JP4451138B2 - Surgical microscope - Google Patents

Description

  The present invention relates to a surgical microscope used in, for example, a surgical operation.

  Patent Documents 1 to 3 disclose techniques related to a surgical microscope mount.

  The gantry of the surgical microscope disclosed in Patent Document 1 includes a parallelogram link mechanism for operating the microscope unit in the vertical direction. The gantry further includes first and second arms connected to each other to move the microscope unit in the horizontal direction. The first and second arms are supported by a vertical rotation shaft extending in the vertical direction. The first and second arms have their longitudinal axes intersecting with each other so that the first and second arms expand and contract, such as an L shape and a V shape, in order to move the microscope unit in the horizontal direction. Yes. For this reason, when the microscope unit is moved in the horizontal direction, for example, the first and second arm axes are substantially parallel to each other in a range where the first and second arm axes are in a straight line. The second arm can be rotated with respect to the arm.

  In the technique of the surgical microscope pedestal disclosed in Patent Document 2, in order to move the microscope unit in the horizontal direction, the other end of the link mechanism whose one end is supported with respect to the base or the base is rotated around the one end as a pivot. It is possible to move. A vertical moving arm for moving the microscope unit in the vertical direction (vertical direction) is provided at the other end of the link mechanism. The vertical moving arm is provided with a microscope section. For this reason, the microscope unit is operated in the horizontal direction as the link mechanism rotates with respect to the base and the base. Therefore, the operability when moving the microscope unit in the horizontal direction is greatly improved.

  Further, the vertical moving arm for moving the microscope unit in the vertical direction is constituted by a parallelogram link mechanism and a spring as in the conventional case. The parallelogram link mechanism is provided with a spring to balance the parallelogram link mechanism. Such a vertical moving arm is disposed in the vicinity of the microscope unit, that is, in the vicinity of the observer.

Patent Document 3 discloses a mechanism for tilting the microscope unit. The microscope includes a microscope unit, an inclined arm by a link mechanism, a horizontal axis that rotatably supports the inclined arm, and a counterweight for balancing the inclined arm. The tilt arm is further provided with a shaft that can rotate around the axis of the microscope barrel. For this reason, the microscope section can be tilted and moved by two axes, ie, around the axis of the microscope barrel and around the horizontal axis. Therefore, the periphery of the microscope barrel is simple and compact.
JP-A-57-86806 JP-A-8-140932 Japanese Examined Patent Publication No. Sho 63-36481

  In order to move the first and second arms in the horizontal direction using the gantry of the surgical microscope disclosed in Patent Document 1 described above, the first and second arms are maintained in a V shape or an L shape. Therefore, it is necessary to keep the longitudinal axes crossing each other. However, if the first and second arms are maintained in a V shape or an L shape, the amount of protrusion of the first or second arm in the horizontal direction increases. Further, there arises a problem that the operability when the microscope unit is moved in the horizontal direction changes depending on the angle formed by the first and second arms in a V shape or an L shape. For example, since the movable range becomes narrower as the angle formed by the V-shapes by the first and second arms approaches the obtuse angle, it becomes difficult to operate in the horizontal direction. When the first and second arms are arranged in a straight line, the microscope unit cannot be operated in the horizontal direction.

  In the operation microscope, as the movement of the microscope unit, it is necessary to tilt the microscope unit in addition to the vertical and horizontal movements. In the gantry technique disclosed in Patent Document 1, a mechanism for tilting the microscope unit at the tip of the arm of the parallelogram link mechanism is further required, and the size of the periphery of the microscope unit is increased.

  Patent Document 2 described above discloses a technique related to a surgical microscope mount that solves the problems of Patent Document 1. However, in the gantry technique disclosed in Patent Document 2, the vertical moving arm for moving the microscope unit in the vertical direction is configured by a parallelogram link mechanism and a spring, as in the prior art. Since the vertical moving arm is disposed in the vicinity of the microscope unit, that is, in the vicinity of the observer, it is desirable that the vertical moving arm be small in size to ensure a space around the observer. However, in the technique disclosed in Patent Document 2, since a spring is built in the vertical motion arm (parallelogram link mechanism), it is difficult to avoid an increase in the size of the vertical motion arm. When the vertical moving arm is increased in size and the overall weight is increased, the operability of the horizontal moving arm connected to the vertical moving arm may be deteriorated.

  In the technique of the microscope disclosed in Patent Document 3 described above, a counterweight is used as an equilibrium mechanism that balances the movement of the microscope unit in the vertical and horizontal directions. For this reason, the whole apparatus of a microscope enlarges and a weight will increase. In the operating room, in addition to the operating microscope, various operating devices are arranged. Therefore, increasing the size of the operating microscope is not preferable in view of the operating room layout. Since the surgical microscope may need to be moved within the operating room, an increase in weight significantly reduces the mobility of the microscope.

  The present invention has been made to solve such a problem, and an object of the present invention is to provide a surgical microscope that is small and lightweight and has good operability.

  In order to solve the above problems, a surgical microscope having a microscope unit having an observation mechanism for observing a patient according to the present invention includes a base part and a first horizontal rotation supported by the base part and extending in the horizontal direction. An axis, a horizontal movement arm that is supported rotatably about the first horizontal rotation axis, and moves the microscope section in a substantially horizontal direction; and is supported by the horizontal movement arm and extends in the horizontal direction. A second horizontal rotation shaft and a second horizontal rotation shaft are supported so as to be rotatable. The rotation about the second horizontal rotation shaft supports the microscope unit so as to move in a substantially vertical direction. The first horizontal rotation shaft generated by its own weight when one end of the vertical movement arm portion is supported by the base portion and the horizontal movement arm portion rotates about the first horizontal rotation shaft with respect to the base portion. Force in the direction to cancel the rotating moment And a first elastic force generating mechanism that is supported by the base portion and generates a force in a direction that cancels a rotational moment generated by its own weight when the vertical moving arm portion rotates with respect to the horizontal moving arm portion. The second feature is that the second elastic force generating mechanism is provided.

  Since it has such a configuration, the moment generated by its own weight when the horizontal moving arm portion rotates can be canceled by the first elastic force generation mechanism. Since one end of the first elastic force generation mechanism is supported by the base portion, it is prevented from interfering with the operator. For this reason, the operativity when an operator operates a microscope part can be improved. In addition, an increase in the size of the surgical microscope is prevented, and an increase in the weight of the surgical microscope is prevented. Furthermore, the moment generated by its own weight when the vertical moving arm portion rotates can be canceled by the second elastic force generation mechanism. One end of the second elastic force generation mechanism is supported by the base portion, and can transmit a force for canceling a moment generated by its own weight when the vertical movement arm portion rotates to the vertical movement arm portion. For this reason, the second elastic force generation mechanism is prevented from interfering with the operator, and operability when the operator operates the microscope unit can be improved. In addition, an increase in the size of the surgical microscope is prevented, and an increase in the weight of the surgical microscope is prevented.

