JPH11244301A - Operating microscope - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an operating microscope capable of easily controlling a balance during operation, always moving a microscope body in the most preferable balance condition with a light push, and thereby reducing fatigue of an operator. SOLUTION: This operating microscope is provided with a microscope body 26, a microscope body connecting arm 25 supporting the microscope body inclinably around two inclined shafts and rotatbly around one rotation shaft, first and second parallelogram rings 4, 15, an equalizing weight 31 for offsetting and vertically, horizontally moving the weight of the microscope connecting arm 25, and a controlling mechanism for moving a center of the gravity of the microscope body 26 to the rotation shaft. The controlling mechanism crosses at right angles to the rotation shaft, and is a slider crank mechanism 59 as an inclining the microscope body 26 around the two shafts crossing at right angles to each other.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a surgical microscope used in micro-surgery, particularly in neurosurgery.

[0002]

2. Description of the Related Art In recent years, with the development of surgical techniques and surgical instruments, microsurgery, so-called microsurgery, has been frequently performed. Particularly in neurosurgery, since it is required to frequently change the observation position and observation direction, a gantry that allows the operator to quickly and reliably move and fix the mirror body to a desired position and angle with a light force is desired. I have. For example, Japanese Patent Publication No. 53-23168 discloses a tilt mechanism and an equilibrium movement mechanism capable of canceling the weight and the rotational moment of the mirror body with a balance weight, and tilting, moving up and down, and moving horizontally with a light force. A so-called counterbalance type gantry is disclosed.

[0003] In this counter-balance type mount,
When the position of the heavy object connected to the mirror unit, specifically, the position of the assistant's side endoscope is changed, the position of the center of gravity of the mirror unit shifts, and it is necessary to adjust the balance. JP-A-56-20448 has been proposed as a method of adjusting the balance. Japanese Patent Publication No. 7-47998 has generally proposed a method of adjusting the balance by moving the center of gravity of a mirror body.

[0004]

However, in the adjustment of the balance disclosed in Japanese Patent Application Laid-Open No. 56-20448, the parallel crank mechanism is moved so that the bubble of the level is set at the center, and the adjusting screw is adjusted. The joint must be loosened to release the joint, and after the center of gravity of the microscope hangs vertically, the joint must be fixed again with the adjusting screw. It is very difficult to perform this operation during surgery because the surgical microscope is disinfected and sterilized, and the patient is below the microscope. In practice, even if the balance is lost during the operation, it must be used as it is without adjustment, which requires a great deal of force to move the microscope, leading to operator fatigue.

In addition, it has been proposed to adjust the balance of the microscope by tilting the microscope by rotating the adjustment screw to move the microscope in the vertical direction. However, providing an adjustment mechanism for moving the microscope in the vertical direction increases the weight. And increase the force to move the microscope. In addition, the number of adjustment points increases, which makes the adjustment work cumbersome.If the user does not properly perform the balance adjustment, the microscope naturally moves in a direction not intended by the operator when the microscope is moved during surgery. And it was difficult to operate.

In Japanese Patent Publication No. 7-47998, the balance is adjusted by moving a member rotating around each rotation axis in parallel, so that the center of gravity coincides with the rotation axis. In this method, the amount of displacement of the adjustment portion and the amount of displacement of the center of gravity are the same, so that the size of the adjustment mechanism increases. If there is a large protrusion around the microscope during the operation, the operator's hand may hit it or the visual field may be obstructed when trying to directly observe the operation area or the surroundings with the naked eye, making it possible to perform the operation efficiently. However, there is a problem that the operation time is long.

[0007] The present invention has been made in view of the above-mentioned circumstances, and an object thereof is to enable easy balance adjustment during an operation, and a small adjustment mechanism portion does not hinder the operation. An object of the present invention is to provide a surgical microscope which can be operated with a light force.

[0008]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention provides a mirror, and a mirror for supporting the mirror so as to be tiltable about two tilt axes and to be rotatable about one rotation axis. A body support mechanism, an equilibrium movement mechanism for canceling the weight of the mirror body and the mirror body support mechanism and moving the mirror body vertically and horizontally, and an adjustment mechanism capable of moving the center of gravity of the mirror body on the pivot axis. In the surgical microscope, the adjustment mechanism is
The tilt mechanism is characterized by being capable of moving the center of gravity by tilting the mirror about two axes that are perpendicular to the pivot axis and perpendicular to each other.

According to the configuration described above, when the center of gravity is off the pivot axis, the mirror is tilted around two axes orthogonal to each other by the adjusting mechanism so that the center of gravity is centered on the two axes. The balance can be adjusted by moving the center of gravity on the pivot axis again.

[0010]

Embodiments of the present invention will be described below with reference to the drawings. 1 to 5 show a first embodiment. In FIG. 1, reference numeral 1 denotes a base of an operating microscope movable in an operating room, and a column 2 is erected on the base 1. The support column 2 is provided with a link seat 3 that is rotatably supported on the support column 2 around a vertical axis A1.

