のように本発明の手術用顕微鏡によれば、顕微鏡を
用いたこの種手術において、患部位置と現在観察してい
る観察点位置との位置関係を正確に把握し、得るので、
確実に患部まで掘り下げることができ、手術部の開口を
小さくすることができる上に、患部まで蛇行せずに到達
することができる。そして、その結果低侵襲で且つ手術
時間の短縮化が計れる。又、特に患部が小さい場合でも
、これを確実に発見し適正な治療を行なうことができる
等の利点がある。[Effects of the Invention] As described above, according to the surgical microscope of the present invention, in this type of surgery using a microscope, it is possible to accurately grasp and obtain the positional relationship between the position of the affected area and the position of the observation point currently being observed. So,
It is possible to dig down to the affected area reliably, the opening of the surgical site can be made smaller, and the affected area can be reached without meandering. As a result, it is less invasive and the surgical time can be shortened. Furthermore, even if the affected area is small, it has the advantage of being able to reliably discover it and provide appropriate treatment.
第１図は本発明による観察点座標表示機能を有する手術
用顕微鏡の第一実施例の全体構成を示す概略図、第２図
は第一実施例の第１軸、第２軸を含む第１アームの断面
図、第３図は第一実施例の第３軸を含む第２軸の断面図
、第４図は第一実施例の第４１軸、第５軸を含む吊下部
の断面図、第５図は第一実施例の第１図における紙面に
平行な面での準焦部の断面図、第６図は第一実施例の電
気回路のブロック図、第７図は第一実施例における視野
内の観察点の座標表示の様子を示す図、第８図は第二実
施例の全体構成を示す概略図、第９図は第二実施例の第
１軸、第２軸を含む第１アームの断面図、第１０図は第
二実施例の第３軸を含む第２軸の断面図、第１１図は第
二実施例の第４軸。
第５軸を含む吊下部の断面図、第１２図は第二実施例の
第８図における紙面に平行な面での準焦部の断面図、第
１３図は第二実施例の電気回路のブロック図である。
■・・・・コンピュータ断層撮影装置、２・・・・画像
解析部、３・・・・第１軸、４・・・・第１アーム、５
・・・・第２軸、６・・・・第３軸、７・・・・第２ア
ーム、８・・・・吊Ｆ部、８′・・・・第４軸、９・・
・・第３軸、１０・・・・準焦部、１１・・・・顕微鏡
、ｌｌａ・・・・表示部、１２，１３，１４，１５，１
６．１７・・・・検知手段、１２’ 、 １３’ 、
ｌ ４’ 、 １５’！６’、１７’・・・・位
置検知器付駆動手段、１８・・・・演算部、】９・・・
・基台、２０・・・・制御部、２１・・・・コントロー
ル・ボート、２２・・・・指示枠、４３・・・・フット
スイッチ。
第１
図
ＪＰ２図
矛３図
オ８図
可動部
オ９図
１Ｆ１０図
３６５−FIG. 1 is a schematic diagram showing the overall configuration of a first embodiment of a surgical microscope having an observation point coordinate display function according to the present invention, and FIG. 3 is a sectional view of the second axis including the third axis of the first embodiment; FIG. 4 is a sectional view of the hanging portion including the 41st axis and the fifth axis of the first embodiment; FIG. 5 is a cross-sectional view of the focusing section in a plane parallel to the plane of the paper in FIG. 1 of the first embodiment, FIG. 6 is a block diagram of the electric circuit of the first embodiment, and FIG. 7 is a diagram of the first embodiment. FIG. 8 is a schematic diagram showing the overall configuration of the second embodiment, and FIG. 9 is a diagram showing the coordinates of observation points within the field of view in the second embodiment. 10 is a sectional view of the second shaft including the third shaft of the second embodiment, and FIG. 11 is a sectional view of the fourth shaft of the second embodiment. 12 is a cross-sectional view of the hanging part including the fifth axis, FIG. 12 is a cross-sectional view of the focusing part in a plane parallel to the plane of the paper in FIG. 8 of the second embodiment, and FIG. 13 is a cross-sectional view of the electric circuit of the second embodiment. It is a block diagram. ■...Computed tomography device, 2...Image analysis unit, 3...First axis, 4...First arm, 5
...Second axis, 6...Third axis, 7...Second arm, 8...Hanging F part, 8'...Fourth axis, 9...
...Third axis, 10... Focusing section, 11... Microscope, lla... Display section, 12, 13, 14, 15, 1
6.17...detection means, 12', 13',
l 4', 15'! 6', 17'... Drive means with position detector, 18... Calculation unit, ]9...