Preferably, in the first elastic force generation mechanism, one end is disposed on the base portion, and the other end is disposed between both ends of the horizontal moving arm portion, and the horizontal moving arm portion is the first horizontal moving portion. A second feature is that the first elastic member elastically expands and contracts along the axial direction when rotating around the rotation axis.
Since it has such a configuration, the moment generated by its own weight when the horizontal moving arm portion rotates can be absorbed and canceled by expanding and contracting the first elastic member.

Preferably, the second elastic force generation mechanism has one end supported by the second horizontal rotation shaft and supported by the base portion so as to be swingable. A linked link member and a second elasticity that is linked to the link member and elastically expands and contracts along the axial direction when the vertical moving arm portion rotates about the second horizontal rotation axis. The third feature is to have a member.
Since it has such a configuration, a moment generated by its own weight when the vertical moving arm portion rotates is transmitted to the second elastic member via the connecting link and link member, and absorbed while expanding and contracting the second elastic member. Can be offset.

  According to the present invention, it is possible to provide a surgical microscope that is small and lightweight and has good operability.

  The best mode for carrying out the present invention (hereinafter referred to as an embodiment) will be described below with reference to the drawings.

  First, a first embodiment will be described with reference to FIGS. Here, a surgical microscope is used by using a state (initial state) shown in FIG. 1A in which a later-described horizontal moving arm portion 16 of the surgical microscope 10 extends in the vertical direction and the vertical moving arm portion 20 extends in the horizontal direction. The configuration of 10 will be described.

  As shown in FIG. 1A, a surgical microscope 10 according to this embodiment includes a base 12, a base 14, a horizontal moving arm 16, a joint 18, a vertical moving arm 20, A tip joint portion 22 and a microscope portion 24 are provided.

  The base 12 includes a plurality of casters 12a with stoppers that can be moved / fixed with respect to a horizontal (flat) floor surface, and a base body 12b disposed on the upper side of the casters 12a. A rotating shaft O1 extending upward in the vertical direction is supported on the base body 12b. The base portion 14 is held so as to be rotatable around the rotation axis O1. For this reason, the base portion 14 can rotate around the rotation axis O <b> 1 in the vertical direction with respect to the base 12.

  On the upper portion of the base portion 14, there are provided rotation axes (first horizontal rotation axes) O2 and O3 extending in the horizontal direction perpendicular to the rotation axis O1 described above. The rotation axes O2 and O3 are adjacent to each other and arranged in parallel. The horizontal moving arm portion 16 includes first and second vertical links 16a and 16b each having a rod shape and having a longitudinal axis in the vertical direction. The lower ends of the first and second vertical links 16a and 16b are supported by the rotation axes O2 and O3, respectively. For this reason, the first and second vertical links 16a and 16b are rotatable with respect to the base portion 14 about the rotation axes O2 and O3, respectively.

  Rotating shafts O4 and O5 are provided at the upper ends of the first and second vertical links 16a and 16b, respectively. The rotation shafts O4 and O5 are supported by a common L-shaped joint 18. The rotation axis O5 is supported by a central vertex (bending portion) among the three vertices (two end portions and one bending portion) of the joint portion 18. For this reason, one of the joint portions 18 extends in the horizontal direction (left side in FIG. 1 (A)) from the middle vertex, and the other extends in the vertical direction (upper side in FIG. 1 (A)) so as to be orthogonal to each other. Two arms 18a and 18b extend from the bent portion. The rotation axis O4 is provided at the end of one arm 18a (the apex of the joint 18).

  The rotation axes O4 and O5 are adjacent to each other by the arm 18a and are arranged in parallel to the rotation axis O2. For this reason, the first vertical direction link 16a of the horizontal movement arm portion 16 is rotatable about the rotation axes O2 and O4. The second vertical link 16b is rotatable about the rotation axes O3 and O5. Since the rotation axes O2, O4, O3, and O5 are arranged at the vertices of the parallelogram, the first and second vertical links 16a and 16b are rotatable while maintaining a parallel state to each other. .

  The joint unit 18 further supports rotation axes O6 and O7 parallel to the rotation axis O2. That is, the joint portion 18 is provided with rotating shafts (second horizontal rotating shafts) O4, O5, O6, and O7. The rotation axis O7 is provided at the end of the other arm 18b of the joint 18 (the apex of the joint 18). The rotation axis O6 is provided between the two rotation axes O5 and O7.

  The vertical moving arm unit 20 includes first and second horizontal links 20a and 20b each having a rod shape and having a longitudinal axis in the horizontal direction. The vicinity of one end (left end) of the first horizontal link 20a is supported by the rotation axis O6. One end (left end) of the second horizontal link 20b is supported by the rotation axis O7. The first and second horizontal links 20a and 20b extend in the same direction (the right direction in FIG. 1A) with respect to the joint portion 18. Therefore, the base 12, the base portion 14, the horizontal moving arm portion 16, and the joint portion 18 are provided as support portions that support the vertical moving arm portion 20 (first and second horizontal links 20a and 20b). Yes.

  Rotating shafts O8 and O9 are provided at the other end portions (right end portions) of the first and second horizontal links 20a and 20b, respectively. The rotation shafts O8 and O9 are supported by an L-shaped tip joint portion 22. The tip joint portion 22 has three apexes (two end portions and one bent portion). One end of the tip joint portion 22 extends from the middle vertex in the vertical direction (upper side in FIG. 1A), and the other extends in the horizontal direction (right side in FIG. 1A) and bends so as to be orthogonal to each other. Two arms 22a and 22b extend from the portion.

  The rotation axis O8 is supported at the center vertex (bent portion) of the tip joint portion 22. The rotation axis O9 is provided at the end of one arm 22a of the tip joint portion 22 (the apex of the tip joint portion 22). The rotation axes O8 and O9 are adjacent to each other and are arranged in parallel to the rotation axis O2. At the end of the other arm 22b of the tip joint part 22 (the apex of the tip joint part 22), a rotation axis O10 extending in the vertical direction is arranged in parallel to the rotation axis O1.

