JPH0451842B2 - - Google Patents

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a control lever device, and more particularly to a control lever device that is capable of controlling two different control systems in the X and Y directions. It is.

[Prior Art] For example, there is a device that is equipped with an XY table and requires XY control of a device provided on the table using an operation system different from that of the XY table.

In such cases, a structure was adopted in which two separate levers were provided and the objects were controlled via separate operating systems.

However, if such a structure is adopted, the operating system becomes complicated, and furthermore, if the user wants to operate the device at the same time, both hands must be used, which is extremely disadvantageous in terms of cost and operational performance.

Furthermore, if a function to move the control system up and down using the same control lever is added, the structure becomes even more complicated.

Therefore, a structure was proposed in which two separate XY operating systems, one mechanical and one electrical, were incorporated into one operating lever.

[Problems to be solved by the invention] If the structure described above is adopted, the two operating systems become one, which has the advantage of being able to be operated with one hand, but the operating lever becomes extremely large. There was a problem.

[Means for Solving the Problems] In order to solve the above-mentioned conventional problems, in the control lever device according to the present invention,
An operating member for mechanically controlling movement in the XY directions of a first member slidable in the XY directions,
XY using the spherical receiving seat in contact with the base as a fulcrum
an operating member that is rotatable in the directions and connected to the first member; and an electric device for electrically controlling the operation of the second member supported on the first member in the XY directions. a control means for operating the electrical control means, comprising two electrical control means arranged in series in two stages, upper and lower, along the longitudinal direction of the operating member within the operating member; It consists of an operating lever provided on the upper part of the operating member so as to be rotatable in the X and Y directions, and a plurality of gears provided within the operating member, and the operating lever is rotatable in the X and Y directions.
A configuration is adopted that has a transmission mechanism that transmits the rotation in each direction to one and the other of the two electrical control means.

[Function] According to this configuration, the movement of the first member in the XY directions can be controlled by grasping the operating member with the palm of the hand, and the movement of the second member in the XY directions can be controlled by using only the fingers of the same hand. This can be done by simply operating the operating lever. That is, the operation for controlling the first and second members in the XY directions can be performed with one hand.

[Example] The details of the present invention will be described below based on the example shown in the drawings.

FIG. 1 and the following illustrate one embodiment of the present invention, and is shown as an example applied to a laser photocoagulation device.

In the figure, a slide plate 11, which is a first member that is controlled in the XY direction, is mounted on a base 10, and this slide plate 11 is connected to an operating member such as a joystick shown as an example of a control lever.
2, it can be moved in the X and Y axis directions with respect to the base 10. Movement in the X- and Y-axis directions is performed by tilting the operating member 12 in the X- and Y-axis directions. Also, the rotating member 12a of the operating member 12
By rotating the substrate 53, the substrate 53 can be moved up and down, and the optical system, which will be described later, can be moved up and down. The slide plate 11 adjusted by the operating member 12 can be fixed to the base 10 by the locking means 12b.

Two columns 13 are installed at the front end of the base 10, and a curved chin rest 14 and a forehead rest 15 are attached between the two columns. The subject is seated with their chin on the chin rest 14 and their forehead on the forehead rest 15, and a fixation light is attached to the top of the support to prevent the subject from moving during measurement or coagulation. 16 lamps 16a.

At the front end of the slide plate 11, an optical system 20 for forming a slit image is attached to the A-axis (FIG. 2) for forming a slit image in the subject's eyeball, localizing and illuminating the area to be measured or coagulated. It is attached so that it can rotate freely around the center. As will be described later, a fiber 41 is emitted from a laser light source 40 such as an argon laser or a Clinton laser that is synthesized coaxially with this optical system 20.
An optical system for projecting laser light through the eye is arranged, and the laser light is irradiated to one point within the eyeball via this optical system. Further, an observation device is provided with an eyepiece 51 which is rotatably supported at the front end of the slide plate 11 coaxially with the rotation axis A of the optical system 20 for forming a slit image, and is provided with an eyepiece lens 51 for observing the laser light spot and the slit image inside the eyeball. The optical system 50 of the section is arranged.