The link seat 3 is provided with a first parallelogram link 4. The first parallelogram link 4 has a plurality of links 5, 6, 7, and 8 at ends thereof, axes A2, A which are perpendicular to the vertical axis A1 and are parallel to each other.
3, A4 and A5 are rotatably connected to each other, and are supported by the link seat 3 so as to be rotatable around an axis A6 parallel to the axis A2.

The end of the link 7 constituting the first parallelogram link 4 has a mirror 26, a mirror connecting arm 25, a first parallelogram link 4, and a second parallelogram link described later. An equilibrium weight 31 is provided for canceling the rotational moment due to the weight of 15 and maintaining an equilibrium state.

The column 2 is provided with a control box 9 having a built-in electrical system. The control box 9 is connected to a foot switch 10 capable of operating a motorized visual field movement described later.

Further, an electromagnetic brake 11 which can lock the rotation of the link seat 3 around the vertical axis A1 with respect to the support column 2 is provided at the tip of the support column 2, and the link 6 is provided around the vertical axis A6 with respect to the link seat 3. The link 7 is provided with an electromagnetic brake 13 which can lock the rotation about the axis A5 with respect to the link 6.

A link 5 constituting the first parallelogram link 4 is provided with a second parallelogram link 15. The second parallelogram link 15 includes a plurality of links 16, 1
7, 18, 19, 20, and 21 are connected at their respective ends and at an intermediate point between the link 18 and the link 19 so as to be rotatable about an axis perpendicular to the paper surface.

The second parallelogram link 15 is connected to the first
It is rotatable about the axis A7 with respect to the parallelogram link 4 and is supported so as to be fixed by an electromagnetic brake described later incorporated in a housing 14 installed on the link 5. An electric visual field moving mechanism in the X + to X- directions in FIG. Further, the second parallelogram link 15 supports a mirror connecting arm 25, which will be described later, with respect to the link 21 so as to be rotatable around a turning axis A <b> 8 and fixed by an electromagnetic brake 29.

An electromagnetic brake, which can lock the rotation of the link 18 with respect to the link 17, and a Y shown in FIG.
There is provided a housing 22 having a built-in electric visual field moving mechanism described later in the + to Y- directions.

In this embodiment, the second parallelogram link 1
5 constitutes a lens body support mechanism, and the first parallelogram link 4 constitutes an equilibrium movement mechanism. A mirror 26 is supported below the lens connecting arm 25. In addition, point C in FIG. 1 indicates a member that rotates around the rotation axis A8, that is, a combined center of gravity of the lens body 26 and the lens body connecting arm 25. The point C can be adjusted by the later-described lens-body connection arm 25 so that the point C always coincides with the turning axis A8, that is, is in a balanced state around the turning axis A8.

The mirror body 26 is provided with a grip 27 to be held by an operator, and the grip 27 is provided with a switch 28. This switch 28 is connected to a control unit in the control box 9. Further, the observation body 30 for the assistant is provided on the mirror body 26, and the position angle of the observation lens barrel 30 with respect to the body 26 can be changed during the operation.

Next, the detailed structure of the electric field moving mechanism in the Y + to Y- directions incorporated in the housing 22 shown in FIG. 1 will be described with reference to FIG. FIG. 2 is a cross-sectional view taken along axis A9 as viewed from the direction of arrow B in FIG.

A rotary shaft 40 is fixed to the link 18 constituting the second parallelogram link 15, and the rotary shaft 40 is connected to the link 17 by bearings 41a and 41b.
Is rotatably supported coaxially with the shaft A9. A housing 22 is fixed to the link 17.

The rotary shaft 40 is integrally provided with a flange 40a. Between the flange 40a and the link 17, a non-excited Y-axis electromagnetic brake 43 is provided at the base end of the rotary shaft 40. I have. The Y-axis electromagnetic brake 43 includes an armature 43b connected to the flange 40a of the rotary shaft 40 via a leaf spring 43a so as to be movable only in the axis A9 axis, and a permanent magnet (not shown). A stator 43c is provided which attracts and fixes 43b, cancels the magnetic force of the permanent magnet by a magnetic field generated by an internal coil (not shown) when energized, and releases the attraction of the armature 43b.

Further, a small diameter portion 40b is formed at the tip of the rotary shaft 40, and the gear ring 44 is supported on the small diameter portion 40b by bearings 45a and 45b so as to be rotatable around the axis A9. . A spur gear 44a is formed at the left end of the gear ring 44, and a shaft A9 is formed by the ring 46.
The movement in the direction is regulated.

A Y-axis electromagnetic clutch 47 is provided inside the housing 22 fixed to the link 17. This Y-axis electromagnetic clutch 47 is
A rotor 47a integrally fixed to the rotary shaft 40 by a key 48 press-fitted into the notch groove 40c, and an armature 47c connected to the gear ring 44 via a leaf spring 47b so as to be movable only in the direction of the axis A9. And a stator 47d for integrally attracting and fixing the armature 47c to the rotor 47a by a magnetic field generated by an internal coil (not shown) only when energized.