  The microscope unit 24 includes first and second inclined arms 24a and 24b, rotation axes O11 and O12, and a lens barrel 24c. One end of a first inclined arm 24 a for inclining the microscope unit 24 is supported on the rotary shaft O <b> 10 in a state where it is suspended from the tip joint unit 22. The other end of the first inclined arm 24a extends obliquely with respect to one end. A rotation axis O11 is disposed at the other end of the first inclined arm 24a. The rotation axis O11 extends in an oblique direction different from the vertical and horizontal rotation axes. One end of the second inclined arm 24b is supported on the rotation axis O11. The second inclined arm 24b extends straight. The other end of the second inclined arm 24b supports a rotation axis O12 extending in the horizontal direction in parallel with the rotation axis O2. The rotation axis O12 supports a lens barrel 24c of the microscope unit 24 for the operator to observe the patient.

  Therefore, the microscope unit 24 can move in the substantially horizontal direction (substantially left-right direction) with the first horizontal rotation axes O2, O3, O4, and O5 of the horizontal moving arm unit 16 as pivots. It can move in a substantially vertical direction (substantially up and down direction) about the second horizontal rotation axes O6 and O7. Furthermore, the microscope unit 24 can be tilted with the rotation axes O10, O11, and O12 as pivots.

  This surgical microscope 10 includes a first and a second that cancel the moments generated around the rotation axes O2 and O3 when the horizontal moving arm 16 and the vertical moving arm 20 rotate with respect to the base 14 and the joint 18, respectively. A second elastic force generation mechanism is further provided. The surgical microscope 10 further includes a balance mechanism that balances the moment generated by the vertical movement arm portion 20 rotating with respect to the joint portion 18. The balancing mechanism includes first and second balancing mechanisms.

  As shown in FIG. 1 (A), the first elastic link between the lower end portion and the upper end portion (between both end portions) of the first vertical link 16a and the base portion 14 has a first elasticity. As a force generation mechanism, a first compression spring (first elastic member) 30 that can expand and contract along the axial direction is provided. A rotation axis O13 is disposed at the lower end of the first compression spring 30 in parallel with the rotation axis O2. The rotation axis O13 is supported by the base portion 14.

  At the upper end portion of the first compression spring 30, a rotation axis O14 is disposed in parallel to the rotation axis O2. The rotation axis O14 is supported at an appropriate position between the rotation axes O2 and O4 at both ends of the first vertical link 16a. The first compression spring 30 is disposed in parallel to the first vertical link 16a in a state where the first vertical link 16a is disposed in the vertical direction (for example, an initial state).

  Since the upper end portion of the first compression spring 30 is supported by the first vertical link 16a that rotates about the rotation axis O2 provided in the base portion 14 via the rotation axis O14, the lower end portion (rotation) This is a moving fulcrum that moves while rotating about the axis O13). Since the lower end portion of the first compression spring 30 is supported by the rotation axis O <b> 13 provided on the base portion 14, it is a fixed fulcrum that does not move relative to the base portion 14.

  Further, an L-shaped link member 34 is rotatably supported on the rotation shaft O3. The rotation axis O3 is supported by a central vertex (bending portion) among the three vertices (two end portions and one bending portion) of the link member 34. For this reason, one of the link members 34 extends from the middle vertex in the vertical direction (lower side in FIG. 1A), and the other extends in the horizontal direction (left side in FIG. 1A) and is orthogonal to each other. Thus, the two arms 34a and 34b extend from the bent portion.

  A rotation axis O15 is provided at the end of one arm 34a (the apex of the link member 34) in parallel with the rotation axis O2. The rotary shaft O15 includes a second compression spring (second elastic member, first balance member) 36 that can be expanded and contracted along the axial direction as a second elastic force generation mechanism or a first balance mechanism. One end (upper end) is rotatably supported. A rotation axis O16 is provided at the other end (lower end) of the second compression spring 36 in parallel with the rotation axis O2. The rotation axis O16 is supported at a position that is the lower end portion and the left end portion of the base portion 14.

  The other end of the second compression spring 36 is a fixed fulcrum that does not move with respect to the base 14 because it is supported by a rotation axis O <b> 16 provided on the base 14. On the other hand, one end portion of the second compression spring 36 is supported by the link member 34 that rotates relative to the base portion 14 via the rotation axis O15, and thus rotates around the lower end portion (rotation axis O16) as a pivot. It is a moving side fulcrum that moves while moving. For this reason, when the link member 34 rotates about the rotation axis O3, the second compression spring 36 follows and rotates about the rotation axis O16.

  A rotation axis O17 is provided at the end (vertex) of the remaining arm 34b of the link member 34 in parallel with the rotation axis O2. The rotating shaft O17 supports a lower end portion of a first connecting link 40 that is rod-shaped and has a longitudinal axis in the vertical direction. A rotation axis O18 is provided at the upper end portion of the first connection link 40. The rotating shaft O18 supports a lower end portion of a second connecting link 42 that is rod-shaped and has a longitudinal axis in the vertical direction. The rotary shaft O18 further supports one end portion (left end portion) of a third connection link 44 that is rod-shaped and has a longitudinal axis in the horizontal direction. A rotation axis O19 is provided at the upper end of the second connecting link 42. One end (left end) of the first horizontal link 20a is supported on the rotation shaft O19. The other end portion (right end portion) of the third connection link 44 is supported by the rotation shaft O5. For this reason, the 2nd vertical direction link 16b and the 3rd connection link 44 are connected by the rotating shaft O5.

  As described above, the base portion 14, the rotation shaft (second horizontal rotation shaft) O6 (first horizontal link 20a), the rotation shaft O3, the link member 34, and the first to third connection links. 40, 42, and 44, and the connection part which has rotating shaft O17, O18, O19.

  The third connection link 44 is formed when the second connection link 42 is arranged in the vertical direction and when the first and second vertical links 16a and 16b are rotated about the rotation axes O2 and O3, respectively. The state orthogonal to the second connecting link 42 is maintained. The rotation axes O5, O6, O18, and O19 are arranged at the vertices of the parallelogram. The rotation axes O3, O5, O17, and O18 are arranged at the vertices of the parallelogram.

  An auxiliary balancing mechanism 50 that assists to offset further unbalance when the balance is achieved by the first balancing mechanism is integrally provided at the upper end of the arm 18b of the joint 18 as a second balancing mechanism. It has been. As shown in FIG. 1B, the auxiliary balancing mechanism 50 includes an extending part 52, a shaft part 54, and a third compression spring (second balancing member) 56.