2 and 3, the optical system 21 for projecting a laser beam, the optical system 20 for forming a slit image, and the optical system 50 of the observation section are illustrated in detail, respectively. The optical system 20 for forming a slit image is arranged in a pair of housings 22 that are rotatably attached around the A axis, and the light emitted from a lamp 24 whose light intensity is adjusted via a knob 23 (FIG. 1) is condenser lens 2
5 and 25', and illuminates the slit 26.
A roof type deflection prism 27, a heat ray cut filter 28, and a removable blue filter 29 are arranged between the condenser lens 25 and the slit 26. The illuminated slit 26 is connected to the lenses 30a, 3
0b, a slit image 34' is formed on, for example, the retina 34 of the eye 33 of the subject. in this case,
Special contact lenses are used to remove the imaging function of the eyeball. A mirror 35 is placed between the lens 30b and the subject's eye 33. This mirror 35 is divided into three mirror parts 35a to 35.
As will be described later, the central mirror 35a can be rotated vertically and horizontally about an axis perpendicular to the plane of the paper and an axis within the plane of the paper via the operating lever 12c of the operating member 12, as will be described later. This mirror 35a
This is the second member whose XY directions are controlled.

Further, a light shielding plate 36 is arranged between the lens 30a and the prism 31. This light shielding plate 36 is for blocking the slit light from reaching the central mirror 35a, and the slit light is reflected by the upper and lower mirrors 35b and 35c fixed in the same plane and reaches the retina 34. In order to make the slit image on the retina 34 bright and sharp, one surface of the deflection prism 27 is roof-shaped.
The light deflected by the plane a reaches the lower mirror 35b, and the light deflected by the plane 27b reaches the mirror 35c, where they are reflected.
Therefore, the deflection prism 27 has the function of forming lamp filament images at two locations on the entrance pupil of the imaging lens 30.

The width and length of the slit 26 are determined by the knobs 37 and 38 in FIG.
3 so that they can be adjusted respectively. An optical system 21 for projecting a laser beam is disposed in the same housing 22 as the optical system for forming the slit image described above. The laser beam that has passed through the fiber 41 is bent at a right angle by a prism 42 and then passed through a variable magnification lens 4.
3. Reflected by the prism 31 through the lens 44,
Thereafter, the light is combined coaxially with the optical system for forming a slit image, and is irradiated to one point on the retina 34 through the lens 30b, mirror 35a, and contact lens, and the point is thermally solidified. The laser spot diameter can be changed within the range of about 50 .mu.m to 1 mm by rotating the knob 45 in FIG. 1 and moving the variable magnification lens 43.

On the other hand, a housing 52 that supports the optical system 50 of the observation section
The housing 22 is also attached to a board 53 (FIG. 1), and this board 53 can be moved up and down by adjusting the rotating member 12a of the operating member 12. Furthermore, since the casings 52 and 22 can rotate relative to each other around the axis A, each optical system 20, 21, 5
0 can move up and down as well as rotate. The optical system 50 of the observation section includes an objective lens 55, a variable magnification lens 56, a safety filter 61, and an imaging lens 5.
7. It is composed of an erecting prism 58 and an eyepiece 51, and it is possible to observe the slit image and laser light spot formed within the eyeball. By adjusting the knob 60, the variable magnification lens 56 can be moved to enlarge or reduce the slit image and the laser beam spot. The safety filter 61 protects the observer's eyes by blocking the laser beam reflected from the irradiated area, the cornea, etc., and immediately before the strong laser beam is activated from the laser light source 40,
It is automatically inserted into the optical system.

4 and 5 show the structure of the operating member 12 in detail. The operating lever 12c has a hemispherical portion 12d, and the pin 12e implanted therein is inserted into the hole 71a of the cylindrical member 71, and the lower end 12f is connected to the L
It is arranged within the housing so as to fit into the notch 70a of the letter-shaped lever 70. Pin 7 of L-shaped lever 70
0b passes through the hole 72a of the U-shaped block 72 fixed to the housing and is fixed to the pinion gear 73, so when the operating lever 12c is rotated in the direction shown by the X-ray in FIG. The mold lever 70 is pin 7
0b, rotates the pinion gear 73, and rotates the crown gear 74 meshed with the pinion gear 73. The shaft 7 of the X potentiometer 76 held in the holder 75 by the rotation of the crown gear 74
6a can be rotated, the rotation of the operating lever 12c in the X direction is controlled by the X potentiometer 7.
It can be converted into an electrical signal via the terminal 76b of No. 6.

Further, a pinion gear 77 is fixed to the shaft 71b of the cylindrical member 71, and this pinion gear 77 meshes with a crown gear 79 fixed to the shaft 78a of the Y potentiometer, so when the operating lever 12c is moved in the Y direction perpendicular to the X direction, , the L-shaped lever 70 rotates around 12g within the range regulated by the notch 70a, thereby rotating the shaft 78a of the Y potentiometer 78 and causing the operation lever 12c to move in the Y direction. It can be converted into an electrical signal via terminal 78b. These X and Y potentiometers 76 and 78 are control means for electrically controlling the second member in the X and Y directions.