Further, a Y-axis motor 49 having an encoder 51 is fixed inside the housing 22. A spur gear 50 meshing with the spur gear 44a of the gear ring 44 is fixed to the output shaft 49a of the Y-axis motor 49.

The aforementioned Y-axis electromagnetic brake 43, Y-axis electromagnetic clutch 47 and Y-axis motor 49 are connected to a drive circuit in the control box 9, respectively. In addition,
The configuration of the electric visual field moving mechanism in the X + to X- directions incorporated in the housing 14 in FIG. 1 is the same as that in the Y + to Y- directions described above.

Next, the detailed structure of the lens connecting arm 25 will be described with reference to FIG. In this embodiment, the lens connecting arm 25 forms the slider crank mechanism 59.
The first arm 6 rotatably supported on the link 21 constituting the second parallelogram link 15 about the pivot axis A8.
0 is provided. The first arm 60 has a pivot axis A
L connected rotatably about an axis A10 orthogonal to
A letter-shaped second arm 61 is provided. The second arm 61 has an axis A11 orthogonal to the pivot axis A8 and the axis A10.
A third arm 62 rotatably connected is provided, and the mirror body 26 is supported by the third arm 62. A point D in the figure indicates an intersection of the rotation axis A8, the axis A10, and the axis A11.

The second arm 61 has a first groove 61a extending in a direction perpendicular to the axis A10.
A first slide block 63 that can move only in the longitudinal direction is fitted into a. This first slide block 6
3 is screwed with a screw 64 that is rotatably supported on the second arm 61 around the axis A12 and that is restricted from moving in the axial direction of the axis A12. A handle 65 is provided integrally with the screw 64. ing.

The second arm 61 is formed with a second groove 61b extending in a direction parallel to the axis A10, and a second slide block 63a which is movable only in the longitudinal direction is fitted into the second groove 61b. ing. The second slide block 63a is screwed with a screw 64a similarly to the first slide block 63, and the screw 64a is integrally provided with a handle 65a.

A connection link 66 is connected between the first arm 60 and the first slide block 63 so as to be rotatable about an axis A13 and an axis A14 parallel to the axis A10. A connection link 66a is connected between the third arm 62 and the second slide block 63a.

Further, in FIG. 1, the combined center of gravity E of the members (the second parallelogram link 15, the mirror connecting arm 25, the mirror 26) which rotates about the axis A7 is always on the axis A7 or the axis A7. The first arm 60 of the lens-body connecting arm 25 is configured to be located below.

Next, the operation of the first embodiment will be described. When the operator presses the switch 28 of the grip 27, an operation signal is input to the control unit from the switch 28, and the six electromagnetic brakes 11, 12, 13, 29, the housing 14,
Y-axis electromagnetic brake 43 and X-axis electromagnetic brake 43 in 22
Electric power is applied to x, the lock around each axis is released, and the operator can move the mirror body 26 to any position and angle.

If the position of the observation tube 30 for assistant is changed, the center of gravity C is shifted from the axis of rotation A8. Therefore, the lens body connecting arm 25 is adjusted and the center of gravity C is moved again to the axis of rotation A8. Must match. FIG. 3 and FIG.
A description will be given according to (a) and (b).

First, when the handle 65 is rotated in one direction, the first slide block 63 moves along the first groove 61 a of the second arm 61. That is, the axes A10, A1
3, it is possible to move the mirror body 26 in the left-right direction about the axis A10 by deformation of a triangular link formed by the first arm 60, the second arm 61, and the connecting link 66 connected at A14. .

Then, when the handle 65a is rotated, the triangular link formed by the second arm 61, the third arm 62, and the connecting link 66a is deformed around the axis A11 by the same operation as in the above-mentioned left-right direction. It is possible to move the mirror body 26 in an arc shape.

By combining the movement of the mirror 26 in the X direction and the Y direction, the combined center of gravity C of the mirror 26 and the lens connecting arm 25 can be made to coincide with the pivot axis A8. At that time, when the center of gravity C is coincident with the turning axis A8,
A member rotating around the axis A7 (the second parallelogram link 1)
5. Since the combined center of gravity E of the mirror connecting arm 25 and the mirror 26) is always positioned above the axis A7 or below the axis A7, the switch 28 of the grip 27 is pushed and the Y-axis electromagnetic brake 43 is pressed. Is released and the mirror 26 is tilted in the left and right direction around the axis A7 integrally with the second parallelogram link 15, the mirror 26 is always in the state shown in FIG. In the direction in which the inclination is to be restored in the direction of the operation, and does not naturally move in a direction not intended by the operator during the operation.

In the front-back direction, the combined center of gravity E of the mirror body 26, the lens body connecting arm 25, and the second parallelogram link 15 is located below the axis A7, that is, below the axis A9. Accordingly, when the Y-axis electromagnetic brake 43 is released from being fixed in the same manner as in the left-right direction, the mirror 26 is always in the position shown in FIG.
(In the direction in which the mirror 26 is hung downward) in the direction of restoring the inclination, and does not naturally move in a direction not intended by the operator during the operation.