  The extending portion 52 is integrally supported at the proximal end portion of the joint portion 18 and extends in the direction opposite to the second horizontal link 20b (the left direction in FIG. 1A). . A shaft portion 54 having an axis in the vertical direction parallel to the vertical rotation axis O1 is supported at the distal end portion of the extending portion 52 so as to be movable in the axial direction. Specifically, the shaft portion 54 has a first flange portion 54a at the upper end portion. For this reason, the shaft portion 54 is suspended with the first flange portion 54 a supported by the extension portion 52. The shaft portion 54 has a second flange portion 54b at the lower end. Between the 2nd flange part 54b and the distal end part of the extension part 52, the 3rd compression spring 56 which can be expanded-contracted along an axial direction is arrange | positioned. Therefore, the shaft portion 54 moves up and down along the axial direction when the third compression spring 56 expands and contracts. On the substantially same shaft as the shaft portion 54, the second connecting link 42 is supported by the rotation shafts O18 and O19 while maintaining a state of extending in the vertical direction. The length by which the distal end portion of the extending portion 52 extends from the joint portion 18 is determined so as to be in such a state.

  Next, the operation of the surgical microscope 10 according to this embodiment will be described with reference to FIGS.

  First, the case where the microscope unit 24 is moved in the horizontal direction (left-right direction) will be described with reference to FIGS. 1 (A), 2 (A), and 2 (B). The initial state of the surgical microscope 10 according to this embodiment is shown in FIG. In the initial state of the surgical microscope 10, the first and second vertical links 16a and 16b are arranged in the vertical direction. The first compression spring 30 is parallel to the first vertical link 16a. The first and second connection links 40 and 42 are parallel to the second vertical link 16b. The 3rd connection link 44 is arrange | positioned in the state orthogonal to the 2nd perpendicular direction link 16b. The first and second horizontal links 20a and 20b are arranged in the horizontal direction. A half line passing through the rotation axes O3 and O17 of the link member 34 is arranged in parallel to the first horizontal link 20a. A half line passing through the rotation axes O3 and O15 is arranged in parallel to the second vertical link 16b. The base 12 is fixed to the floor surface by a stopper of the caster 12a. The base portion 14 can rotate around the rotation axis O <b> 1 with respect to the base 12. 2A and 2B, the auxiliary balancing mechanism 50 is removed for convenience.

  From this initial state, as shown in FIG. 2A, the microscope unit 24 is moved to the left with respect to the state shown in FIG. The vertical moving arm unit 20 moves to the left side in FIG. 2A while maintaining the initial shape. The rotation axes O4 and O5 supported by the joint portion 18 also move to the left side in FIG. At this time, since the base portion 14 of the first and second vertical links 16a and 16b of the horizontal moving arm portion 16 does not move, the rotation axes O2, O3, O4 and O5 at the lower end portions are used as pivots, respectively. (A) It turns to the left side. When the second vertical link 16b rotates about the rotation axes O3 and O5 as the pivot, the rotation axis O5 of the joint portion 18 moves to the left and the rotation axis via the third connection link 44. O18 also moves to the left. For this reason, the first connecting link 40 also rotates about the rotation axes O17 and O18 of the link member 34 as pivots.

  When the first vertical link 16a is rotated about the rotation axis O2 provided on the base portion 14, the first compression spring 30 connected to the first vertical link 16a by the rotation shaft O14 is also the base portion 14. The rotation axis O13 is pivoted about the pivot axis. Since the rotation axes O2 and O13 are at different positions, a difference of the angle α occurs between the first vertical link 16a and the first compression spring 30. At this time, a rotational moment is generated around the rotation axis O2. On the other hand, the component force Fv (α) acts in a direction perpendicular to the axial direction of the first vertical link 16a of the reaction force F (α) of the first compression spring 30 expressed as a function of the angle α.

  The component force Fv (α) of the reaction force F (α) of the first compression spring 30 is equal to the spring strength of the first compression spring 30 (reaction force F (α)), the first vertical link 16a, and It is determined by the angle α formed between the first compression springs 30. When the angle α formed between the first vertical link 16a and the first compression spring 30 changes and the rotational moment about the rotation axis O2 changes, the first compression spring 30 causes a component force Fv (α). Changes in accordance with the force to exert a force in a direction to cancel the rotational moment around the rotation axis O2.

  On the other hand, the first vertical link 16a receives a moment around the rotation axis O2 due to the weight of the microscope unit 24, the tip joint unit 22, the vertical moving arm unit 20, the joint unit 18 and the horizontal moving arm unit 16. A force Fv (α) that acts in a direction to cancel the moment around the rotation axis O2 due to its own weight and the moment around the rotation axis O2 due to the component force Fv (α) of the first compression spring 30 (here, this force) The position (the rotation axis O14) where the Fv (α) occurs and the distance between the rotation axis O2 and the moment determined by the force Fv (α) are set to be substantially uniform. For this reason, even if the microscope unit 24 is moved in the horizontal direction and rotated around the rotation axis O2 of the first vertical link 16a, a balance is taken by the first compression spring 30 (a rotational moment is generated). Balance). Then, when moving the microscope unit 24 in the horizontal direction, the microscope unit 24 can be moved with a light force.

  Next, from the initial state, as shown in FIG. 2B, the microscope unit 24 is moved to the right with respect to the state shown in FIG. FIG. 2B shows a state in which the microscope unit 24 is moved to the right side with respect to the state shown in FIGS. 1A and 2A.

  At this time, the balance of the first vertical link 16a is as shown in FIG. 2A with respect to the initial state shown in FIG. It is taken in the same way as it is moved to the left.

  In the initial state in which the first vertical link 16a is arranged in the vertical direction shown in FIG. 1A, the moment around the rotation axis O2 and the component force Fv (α) by the first compression spring 30 are generated. The resulting position and the distance between the rotation axis O2 and the moment determined by the force Fv (α) are each zero.

  Accordingly, the microscope unit 24 can be moved to an arbitrary position in the horizontal direction by rotating the horizontal movement arm unit 16 about the rotation axes O2, O3, O4, and O5.

  Next, a case where the microscope unit 24 is moved in the vertical direction (vertical direction) will be described with reference to FIGS.

  From the initial state, as shown in FIG. 3A, the microscope unit 24 is moved upward with respect to the state shown in FIG. FIG. 3A shows a state in which the microscope unit 24 is moved upward with respect to the state shown in FIG.