Note that 81 is a leaf spring, which is an elastic member that urges the operating lever 12c to the left by the block 80.

6 to 8 illustrate a mechanical and electrical configuration for converting the movement of the operating lever into an electrical signal and controlling the position of the mirror 35a to the target value.

In FIGS. 6 and 7, the central mirror 35a is connected via a mirror lever 90 and an interlocking shaft 91 to a gear 92 provided with a helicoid screw 92a. The gear 92b meshes with the pinion 93a of the Y direction drive motor (DC motor with reduction gear) 93,
The lower shaft 92b of No. 2 abuts one end of a detection lever 94 that supports a magnet 94b at the other end and rotates around a shaft 94a. When the Y-direction drive motor 93 rotates, the helicoid screw 92a moves up and down with respect to the housing 95, so the interlocking shaft 91 moves up and down, causing the mirror 35a to rotate around the axis 96 as shown by Y. do. The detection lever 94 corresponds to this amount of rotation.
rotates about the shaft 94a, the magnet 94b moves relative to the Hall element 97, and indirectly detects the amount of rotation of the mirror 35a.

Further, an X-direction drive motor 98 similar to the Y-direction drive motor 93 is provided, and its pinion 98a meshes with the teeth 99a of the lever 99, so that the lever 99 rotates around the bearing of the housing 95. The mirror 35a has a rotating shaft 1 fixed thereto.
It can rotate in the direction indicated by X around 01. The amount of rotation can be indirectly detected by moving the magnet 99b provided at the other end of the lever 99 with respect to the Hall element 102.

The amount of movement of the operating lever 12c in the X direction is detected via the X potentiometer 76, and the signal from the X potentiometer 76 is input to the A/D converter 112 of the control unit 111 via the amplifier 110 and converted into a digital signal. converted. Further, the amount of movement of the mirror 35a in the X direction is detected via the Hall element 102, and the signal is similarly input to the A/D converter via the amplifier 113 and converted into a digital signal. The A/D converter 112 has a memory 11
4 is connected, and a target value signal corresponding to the amount of movement of the operating lever 12c and a position signal of the mirror 35a detected by the Hall element 102 are always stored. If there is a deviation between the two signals, a control signal is input from the CPU (central processing unit) 116 to the driver 117, and the mirror 3 is sent via the X-direction drive motor 98.
Rotate 5a until there is no deviation.

Although the X-direction control system is not shown in FIG. 8, the Y-direction control system has a similar configuration.

On the other hand, the outline of the elevating mechanism and sliding mechanism is explained in the first part.
Shown in Figure 0. Although FIG. 10 is shown in a simplified manner, the same or corresponding parts as in FIGS. 1 to 7 are given the same reference numerals and their explanations will be omitted.

Rotating member 12a that constitutes the outer frame of the operating member 12
The lower end of the slide plate 11 is connected to the housing 111 via a universal joint 110 inside the slide plate 11.

Further, a shaft 113 is connected to the lower end of a housing 112 that houses the aforementioned X potentiometer 76, Y potentiometer 78, and the like.

A spherical body 114 is slidably fitted in the middle of this shaft 113, and this spherical body 114 is attached to a spherical bearing 1 that forms part of the lower frame 11a of the slide plate 11.
15, and is rotatably supported on the shaft.

Housing 1 that holds the operating lever 12c in the XY direction
The key 114a is connected to the sphere 1 in order to regulate the rotation of the sphere 12.
It is fixed to 14.

One end of the key is connected to the shaft 113, and the other end is connected to the spherical bearing 11
5, respectively, so as to be slidable.

The lower end of the shaft 113 is a spherical receiving seat 113a that contacts the base 10, and a spring 116 is elastically loaded between the spherical receiving seat 113a and the sphere 114, and the shaft 113 is always held downward. is being pressed.

On the other hand, the cylindrical body 111 is rotatably fitted to the outside of a spherical bearing 115 via a bearing 117, and a gear 111a is formed on the outside of the cylindrical body 111.

This gear 111a meshes with an idle gear 119 that is rotatably supported on a shaft 118 that also projects from the lower frame 11a of the slide plate 11.

The gear 119 meshes with a gear 122 rotatably supported via a bearing 121 on a support frame 120 protruding from the lower frame 11a.