Next, the operation of the electric visual field moving mechanism which can move the visual field without using a hand by a flip switch will be described with reference to FIGS. FIG. 2 shows the Y-axis electromagnetic brake 43.
Thus, the rotation of the arm 18 around the axis A9 is fixed, and the state where the input of the electric visual field moving mechanism is not performed is shown.

When an electric field-of-view movement is input by the foot switch 10 in the front-back direction Y + to Y- as viewed from the operator, an operation signal is input to the control unit, and the control unit is driven by the Y-axis electromagnetic clutch 47. Output a signal. Y-axis electromagnetic clutch 4
7 receives the output signal and energizes a coil (not shown) in the stator 47d to attract the armature 47c to the rotor 47a against the force of the leaf spring 47b. By this action, the gear ring 44 is integrated with the rotary shaft 40 via the leaf spring 47b, the armature 47c, the rotor 47a, and the key 48, and is rotatable around the axis A9.

Next, the control section outputs a drive signal to the Y-axis electromagnetic brake 43. Upon receiving this output signal, the Y-axis electromagnetic brake 43 energizes a coil (not shown) in the stator 43c, and causes the armature 43b attracted by a permanent magnet (not shown) to move to the stator 4 by the force of the leaf spring 43a.
3c. By this operation, the rotating shaft 40 can rotate with respect to the link 17 via the bearings 41a and 41b.

Subsequently, the control unit outputs a drive signal to the Y-axis motor 49, rotates the Y-axis motor 49, and rotates the gear ring 44 by the engagement of the spur gear 49 and the spur gear 44a formed on the gear ring 44. I do. By these actions, Y
By rotating the shaft motor 49, the link 18 rotates around the axis A9 with respect to the link 17. By rotating the link 18, the mirror 26 is tilted in the Y + to Y- directions by the action of the second parallelogram link 15 shown in FIG. In addition, regarding the X + to X− directions as viewed from the operator, the second parallelogram link 15 is rotatable around the axis A7 to enable the movement of the visual field, and has the same operation as the Y + to Y− directions. Description is omitted.

In the present embodiment, the balance adjustment of the lens-body connecting arm 25 can be tilted in the front-rear and left-right directions around the intersection D of the rotation axes A8, A10 and A11. Adjustment work is easy and reliable because the balance in the front-rear direction is not broken, reducing operator fatigue,
This has the effect of shortening the operation time.

FIGS. 6 and 7 show a second embodiment.
This embodiment differs from the first embodiment only in the lens-body connection arm 90, and therefore only the lens-body connection arm 90 will be described. First arm 80 rotatably supported about link axis A8 with respect to link 21 in the first embodiment.
An L-shaped second arm 81 connected to the first arm 80 so as to be rotatable in the left-right direction about an axis A10 orthogonal to the rotation axis A8, and a rotation axis A8 and an axis A third arm 82 is connected rotatably in the front-rear direction about an axis A11 orthogonal to A10, and the mirror body 26 is supported below the lens body connecting arm 90. In the figure, point D indicates the intersection of the turning axis A8, the axes A10 and A11. Point C indicates the center of gravity of the member that rotates around the pivot axis A8, that is, the combined body of the lens body 26 and the lens body connection arm 90.

The second arm 81 is provided with a handle 83, and the third arm 82 is provided with a handle 84. A worm wheel 85 is provided inside the second arm 81, and is coaxial with the axis A10.
The shaft 87 is coaxially and integrally fixed to the rotating shaft 86 integrally fixed to the shaft A9 by a key 87.

The handle 83 is provided with a worm 88 which meshes with the worm wheel 85.
1 is supported so as to be rotatable around the axis A20 and to restrict movement of the axis A20 in the axial direction. In the connection between the second arm 81 and the third arm 82, the axis A
The configuration of the tilting mechanism that rotates in the front-rear direction around 11 is the same as the above-described left-right direction, and a description thereof will be omitted.

Next, the operation of the present embodiment will be described.
If the position of the combined center of gravity C of the mirror body 26 and the lens body connecting arm 90 deviates from the rotation axis A8 during the operation, the center of gravity is independently adjusted in the front-rear direction and the left-right direction as in the first embodiment. I do.

When the handle 83 is rotated, the worm 8
8 rotates coaxially with the axis A20. Since the worm wheel 85 meshing with the worm 88 is integrally fixed to the first arm 80 by the rotating shaft 86 and the key 87, the second arm 81 is integrated with the worm 88 and the shaft A
Rotate around the first arm 80 around 10. Mirror 2
6 moves in the left-right direction integrally with the third arm 82 by the rotation of the second arm 81.

When the handle 84 is rotated, the mirror body 26 can be moved in the front-rear direction integrally with the third arm 82 around the axis A11 with respect to the second arm 81 in the same manner as in the above-described left-right direction.