  When the microscope unit 24 is moved upward, the tip joint unit 22 follows and moves upward. Since the two rotary shafts O8 and O9 move upward together with the tip joint portion 22, the first and second horizontal links 20a and 20b rotate upward about the rotary shafts O6 and O7, respectively. For this reason, the rotation axis O19 at one end (left end) of the first horizontal link 20a is lowered to the lower side when the first horizontal link 20a is inclined. For this reason, the 2nd connection link 42 by which the upper end part was connected with the rotating shaft O19 is lowered | hung below. When the second connecting link 42 is lowered, the rotation shaft O18 at the lower end of the second connecting link 42 is also lowered. For this reason, the 1st connection link 40 by which the upper end part was connected with rotating shaft O18 is lowered | hung below. When the first connection link 40 is lowered, the rotation axis O17 at the lower end of the first connection link 40 is also lowered. For this reason, the link member 34 on which the rotation axis O17 is supported rotates about the rotation axis O3.

  When the link member 34 rotates about the rotation axis O3, a rotation moment is generated around the rotation axis O3. For this reason, the second compression spring 36 having the upper end connected to the rotation axis O15 also rotates about the rotation axis O16 of the base portion 14 as a pivot. Then, the reaction force F (β) is generated by the second compression spring 36. Therefore, the angle β formed between the half line passing through the rotation axes O3 and O15 and the axis of the compression spring 36 changes, and the reaction force F (β) of the second compression spring 36 expressed as a function of the angle β. The component force Fv (β) acts in a direction perpendicular to the half line passing through the rotation axes O3, O15.

  The component force Fv (β) of the reaction force F (β) of the second compression spring 36 is half of the spring strength of the second compression spring 36 (reaction force F (β)) and the rotational axes O3 and O15. It is determined by the angle β formed between the straight line and the axis of the compression spring 36. When the angle β formed between the half line passing through the rotation axes O3 and O15 and the axial direction of the compression spring 36 changes and the rotation moment about the rotation axis O3 changes, the second compression spring 36 causes a component force Fv (β ) Follows and changes to cancel the rotational moment about the rotation axis O3.

  On the other hand, the link member 34 receives a rotational moment around the rotation axis O3 due to the weight of the microscope unit 24, the tip joint unit 22, the vertical moving arm unit 20, and the first to third connection links 40, 42, and 44. . A force Fv (β) acting in a direction to cancel the moment around the rotation axis O3 due to its own weight and the moment around the rotation axis O3 due to the component force Fv (β) with the second compression spring 36 (here, this The position (rotation axis O15) where the force Fv (β) occurs and the distance between the rotation axis O3 and the moment determined by the force Fv (β) are set to be substantially uniform. For this reason, even when the microscope unit 24 is moved in the vertical direction and rotated around the rotation axis O3 of the link member 34, the balance is obtained by the second compression spring 36 (the balance is obtained by generating a rotational moment). be able to). Then, when moving the microscope unit 24 in the vertical direction (up and down direction), the microscope unit 24 can be moved with a light force.

  Next, as shown in FIG. 3B, the microscope unit 24 is moved downward from the initial state with respect to the state shown in FIG. FIG. 3B shows a state in which the microscope unit 24 is moved downward with respect to the state shown in FIGS. 1A and 3A. As described with reference to FIG. 3 (A), the balance of the link member 34 is such that the microscope unit 24 is moved upward in FIG. 3 (A) with respect to the initial state shown in FIG. 1 (A). Taken the same way.

  For example, when the microscope unit 24 is continuously moved from the state shown in FIG. 3A to the state shown in FIG. 3B, the rotational moment about the rotational axis O3 cancels the rotational moment about the rotational axis O3. It is determined by the spring strength (reaction force F (β)) of the second compression spring 36 that is set to do so. That is, when the angle β formed between the half line passing through the rotation axes O3 and O15 and the axial direction of the second compression spring 36 changes, and the reaction force F (β) of the second compression spring 36 changes, The component force Fv (β) changes following the second compression spring 36 to change the microscope unit 24 around the rotation axis O3, the tip joint unit 22, the vertical moving arm unit 20, and the first to third connection links 40, The rotational moment due to the dead weight of 42 and 44 can be canceled out.

  As shown in FIG. 3 (B), when the rotation range of the vertical moving arm 20 is relatively large, the angle formed between the half line passing through the rotation axes O3 and O15 and the second compression spring 36. β becomes smaller. For this reason, the component force Fv (β) becomes small. Then, the second compression spring 36 generates a moment around the rotation axis O3 due to the weight of the microscope unit 24, the tip joint unit 22, the vertical moving arm unit 20, and the first to third connection links 40, 42, and 44. The component force Fv (β) of the reaction force F (β) is insufficient, and it becomes difficult to cancel the moment around the rotation axis O3. As a balance mechanism that compensates for the shortage of the component force Fv (β) of the reaction force F (β), the reaction force by the third compression spring 56 is used.

  As shown in FIG. 4, when the microscope unit 24 is moved downward and the first horizontal link 20 a is rotated downward, the upper end portion of the second connection link 42 becomes the auxiliary balancing mechanism 50. The lower end portion (second flange portion 54b) of the shaft portion 54 is in contact with the two-dot chain line in FIG. Further, when the microscope unit 24 is moved so as to rotate the first horizontal link 20a downward, the first compression spring 56 is pressed upward at the upper end portion of the second connection link 42, and the first The connecting link 42 moves upward. For this reason, the reaction force of the third compression spring 56 acts downward. Then, the moment around the rotation axis O <b> 3 of the link member 34 is weakened by the reaction force of the third compression spring 56. Therefore, the third compression spring 56 acts to compensate for the shortage of the component force Fv (β) of the second compression spring 36. If it does so, the up-and-down continuous movement of the microscope part 24 can be moved with a light force in the state always balanced.

  Therefore, the microscope unit 24 can be moved to an arbitrary position in the vertical direction by rotating the vertical moving arm unit 20 around the rotation axes O6 and O7.

  The observation direction of the microscope barrel 24c is three-dimensionally set to an arbitrary position by the above-described horizontal movement, vertical movement, and rotation (rotation) of the rotation axes O10, O11, and O12 of the microscope unit 24. Can move (tilt). The surgeon observes a desired part of the patient by combining the vertical and horizontal movements of the microscope unit 24 of the operating microscope 10 acting in this way.

  As described above, according to the surgical microscope 10 according to this embodiment, the following can be said.

  When the microscope unit 24 is moved in the horizontal direction, the horizontal moving arm unit 16 rotates with respect to the base unit 14. In this case, an elastic member (first compression spring 30) is incorporated (mounted) between the horizontal moving arm portion 16 and the base portion 14. For this reason, the rotational moment of the own weight of the microscope unit 24, the tip joint unit 22, the vertical moving arm unit 20, the joint unit 18 and the horizontal moving arm unit 16 generated by the rotation of the horizontal moving arm unit 16 is calculated. Can be canceled using the first compression spring 30 disposed between the base portion 14 and the base portion 14. Thus, since the structure is simple and the operating microscope 10 can be reduced in size and weight, good operability can be obtained for moving the microscope unit 24 in the horizontal direction.