A female screw 122a is formed in the center of this gear 122, and a screw shaft 53a protruding from the lower surface of the substrate 53 is screwed into the female screw 122a.

On the other hand, a shaft 123 is provided protruding from the lower frame 11a. This axis is the A-axis mentioned above.

A base plate 53 is fitted onto this shaft 123 via a cylindrical portion 53a so as to be able to move up and down, and a balance spring 124 is elastically disposed between the base plate 53 and the lower frame 11a while being wound around this shaft 123. equipped.

Therefore, the board 53 is connected to the balance spring 124.
It is constantly pressed upward by the

The housing 52 of the observation unit optical system 50 and the housing 21 of the slit image optical system 20 are rotatably supported on the cylindrical portion 53a.

At the upper end of the shaft 124, a retainer 125 is fixed to the tube tip 53a.

Further, the board 53 is guided up and down by a key 53b fixed to the slide plate 11.

Next, the sliding operation of the slide plate 11 and the elevating and lowering operations of the optical system in the above-described structure will be explained.

When it is desired to slide the slide plate 11 in the X and Y directions, the operation member 12 is freely tilted via the universal joint 110 by grasping the operation member 12 and pushing it so as to tilt it in the desired direction.

At this time, since the shaft 113 is in contact with the base 10 via the spherical receiving seat 113a, the shaft 113 is rotated using this portion as a fulcrum, but the middle of the shaft 113 is slidably fitted into the spherical body 114. Therefore, the lower frame 11a and the slide plate 11 integrated therewith are moved in the direction in which the operating member 12 is tilted via the spherical bearing 115, and the optical system is also moved via the substrate 53.

By operating the operating lever 12c along with this tilting operation, the laser beam spot can be moved as described above.

On the other hand, if you want to change the height of the optical system, when the operating member 12 is at an arbitrary angle, the rotating member 12a
When rotated, the universal joint point 110
The cylindrical body 111 is rotated via.

As a result, the gears 111a, 119, and 122 are rotated, and the screw shaft 53a screwed thereon is raised and lowered by the direction of rotation of the gear 122, the substrate 53 is raised and lowered, and the optical system is also raised and lowered.

Due to the structure described above, the XY of the slide plate
It becomes possible to move in the direction and move the optical system up and down.

Next, the operation of the apparatus configured as described above will be explained. First, the subject places his or her chin on the chin rest 14.
In addition, the patient takes an immobile posture by placing the forehead on the forehead rest 15 and fixating the lamp 16a of the fixation lamp 16. Subsequently, the lamp 24 of the slit image forming optical system 20 is turned on to direct the image 34' of the slit 26 to the subject's eye 33.
For example, it is formed on the retina 34. Slits statue 3
Since the light beam at the center of 4' is blocked by the light shielding plate 36, the upper and lower mirrors 35b, 4' of the mirror 35 are mainly used.
It is reflected by 35c and a slit image is formed.
In this case, the deflection prism 27 allows the slit light to effectively reach the mirrors 35b and 35c. Further, the light amount of the slit image can be adjusted by adjusting the lamp light amount adjustment knob 23, and the width and length of the slit can be adjusted by adjusting the adjustment knobs 37 and 38, respectively.

In addition, in the above-mentioned slit image formation, if the slit image deviates from the intended position,
By operating the operating member 12, the slide plate 1
1, the housing 22, and the substrate 53 in the X, Y, and Z axes, and each optical system 20, 21, and 50 is rotated relative to each other about the axis A to focus the slit image on the target area. image.

The slit image 34' thus formed can be observed through the objective lens 55, variable magnification lens 56, imaging lens 57, erecting prism 58, and eyepiece lens 51 of the observation section. After determining the area to be coagulated in this manner, the laser light source 40 is activated to emit laser light. The laser beam passes through the fiber 41, passes through the prism 42, the variable magnification lens 43, the lens 44, the prism 31, and the lens 30b, and is reflected by the central mirror 35a, forming a dot-like image on the retina 34, and thermally coagulates the area. In this case, in order to protect the observer's eyes, a safety filter 61 is inserted into the optical system of the observation section to effectively block the reflected laser beam.

In addition, when moving the laser light spot, the central mirror 35a is scanned vertically and horizontally, that is, in the X and Y directions, via the operating lever 12c of the operating member 12, to move the laser light spot.