Therefore, the front-back, left-right mirror 2
With the combination of the six inclinations, the combined center of gravity C of the lens body connecting arm 90 and the lens body 26 can be aligned on the axis A8.

In the present embodiment, the tilting mechanism of the lens body 26 of the lens body connecting arm 90 uses the worm wheel 85 and the worm 8
8, the effect is that the structure is simple and does not disturb the operator during the operation.

FIG. 8 shows a third embodiment in which the arrangement of the rotating shaft of the lens connecting arm 100 is changed from that of the second embodiment. A first arm 101 rotatably supported on a link 21 constituting the second parallelogram link 15 about a rotation axis A8, and a rotation axis A with respect to the first arm 101;
8 and a second arm 102 rotatably connected about an axis A10 that does not intersect at a right angle with the second arm 102.
The mirror 26 is rotatably supported about an axis A11 which is perpendicular to and does not intersect with the turning axes A8 and A10. Incidentally, handles 103 and 104 are connected to a worm and a worm wheel mechanism as in the second embodiment. The description of the worm and the worm wheel mechanism will be omitted.

Next, the operation of the present embodiment will be described.
When the position of the combined center of gravity C of the mirror body 26 and the lens body connecting arm 100 deviates from the pivot axis A8 during the operation, the center of gravity is independently adjusted in the front-rear direction and the left-right direction as in the first embodiment. I do.

That is, when the handle 103 is rotated, the second arm 102 rotates around the axis A10.
Rotate with respect to 01. The mirror body 26 is tilted in the left-right direction integrally with the second arm 102.

When the handle 104 is rotated, the mirror body 26 tilts around the axis A11 with respect to the second arm 102, that is, in the front-back direction. This front and back, left and right mirror 2
With the combination of the six inclinations, the combined center of gravity C of the lens body connecting arm 100 and the lens body 26 can be made coincident with the pivot axis A8.

According to this embodiment, the turning axis A8, the axis A1
0, and the axes are arranged so that the axes A11 do not intersect with each other.
The mirror connecting arm 100 can be configured in a shape that does not hinder the operator. Specifically, since the second arm 102 is disposed far (opposite side) of the operator, there is no protrusion on the side of the mirror body 26, so that the operation is not hindered. Also, the second arm 1
Since the mirror body 26 is tilted directly in the front-rear direction with respect to 02,
The number of parts is small and the configuration of the lens body connecting arm 100 is simple.

FIGS. 9 to 11 show a fourth embodiment. As described in the first embodiment, the mirror 26 of the surgical microscope is used.
Is supported by the lens body connecting arm 25 and is rotatable about a pivot axis A8. The orientation of the mirror body 26 with respect to the link 21 is detected by a potentiometer 152 as shown in FIG. 9, and the detection signal is input to a drive direction determination circuit 150 via an A / D converter 151.

Operation signals for the foot switch 10 and the grip switch 28 are input to the drive direction discriminating circuit 150 via the interface circuit 154, and the vertical and horizontal orientations of the foot switch 10 are set by the foot switch. Input from the unit 153.

The drive direction discriminating circuit 150 is connected to an arm control circuit 155. The arm control circuit 155 includes the electromagnetic brakes 11, 12, 13, and 29 and the Y-axis electromagnetic brake 4.
3. Control signals are input to the Y-axis electromagnetic clutch 47, the Y-axis motor 49, the encoder 51 and the X-axis electromagnetic brake 43x, the X-axis electromagnetic clutch 47x, the X-axis motor 49x, and the encoder 51x.

As shown in FIG. 10, the potentiometer 152 detects the positional relationship of the mirror body 26 with respect to the link 21 around the axis A8. That is,
When 360 ° is divided into eight equal parts at 45 ° intervals to form the A to H regions,
Each region is set to perform the same drive in the range of ± 22.5 °.

FIG. 11 shows an example in which the mirror body 26 is located in the area A shown in FIG. 10. (A) shows a case where the foot switch 10 is placed vertically, and (B) shows a case where the foot switch 10 is placed vertically. Is the case of horizontal installation. When the foot switch 10 is placed vertically, the four operation units for operating the moving direction in the observation field of view are in the order of upper, right, lower, and left, and the operator operates the foot switch 10 while looking into the mirror 26. For example, when the operation unit is operated, the Y + direction is turned ON,
Arm control circuit 155 via drive direction determination circuit 150
The driving signal is input to the. Therefore, the excitation signal is input to the Y-axis electromagnetic clutch 47 to enter the connection state, and the excitation signal is input from the arm control circuit 155 to the Y-axis electromagnetic brake 43 to enter the brake release state. Further, a drive signal is input to the Y-axis motor 49.

When a drive signal is input to the X-axis motor 49, the X-axis motor 49 rotates, and the spur gear 50 and the gear ring 44
The gear ring 44 is rotated by the meshing of the spur gear 44a formed in the gear ring 44a. Therefore, the rotating shaft 40 rotates, and the link 18 rotates about the axis A9 with respect to the link 17. The rotation of the link 18 causes the mirror 26 to incline in the Y + direction by the action of the second parallelogram link 15, so that the field of view can be moved.