  When the microscope unit 24 is moved in the vertical direction, the vertical moving arm unit 20 rotates with respect to the joint unit 18. In this case, connecting links 40, 42, 44 are disposed between the vertical moving arm unit 20 and the base part 14, and an elastic member (second compression spring 36) is further connected to the base part via the link member 34. 14 (installed). For this reason, the rotation moment of the own weight of the microscope part 24, the tip joint part 22, the vertical movement arm part 20, and the first to third connection links 40, 42, 44 generated by the rotation of the vertical movement arm part 20 is connected. The links 40, 42, and 44, the link member 34, and the second compression spring 36 can be used to cancel each other. As described above, it is not necessary to directly arrange the elastic member on the vertical moving arm portion 20 and it is only necessary to incorporate the elastic member in the base portion 14 or the like, so that the configuration is simple and the surgical microscope can be reduced in size and weight. If it does so, favorable operativity can be acquired to move the microscope part 24 to a perpendicular direction.

  Since the second compression spring 36 is provided on the base portion 14 and is connected to the vertical moving arm portion 20 using the link member 34 and the connecting links 40, 42, and 44, the vertical moving arm portion 20 is rotated. The second compression spring 36 is operated so as to cancel the rotational moment due to the weight of the microscope unit 24, the tip joint unit 22, the vertical moving arm unit 20, and the first to third connection links 40, 42 and 44. Can be balanced.

  Further, when the vertical moving arm portion 20 is largely moved downward, the auxiliary balance mechanism 50 is used to bring the upper end portion of the second connection link 42 into contact with the lower end portion of the shaft portion 54 and to make an independent third. The reaction force generated by the compression spring 56 can be transmitted to the vertical moving arm unit 20 to weaken (cancel) the rotational moment when the vertical moving arm unit 20 rotates. Therefore, even in the balance method using the first balance mechanism (second compression spring 36) that is small and light, the second balance means (third balance) Since the correction can be made using the compression spring 56), a good balance can be maintained even in a wide range of movement in the vertical direction.

  In this embodiment, the power generated by the rotation of the vertical arm 20 is transmitted to the link member 34 using the plurality of connection links 40, 42, 44, but instead of the connection links 40, 42, 44, wires are used. The same effect can be obtained even if it is composed of a flexible transmission member such as a belt or belt.

  Next, a second embodiment will be described with reference to FIGS. The surgical microscope 10 according to this embodiment is a modification of the first embodiment, and the same members as those used in the surgical microscope 10 described in the first embodiment are denoted by the same reference numerals. The detailed description is omitted. Here, the description will be made assuming that the horizontal movement arm portion 62 (described later) of the surgical microscope 10 extends in the vertical direction and the vertical movement arm portion 66 extends in the horizontal direction as shown in FIG. 5A.

  As shown in FIG. 5A, the surgical microscope 10 according to this embodiment includes a base 12, a base 60, a horizontal moving arm 62, an arm support (joint) 64, and a vertical motion. An arm portion 66 and a microscope portion 68 are provided.

  The base portion 60 is held so as to be rotatable around the rotation axis O1. For this reason, the base portion 60 can rotate around the rotation axis O <b> 1 in the vertical direction with respect to the base 12.

  A rotation axis (first horizontal rotation axis) O21 extending in the horizontal direction perpendicular to the rotation axis O1 is provided on the upper portion of the base portion 60. The horizontal moving arm 62 includes a vertical link 62a that is rod-shaped and has a longitudinal axis in the vertical direction. The lower end portion of the vertical link 62a is supported by the rotation axis O21.

  The arm support portion 64 includes first and second connection blocks 64a and 64b and a rotation axis O22. The rotation axis O22 is disposed so as to be orthogonal to the rotation axes O1 and O21. The first and second connection blocks 64a and 64b have axes in a direction orthogonal to the rotation axes O1 and O21. The first and second connection blocks 64a and 64b and the rotation axis O22 are arranged on the same axis. A rotation shaft O22 is disposed between the first and second connection blocks 64a and 64b. Therefore, the second connection block 64b can rotate with respect to the first connection block 64a.

  A rotation axis O23 is provided as a second horizontal rotation axis at the upper end of the vertical link 62a. The rotation shaft O23 is supported by the first connection block 64a of the arm support portion 64. The rotation axis O23 is disposed in parallel to the rotation axis O21.

  On the second connection block 64b of the arm support portion 64, rotation axes O24 and O25 parallel to the rotation axis O21 are adjacently supported as second horizontal rotation axes. Each of the vertical moving arm portions 66 includes rod-shaped first to fifth movable links 66a to 66e. The first, second and fifth movable links 66a, 66b, 66e have longitudinal axes in the vertical direction. The third and fourth movable links 66c and 66d have a longitudinal axis in the horizontal direction.

  The lower end portion of the first movable link 66a is supported by the rotation shaft O24. The lower end portion of the second movable link 66b is supported by the rotation axis O25. The first and second movable links 66a and 66b extend in the same direction (upward in FIG. 5A) with respect to the second connection block 64b.

  A rotation axis O26 is provided at the upper end portion of the first movable link 66a in parallel with the rotation axis O21. One end portion (left end portion) of the third movable link 66c is supported on the rotation shaft O26. A rotation axis O27 is provided at the upper end of the second movable link 66b in parallel with the rotation axis O21. One end portion (left end portion) of the fourth movable link 66d is supported on the rotation shaft O27. The third and fourth movable links 66c and 66d extend in the same direction (the right direction in FIG. 5A) with respect to the second connection block 64b.

  Rotating shafts O28 and O29 are provided at the other end portions (right end portions) of the third and fourth movable links 66c and 66d in parallel with the rotating shaft O21, respectively. An upper end portion of the fifth movable link 66e is supported on the rotation shaft O29. A rotation axis O28 is provided between the upper end portion and the lower end portion of the fifth movable link 66e. For this reason, the third movable link 66c and the fifth movable link 66e are rotatably connected by the rotation axis O28.

  A rotation axis O30 is provided in parallel with the rotation axis O21 between the upper end and the lower end of the second movable link 66b and between one end and the other end of the third movable link 66c. ing. For this reason, the second movable link 66b and the third movable link 66c are connected to each other.

  The first, second, and fifth movable links 66a, 66b, 66e maintain a state parallel to each other. The third and fourth movable links 66c, 66d and the arm support portion 64 maintain a state parallel to each other.