For example, in FIG. 5, the operating lever 12c is
When the X potentiometer 76 is moved in the direction (step S1 in FIG. 9), the shaft 76a of the X potentiometer 76 rotates through the engagement of the pinion gear 73 and the crown gear 74, and the position data of the operating lever 12c is taken out from the terminal 76b as an analog signal. It will be done. This analog signal is amplified by an amplifier 110 (FIG. 8), converted to a digital signal by an A/D converter 112, and then stored in a memory 114. Since the position data of the control lever 12c is always stored in the memory, the above-described operation of the control lever 12c sends position data different from the position data before the operation to the control unit 111, and the arithmetic comparator 11
5, the difference between both data (its magnitude and sign) is calculated (step S2).

Based on this calculation result, the deviation signal is output to the driver 117.
is input to drive the X-direction drive motor 98,
(Step S3) The lever 99 rotates around the shaft 110, and the interlocking shaft 91, the mirror lever 90, and the mirror 35
a, the shaft 101 rotates in the X direction and scans the laser light spot in the X direction, that is, in the left and right direction. In this case, since the position data of the mirror 35a is always stored in the memory 114 by the Hall element,
Based on the position data and the deviation signal before the mirror is driven, a calculation comparator calculates new position data for the drive motor corresponding to the target value, and the drive continues until the drive motor reaches the position corresponding to this new position data. (steps S4, S5).

The same goes for the movement of the laser light spot in the Y direction, and by operating the operating lever 12c in the Y direction, a target value is generated from the Y potentiometer 78, which is compared with the position data of the mirror 35a obtained from the Hall element 97. Based on the comparison, the Y-direction drive motor 93 is driven to rotate the mirror 35a about the shaft 96 via the interlocking shaft 91. This driving is continued until the mirror 35a reaches the target data.

In the above embodiments, the mirror may be any reflecting means, such as a total reflection mirror, a half mirror, or a mirror.
It includes a prism surface, etc.

[Effects of the Invention] As is clear from the above description, the control lever device of the present invention mechanically controls the movement of the first member that is slidable in the XY directions relative to the base in the XY directions. an operating member for rotating the first member, the operating member being rotatable in the XY directions about a spherical receiving seat in contact with the base and connected to the first member; electrical control means for electrically controlling the movement of a second member supported in the two electrical control means disposed; an operating lever rotatably provided in the XY direction on the upper part of the operating member for operating the electrical controlling means; and a plurality of operating levers provided within the operating member. The present invention adopts a configuration having a transmission mechanism which is composed of gears and transmits the rotation of the operating lever in the X direction and the rotation in the Y direction to one and the other of the two electrical control means, respectively.
Controlling the movement of the first member in the XY directions and controlling the movement of the second member in the XY directions can be performed with one hand, improving operability.

In addition, operating members, electrical control means, operating levers,
The entire control lever device consisting of the drive mechanism and the transmission mechanism can be integrated into a compact unit, and its diameter can be reduced, which also provides an excellent effect in that operability can be improved.

[Brief explanation of the drawing]

FIG. 1 is an external view showing the overall configuration of the device of the present invention, FIGS. 2 and 3 are sectional views and perspective views showing the arrangement of the optical system, respectively, and FIGS. 4 and 5 are the configurations of the operating members, respectively. 6 and 7 are a sectional view and an exploded perspective view showing the mirror scanning system, respectively. FIG. 8 is a block diagram showing the configuration of the control section, and FIG. 9 is a control flow. FIG. 10 is a longitudinal sectional side view illustrating the slide mechanism. 12... Operating member, 12a... Rotating member, 12
c...Operation lever, 35a-35c...Mirror,
76...X potentiometer, 78...Y potentiometer, 93...Y direction drive motor, 98...
...X-direction drive motor, 113... shaft, 113a...
... Spherical bearing seat, 114 ... Sphere, 115 ... Spherical bearing.

Claims (1)

[Scope of Claims] 1. An operation member for mechanically controlling movement in the XY directions of a first member that is slidable in the XY directions with respect to the base, the spherical receiver being in contact with the base; an operating member that is rotatably provided in the XY directions using the seat as a fulcrum and is connected to the first member; and a second member that is supported on the first member.
An electrical control means for electrically controlling operations in the XY directions, the electrical control means being two electrical controls arranged in series in two stages, upper and lower, along the longitudinal direction of the operating member within the operating member. an operating lever rotatably provided in the X and Y directions on the upper part of the operating member for operating the electrical control means; and a plurality of gears provided within the operating member, the operating lever A control lever device comprising a transmission mechanism that transmits rotation in the X direction and rotation in the Y direction to one and the other of the two electrical control means, respectively.