When the operation of the operation unit is simultaneously performed, the X + and Y + directions are simultaneously turned on, and the X-axis motor 4
9x and the Y-axis motor 49 are simultaneously driven to move the mirror 26 to X +
And the Y + direction can be moved in the combined direction (upper right direction).

When the foot switch 10 is placed vertically as shown in (b), the four operation units for operating the movement direction in the observation field of view are in the order of upper, right, lower and left. When the user operates the foot switch 10 while looking into the mirror body 26 and operates, for example, the operation unit, the X + direction is turned ON, and a drive signal is input to the arm control circuit 155 via the drive direction determination circuit 150. Therefore, X
An excitation signal is input to the shaft electromagnetic clutch 47x to be in a connected state, and the arm control circuit 155 sends a signal to the X-axis electromagnetic brake 4x.
The excitation signal is input to 3x, and the brake is released.
Further, a drive signal is input to the X-axis motor 49x.

When a drive signal is input to the X-axis motor 49x, the X-axis motor 49x rotates, and the spur gear 50 meshes with the spur gear 44a formed on the gear ring 44 to rotate the gear ring 44. Therefore, the rotating shaft 40
Rotates, and the link 1 moves around the axis A9 with respect to the link 17.
8 rotates. The rotation of the link 18 causes the mirror 26 to incline in the X + direction by the action of the second parallelogram link 15, so that the field of view can be moved.

When the operation of the operation unit is simultaneously operated, the X + and Y- directions are simultaneously turned ON, and the X-axis motor 4
9x and the Y-axis motor 49 are simultaneously driven to move the mirror 26 to X +
And the Y-direction can be moved in the combined direction (lower right direction).

Therefore, the surgeon can operate the operating section of the foot switch 10 to electrically incline the mirror 26 in any direction to move the field of view, and move the foot switch 10 according to the operator's preference. The operation is the same regardless of whether it is placed vertically or horizontally, and it is not necessary to change the operation direction, and the operability can be improved. In FIG. 11, the case where the positional relationship between the lens body connecting arm 25 and the lens body 26 is in the region A has been described.

[0067]

[Table 1]

FIGS. 12 and 13 show a fifth embodiment. FIG. 12 shows a control circuit of the electric visual field moving mechanism.
Is a timing chart. Arm control circuit 1 connected to drive direction determination circuit 150 described in the fourth embodiment
55 is connected to the electromagnetic brakes 11, 12, 13 and 29.

The arm control circuit 155 is connected to a Y-axis motor 49 via a Y-axis motor control circuit 161, and the Y-axis motor 49 has an encoder 51 for inputting a rotation amount to the Y-axis motor control circuit 161. Is provided.

Further, the arm control circuit 155 is connected to the Y-axis electromagnetic clutch 47 via a Y-axis clutch control circuit 162, and is provided with a current detecting section 163 to determine whether or not current is actually flowing. Arm control circuit 1
55. Further, the arm control circuit 155 is connected to the Y-axis electromagnetic brake 43 via the Y-axis brake control circuit 164, and is provided with a current detection unit 165. The arm control circuit 155 determines whether or not current is actually flowing. 155 is fed back.

The arm control circuit 155 is connected to a motor, an electromagnetic clutch and an electromagnetic brake on the X-axis side, but they are the same as those on the Y-axis side.

Next, the operation will be described. The Y-axis side and the X-axis side are the same, and the Y-axis side will be described. FIG.
As shown in (2), when a drive signal is input, the Y-axis electromagnetic clutch 47 is turned on (connected state), and when the current detector 163 detects the clutch current, the Y-axis electromagnetic brake 43 is turned on (disengaged state). . Y-axis electromagnetic brake 43 is ON
At the same time, the Y-axis motor 49 is turned ON, and the Y-axis motor 49 is driven. When the Y-axis motor 49 is turned off by the drive signal, the Y-axis electromagnetic brake 43 is turned off.
(Fixed state), and when the current detection unit 165 detects that the brake current has been cut, the Y-axis electromagnetic clutch 47
The current detection unit 163 detects that the clutch current has been cut off due to the FF (release state).

As described above, the current detector 163 for detecting the clutch current and the current detector 16 for detecting the brake current
By providing 5, it is confirmed that the Y-axis electromagnetic clutch 47 is engaged, the Y-axis electromagnetic brake 43 can be turned off, and it is confirmed that the Y-axis electromagnetic brake 43 is engaged, The Y-axis electromagnetic clutch 47 can be released, and the electromagnetic brake and the electromagnetic clutch are not released at the same time. That is, even in an unbalanced state, the mirror body unexpectedly moves, and the visual field is not lost, and does not hinder the operation.