  A rotation axis O31 is provided at the lower end of the fifth movable link 66e. The rotation axis O31 is disposed in parallel to the rotation axis O1. A microscope unit 68 is supported on the rotation axis O31. The microscope unit 68 includes a first arm 68a and a lens barrel 68b. The upper end portion of the first arm 68a is supported by the rotation axis O31. Further, the microscope unit 68 is an intersection T of the rotation axes O22 and O31, and is rotatable with a virtual axis perpendicular to the paper surface in FIG. 5A perpendicular to the paper surface as the rotation axis (pivot axis) O32. .

  In this embodiment, the vertical moving arm portion 66 has two rotation axes O22 orthogonal to each other by the second connection block 64b and the parallelogram link mechanisms (first to fifth movable arms) 66a to 66e. And a rotation mechanism capable of tilting about the rotation axes O24 and O25. The microscope section 68 is movable in the substantially horizontal direction (substantially left-right direction) about the first horizontal rotation axis O21 of the horizontal movement arm section 62, and pivots on the second horizontal rotation axis O23 of the vertical movement arm section 66. It is possible to move in a substantially vertical direction (substantially vertical direction). The microscope unit 68 can be further tilted about the rotation axes O22 and O31 as pivots.

  It should be noted that the weight is distributed so that the rotational moment due to its own weight around the rotation axes O22, O31, and O32 is always zero. Since the vertical moving arm portion 66 has the above-described configuration, a tilting motion about two axes is performed in a balanced state.

  The surgical microscope 10 includes first and second elastic force generations that cancel out moments generated by the horizontal moving arm 62 and the vertical moving arm 66 rotating with respect to the base 60 and the arm support 64, respectively. A mechanism is further provided. The surgical microscope 10 further includes a balance mechanism for offsetting the moment generated when the vertical moving arm portion 66 rotates with respect to the arm support portion 64 to achieve a balance. The balancing mechanism includes first and second balancing mechanisms.

  As shown in FIG. 5A, a first elastic force generation mechanism is provided between a position between the lower end portion and the upper end portion (between both end portions) of the vertical link 62a and the base portion 60. As shown, a first gas spring (first elastic member) 70 that can expand and contract along the axial direction is disposed. A rotation shaft O33 is disposed at one end (lower end) of the first gas spring 70 in parallel with the rotation shaft O21. The rotation axis O33 is supported by the base portion 60.

  At the other end (upper end) of the first gas spring 70, a rotation axis O34 is disposed in parallel to the rotation axis O21. The rotation axis O34 is supported at an appropriate position between the upper end and the lower end (both ends) of the vertical link 62a. The first gas spring 70 is arranged in parallel with the vertical link 62a in a state where the vertical link 62a is arranged in the vertical direction.

  Since the upper end portion of the first gas spring 70 is supported by the vertical link 62a that rotates relative to the base portion 60 via the rotation axis O34, the lower end portion (rotation axis O33) rotates about the pivot. It is a moving fulcrum that moves while moving. The lower end portion of the first gas spring 70 is a fixed fulcrum that does not move relative to the base portion 60 because it is supported by the base portion 60 via the rotation axis O33.

  Further, one end portion (right end portion) of the first connection link 72a is rotatably supported on the rotation shaft O21. The first connection link 72a extends in the horizontal direction (left direction in FIG. 5A) with respect to the rotation axis O21. A rotation axis O35 is provided at the other end (left end) of the first connection link 72a in parallel with the rotation axis O21. An upper end portion of the second connection link 72b is rotatably supported on the rotation shaft O35.

  A rotation axis O36 is provided at the lower end of the second connecting link in parallel with the rotation axis O21. The rotation axis O36 is supported at one vertex of a triangular link member 74. Of the remaining two vertices of the link member 74, one of the vertices is provided with a rotation axis O37 parallel to the rotation axis O21. The rotation shaft O37 is rotatably supported by the base portion 60. A half line passing through the rotation axes O37 and O36 and a half line passing through the rotation axes O21 and O35 are provided in parallel to each other.

  At the remaining vertex of the link member 74, a rotation axis O38 is provided. The rotary shaft O38 has one end (lower end) of a second gas spring (second elastic member, first balance member) 76 as a first balance mechanism (second elastic force generation mechanism) in vertical movement. ) Is supported. At the other end (upper end) of the second gas spring 76, a rotation axis O39 is provided in parallel to the rotation axis O21. The rotation axis O39 is supported by the base portion 60. Although not shown, a moving handle for moving the surgical microscope 10 is provided on the outer periphery of the base 60 where the other end of the second gas spring 76 is disposed.

  Further, the lower end portion of the third connection link 72c is rotatably supported on the rotation shaft O35. A rotation axis O40 is provided at the upper end of the third connection link 72c in parallel with the rotation axis O21. The rotation shaft O40 is supported by the first connection block 64a. The rotation axes O21, O23, O35, and O40 are arranged at the vertices of the parallelogram.

  The base 60 is further provided with an auxiliary balancing mechanism 80 as a second balancing mechanism. As shown in FIG. 5B, the auxiliary balancing mechanism 80 includes a spring base 82, a shaft portion 84, and a compression spring (second balancing member) 86.

  The spring base 82 is attached to the base portion 60 in a state inclined with respect to the rotation axes O1 and O21. The shaft portion 84 has an axial direction in a direction in which the spring base 82 is inclined with respect to the base portion 60, and is movable along the axial direction. The shaft portion 84 has a first flange portion 84a at the upper end portion. For this reason, the shaft portion 84 is supported by the spring base 82 by the first flange portion 84a. The shaft portion 84 has a second flange portion 84b at the lower end portion. A compression spring 86 is disposed between the second flange portion 84 b and the spring base 82.

  Next, the operation of the surgical microscope 10 according to this embodiment will be described with reference to FIGS.

  First, a case where the microscope unit 68 is moved in the horizontal direction (left-right direction) will be described with reference to FIGS. 5A, 6A, and 6B. The initial state of the surgical microscope 10 according to this embodiment is shown in FIG. In the initial state of the surgical microscope 10, the vertical link 62a is arranged in the vertical direction. The first gas spring 70 is disposed in parallel to the vertical direction link 62a. The second and third connection links 72b and 72c are arranged in parallel to the vertical link 62a. The 1st connection link 72a is arrange | positioned in the state orthogonal to the perpendicular direction link 62a. The first, second and fifth movable links 66a, 66b, 66e are arranged in the vertical direction. The third and fourth movable links 66c and 66d are arranged in the horizontal direction. The base 12 is fixed to the floor surface by a stopper of the caster 12a. The base 60 can rotate around the rotation axis O <b> 1 with respect to the base 12. In FIGS. 6A and 6B, the auxiliary balancing mechanism 80 is removed for convenience.