- Base, 20...Control unit, 21...Control boat, 22...Instruction frame, 43...Foot switch. Fig. 1 Fig. JP 2 Fig. 3 Fig. O Fig. 8 Moving part O
Claims (1)
る手術用顕微鏡において、上記可動部の位置及び移動量
を検出する検知手段と、該検知手段からの検知信号によ
り基準点に対する観察点の座標を算出する演算手段とを
備え、上記観察点の座標を表示し得るようにしたことを
特徴とする手術用顕微鏡。In a surgical microscope carried via a movable part so that the position of the observation point can be changed, there is a detection means for detecting the position and amount of movement of the movable part, and a detection signal from the detection means to determine the observation point relative to the reference point. A surgical microscope characterized in that it is equipped with a calculation means for calculating the coordinates of the observation point, and is capable of displaying the coordinates of the observation point.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2177133A JP3021561B2 (en) | 1989-10-16 | 1990-07-04 | Surgical microscope device with observation point coordinate display function |
| DE4032207A DE4032207A1 (en) | 1989-10-16 | 1990-10-11 | Medical microscope for remote viewing and recording - uses data from multi-link mechanism to compute XYZ coordinates |
| US07/978,162 US5273039A (en) | 1989-10-16 | 1992-11-17 | Surgical microscope apparatus having a function to display coordinates of observation point |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1-268823 | 1989-10-16 | ||
| JP26882389 | 1989-10-16 | ||
| JP2177133A JP3021561B2 (en) | 1989-10-16 | 1990-07-04 | Surgical microscope device with observation point coordinate display function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH03205048A true JPH03205048A (en) | 1991-09-06 |
| JP3021561B2 JP3021561B2 (en) | 2000-03-15 |
Family
ID=26497782
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2177133A Expired - Fee Related JP3021561B2 (en) | 1989-10-16 | 1990-07-04 | Surgical microscope device with observation point coordinate display function |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP3021561B2 (en) |
| DE (1) | DE4032207A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07509637A (en) * | 1992-08-10 | 1995-10-26 | コンピュータ・モーション・インコーポレーテッド | Automated endoscope system for optimal positioning |
| JPH08509393A (en) * | 1993-02-16 | 1996-10-08 | ゲオルク クリーギス、ウルリッヒ | How to develop and control surgical procedures |
| US6434416B1 (en) | 1998-11-10 | 2002-08-13 | Olympus Optical Co., Ltd. | Surgical microscope |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4134481C2 (en) * | 1991-10-18 | 1998-04-09 | Zeiss Carl Fa | Surgical microscope for computer-aided, stereotactic microsurgery |
| DE4202505B4 (en) * | 1992-01-30 | 2004-04-29 | Carl Zeiss | Guide system for the spatial positioning of a surgical instrument, in particular an operating microscope |
| DE4202922A1 (en) * | 1992-02-01 | 1993-08-05 | Zeiss Carl Fa | MOTORIC TRIPOD |
| DE4204601B4 (en) * | 1992-02-15 | 2006-03-16 | Carl Zeiss | Device for detecting position information with an optical observation unit and method for determining position information |
| WO1994023647A1 (en) * | 1993-04-22 | 1994-10-27 | Pixsys, Inc. | System for locating relative positions of objects |
| US6532108B1 (en) | 1998-07-31 | 2003-03-11 | Leica Microsystems Ag | Operating microscope stand for X-Y displacement |
| DE50304977D1 (en) * | 2003-12-05 | 2006-10-19 | Moeller Wedel Gmbh | Method and device for observing objects with a microscope |
| DE102007009543A1 (en) | 2007-02-27 | 2008-08-28 | Leica Microsystems (Schweiz) Ag | Microscope device with position detection |
| DE102010003836B4 (en) * | 2010-04-09 | 2013-11-21 | Leica Microsystems (Schweiz) Ag | Microscope device and microscopy method |
-
1990
- 1990-07-04 JP JP2177133A patent/JP3021561B2/en not_active Expired - Fee Related
- 1990-10-11 DE DE4032207A patent/DE4032207A1/en not_active Ceased
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07509637A (en) * | 1992-08-10 | 1995-10-26 | コンピュータ・モーション・インコーポレーテッド | Automated endoscope system for optimal positioning |
| JPH08509393A (en) * | 1993-02-16 | 1996-10-08 | ゲオルク クリーギス、ウルリッヒ | How to develop and control surgical procedures |
| US6434416B1 (en) | 1998-11-10 | 2002-08-13 | Olympus Optical Co., Ltd. | Surgical microscope |
| US7076286B2 (en) | 1998-11-10 | 2006-07-11 | Olympus Optical Co., Ltd. | Surgical microscope |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3021561B2 (en) | 2000-03-15 |
| DE4032207A1 (en) | 1991-04-25 |
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