FIG. 14 shows a modification of the fifth embodiment, showing both the X-axis side and the Y-axis side. This is a case where the X drive signal and the Y drive signal are input from the arm control circuit 155 with a time difference.

First, when an X drive signal is input, the X-axis electromagnetic clutch 47x is turned ON (connected state), and when the current detector 163x detects the clutch current, the X-axis electromagnetic brake 43x is turned ON (disengaged state). Become. X-axis electromagnetic brake 43x is turned on and X-axis motor 49x is turned on at the same time
And the X-axis motor 49x is driven.

At the same time, the Y-axis electromagnetic clutch 47 is turned on by the input of the X drive signal, and when the current detector 163 detects the clutch current, the Y-axis electromagnetic brake 43 is turned on. When the Y-axis electromagnetic brake 43 is turned on, the current detector 165x detects the brake current. Thereafter, when a Y drive signal is input, the Y-axis motor 49 is turned on.
, And the Y-axis motor 49 is driven.

Further, the X-axis motor 49
When x is turned off, the X-axis motor 49x stops. Y
When the Y-axis motor 49 is stopped by the drive signal, the Y-axis electromagnetic brake 43 is turned off (fixed state). When the current detection unit 165 detects that the brake current has been cut, Y
The shaft electromagnetic clutch 47 is turned off (disengaged state), and the current detection unit 163 detects that the clutch current has been cut.
At the same time, the X-axis electromagnetic brake 43x is turned off,
When the current detector 165x detects that the brake current has been cut, the X-axis electromagnetic clutch 47x is turned off, and the current detector 163x detects that the clutch current has been cut.

That is, similarly to the fourth embodiment, the electromagnetic clutch and the electromagnetic brake are not simultaneously released. Further, even when only the drive signal in the X direction is input, the Y-axis electromagnetic brake and the Y-axis electromagnetic clutch are also operated in the same manner as in the X direction. It is not necessary to newly operate the Y-axis electromagnetic brake and the Y-axis electromagnetic clutch. That is, there is no shift or sway of the visual field due to the sound and vibration caused by the operation of the electromagnetic brake and the electromagnetic clutch during the electric visual field movement, so that the electric visual field movement can be performed smoothly and there is no trouble for the operator.

According to the above-described embodiment, the following configuration can be obtained. (Supplementary Note 1) A mirror body, a lens body support mechanism that supports the mirror body so as to be tiltable around two tilt axes and is rotatable around one rotation axis, and the weight of the mirror body and the mirror body support mechanism An equilibrium movement mechanism that offsets and moves vertically and horizontally,
An operating mechanism provided with an adjusting mechanism capable of moving the center of gravity of the mirror body on the turning axis, wherein the adjusting mechanism is configured to rotate the mirror around two axes that are perpendicular to the rotating axis and perpendicular to each other. An operating microscope, wherein the operating microscope is an inclining mechanism capable of moving the center of gravity by inclining the body.

(Supplementary note 2) The surgical microscope according to Supplementary note 1, wherein the tilting mechanism comprises a combination of a worm and a worm wheel that meshes with the worm. (Supplementary note 3) The surgical microscope according to Supplementary note 1, wherein the tilt mechanism is formed of a slider crank mechanism.

(Supplementary Note 4) A mirror body, a mirror body support mechanism that supports the mirror body so as to be tiltable about two tilt axes and is rotatable about one rotation axis, and holds the mirror body vertically and horizontally. In a surgical microscope having a moving mechanism for moving, and an adjusting mechanism capable of moving the center of gravity of the mirror body on the pivot axis, the adjusting mechanism is configured to rotate around the two tilt axes of the mirror body within an adjustment range. Surgical microscope having an urging force applying means for generating an urging force for always restoring the mirror body in a specific direction with respect to the inclination.

(Supplementary Note 5) The adjusting mechanism is a tilting mechanism capable of moving the center of gravity by tilting the mirror about two axes that are perpendicular to the pivot axis and perpendicular to each other. 4. The operating microscope according to claim 4, wherein

(Supplementary note 6) The operating microscope according to supplementary note 4, wherein the specific direction is a direction in which the mirror body is vertically suspended. (Supplementary Note 7) The urging force applying means is characterized in that the combined center of gravity of the members rotating around the two tilt axes is always a weight distribution in which the combined center of gravity is positioned on the mirror body side with respect to the two tilt axes. 4. The operating microscope according to claim 4, wherein

(Supplementary Note 8) The urging force applying means may be
The operating microscope according to claim 4, wherein the combined center of gravity of the members rotating about the two tilt axes is a weight distribution always located below the two tilt axes.

(Supplementary Note 9) A mirror body, a lens body support mechanism that supports the mirror body so as to be tiltable around two tilt axes and is rotatable about one rotation axis, the mirror body and the mirror body support mechanism An equilibrium movement mechanism for offsetting the weight of the mirror and moving it vertically and horizontally, and an adjusting mechanism that can move the center of gravity of the mirror body on the turning axis, and an electromagnetic lock that locks and unlocks each rotating axis. A surgical microscope having a connection drive unit for selectively connecting an electric drive mechanism unit and an electric drive function to each of the two inclined axes, and
A control circuit means for selectively driving an electric drive mechanism provided on each of the two inclined shafts and a connection drive unit in accordance with an output state from the rotation angle detection means; An operating microscope, comprising:

(Supplementary note 10) The supplementary note 9, wherein the control circuit means selectively drives the electric drive mechanism unit and the connection drive unit by the state detection means of the operation input device and the rotation angle detection means. Surgical microscope.

(Supplementary Note 11) A drive circuit is provided, which is provided with an operation detecting means of the connection drive unit, and unlocks and locks the electromagnetic lock of the corresponding rotary shaft according to the detection output. The surgical microscope according to supplementary note 9.

[0088]

As described above, in the surgical microscope of the present invention, the balance adjustment mechanism can move the center of gravity by tilting the mirror about two axes which are perpendicular to each other.
Therefore, the balance can be easily adjusted even during the operation, and the mirror body can always be moved in an optimal balance state, that is, with a small force, which leads to a reduction in fatigue of the operator. Furthermore, since the adjustment mechanism is small, the surgeon can perform surgery efficiently without touching the surgeon's hand or obstructing the visual field when trying to directly observe the surgical site or its surroundings with the naked eye. This has the effect of leading to shortening.

[Brief description of the drawings]

FIG. 1 is a perspective view of a surgical microscope showing a first embodiment of the present invention.

FIG. 2 is a vertical sectional side view of the electric visual field movement mechanism of the embodiment.

FIG. 3 is a perspective view of the tilting mechanism of the embodiment.

FIG. 4 is an explanatory diagram of an operation of the tilting mechanism of the embodiment.

FIG. 5 is an explanatory diagram of an operation of moving a visual field according to the embodiment.

FIG. 6 is a perspective view of a lens body connecting arm and a lens body according to a second embodiment of the present invention.

FIG. 7 is a perspective view of the tilting mechanism of the embodiment.

FIG. 8 is a perspective view of a lens body connecting arm and a lens body according to a third embodiment of the present invention.

FIG. 9 is a control block diagram of an electric visual field moving mechanism according to a fourth embodiment of the present invention.

FIG. 10 is a view showing a positional relationship of the mirror with respect to the lens body support arm of the embodiment.

FIG. 11 is an exemplary view showing a direction and a driving direction of the foot switch according to the embodiment;

FIG. 12 is a control block diagram of an electric visual field moving mechanism according to a fifth embodiment of the present invention.

FIG. 13 is a timing chart of the embodiment.

FIG. 14 is a timing chart showing a modification of the embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 4 ... 1st parallelogram link 15 ... 2nd parallelogram link 25 ... Mirror connection arm 26 ... Mirror 31 ... Balance weight 43 ... Electromagnetic brake 47 ... Electromagnetic clutch 49 ... Motor 59 ... Slider crank mechanism

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[Procedure amendment]

[Submission date] June 11, 1998

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] 0078

[Correction method] Change

[Correction contents]

That is, similarly to the fourth embodiment, the electromagnetic clutch and the electromagnetic brake are not simultaneously released. Further, even when only the drive signal in the X direction is input, the Y-axis electromagnetic brake and the Y-axis electromagnetic clutch are also operated in the same manner as in the X direction.
Even if an additional input is made, there is no need to newly operate the Y-axis electromagnetic brake and the Y-axis electromagnetic clutch. That is, there is no shift or sway of the visual field due to the sound and vibration caused by the operation of the electromagnetic brake and the electromagnetic clutch during the electric visual field movement, so that the electric visual field movement can be performed smoothly and there is no trouble for the operator.

[Procedure amendment 2]

[Document name to be amended] Drawing

[Correction target item name] Figure 2

[Correction method] Change

[Correction contents]

FIG. 2

[Procedure amendment 3]

[Document name to be amended] Drawing

[Correction target item name] Figure 3

[Correction method] Change

[Correction contents]

FIG. 3

[Procedure amendment 4]

[Document name to be amended] Drawing

[Correction target item name] FIG.

[Correction method] Change

[Correction contents]

FIG. 10

[Procedure amendment 5]

[Document name to be amended] Drawing

[Correction target item name] FIG.

[Correction method] Change

[Correction contents]

FIG.

Claims (1)

[Claims] 1. A mirror body, a mirror support mechanism that supports the mirror body so as to be tiltable about two tilt axes and is rotatable about one rotation axis, and the weight of the mirror body and the mirror body support mechanism. In a surgical microscope equipped with an equilibrium movement mechanism that cancels out, moves up and down, and moves in the horizontal direction, and an adjustment mechanism that can move the center of gravity of the mirror body on the pivot axis, the adjustment mechanism is
An operating microscope, characterized in that the operating microscope is an inclining mechanism capable of moving the center of gravity by inclining the mirror body around two axes that are perpendicular to the pivot axis and perpendicular to each other.