  From this initial state, as shown in FIG. 6A, the microscope unit 68 is moved to the left with respect to the state shown in FIG. The vertical moving arm 66 moves to the left in FIG. 6A while maintaining the initial shape. The rotation axes O24 and O25 supported by the arm support portion 64 also move to the left side in FIG. Since the vertical moving arm portion 66 maintains the initial shape, the first connection block 64a supported by the two rotating shafts O23 is prevented from being inclined. For this reason, the arm support part 64 also moves to the left side in FIG. At this time, since the base portion 60 of the vertical link 62a of the horizontal moving arm portion 62 does not move with respect to the floor surface or the base 12, the rotation axis O21 at the lower end is pivoted on the left side in FIG. Rotate.

  When the second connection block 64b moves leftward by moving the rotation shafts O24 and O25 leftward, the first connection block 64a moves leftward via the rotation shaft O22. For this reason, the rotating shafts O23 and O40 move to the left. For this reason, the vertical link 62a rotates about the rotation axis O21 of the base 60 and the rotation axis O23 of the first connection block 64a as pivots. Since the rotation axes O21, O23, O35, and O40 are arranged at the vertices of the parallelogram, the third connecting link 72c maintains a state parallel to the vertical link 62a with the rotation axes O35 and O40 as the pivot. Rotate.

  When the vertical link 62a rotates about the rotation axis O21, the first gas spring 70 also rotates about the rotation axis O33 of the base 60. At this time, since the rotation axes O21 and O33 are at different positions, a difference in angle γ occurs between the vertical link 62a and the first gas spring 70. At this time, a rotational moment is generated around the rotation axis O21. On the other hand, the component force Fv (γ) acts in a direction orthogonal to the reaction force F (γ) of the first gas spring 70 expressed as a function of the angle γ.

  The component force Fv (γ) of the reaction force F (γ) of the first gas spring 70 is equal to the spring strength (reaction force F (γ)) of the first gas spring 70, the vertical link 62a and the first link. It is determined by the angle γ formed between the gas springs 70. That is, when the first gas spring 70 expands and contracts and the angle γ formed between the vertical link 62a and the first gas spring 70 changes to change the rotational moment about the rotation axis O21, the first gas The component force Fv (γ) changes following the spring 70 and exerts a force in a direction that cancels the rotational moment around the rotational axis O21.

  On the other hand, the vertical link 62a receives a moment around the rotation axis O21 due to the weight of the microscope unit 68, the vertical moving arm unit 66, the arm support unit 64, and the horizontal moving arm unit 62. A force Fv (γ) that acts in a direction to cancel the moment around the rotation axis O21 due to its own weight and the moment around the rotation axis O21 due to the component force Fv (γ) of the first gas spring 70 (here, this force) The position where Fv (γ) occurs (the distance between the rotation axis O34) and the rotation axis O21 and the moment determined by the force Fv (γ) are set to be substantially uniform. For this reason, even when the microscope unit 68 is moved in the horizontal direction and rotated around the rotation axis O21 of the vertical link 62a, the balance is taken by the first gas spring 70 (balance is generated by generating a rotational moment). Can take). Then, when moving the microscope unit 68 in the horizontal direction, the microscope unit 68 can be moved with a light force.

  Next, from the initial state, as shown in FIG. 6B, the microscope unit 68 is moved to the right with respect to the state shown in FIG. FIG. 6B shows a state in which the microscope unit 68 is moved to the right side with respect to the state shown in FIGS. 5A and 6A. As described with reference to FIG. 6A, the balance of the vertical link 62a is a state in which the microscope unit 68 is moved to the left side in FIG. 6A with respect to the initial state shown in FIG. Taken in the same way.

  In the state in which the vertical link 62a is arranged in the vertical direction shown in FIG. 5A, the position and rotation at which the moment around the rotation axis O21 and the component force Fv (γ) by the first gas spring 70 are generated. The distance determined by the distance between the axes O21 and the force Fv (β) is zero.

  Therefore, the microscope unit 68 can be moved to an arbitrary position in the horizontal direction by turning the vertical link 62a of the horizontal moving arm unit 62 around the rotation axis O21.

  Next, a case where the microscope unit 68 is moved in the vertical direction (vertical direction) will be described with reference to FIGS.

  As shown in FIG. 7A, the microscope unit 24 is moved upward from the initial state with respect to the state shown in FIG. FIG. 7A shows a state in which the microscope unit 24 is moved upward with respect to the state shown in FIG.

  When the microscope unit 68 is moved upward, the fifth movable link 66e follows and moves upward. Since the two rotary shafts O28 and O29 move upward together with the fifth movable link 66e, the third and fourth movable links 66c and 66d rotate upward about the rotary shafts O26 (O30) and O27, respectively. To do. The arm support portion 64 rotates about the rotation axis O23 as a pivot. For this reason, the rotation axis O26 at the upper end of the first movable link 66a is raised upward by tilting the third movable link 66c because the rotation axis O23 is stationary. For this reason, the 2nd connection block 64b connected with the rotating shaft O26 is also raised upwards. When the second connection block 64b is raised upward, the rotation axis O40 at the upper end of the third connection link 72c is lowered downward. The 3rd connection link 72c by which the upper end part was connected with the rotating shaft O40 is lowered | hung below. When the third connection link 72c is lowered, the rotation axis O35 at the lower end of the third connection link 72c is also lowered. The second connection link 72b supported by the rotation shaft O35 is lowered downward. When the second connection link 72b is lowered, the rotation shaft O36 at the lower end of the second connection link 72b is also lowered. For this reason, the link member 74 connected to the second connecting link 72b by the rotary shaft O36 is lowered while rotating about the rotary shaft O37.

  When the link member 74 rotates about the rotation axis O37, a rotation moment is generated around the rotation axis O37. Therefore, the second gas spring 76 connected through the link member 74 and the rotation shaft O38 also rotates about the rotation shaft O39. Then, the reaction force F (η) is generated by the second gas spring 76. Therefore, the angle η formed between the half line passing through the rotation axes O36 and O38 and the axis of the second gas spring 76 changes, and the reaction force F of the second gas spring 76 expressed as a function of the angle η. A component force Fv (η) acts in a direction perpendicular to the half line passing through the rotation axes O37 and O38 with respect to (η).

  The component force Fv (η) of the reaction force F (η) of the second gas spring 76 is half of the spring strength (reaction force F (η)) of the second gas spring 76 and the rotational axes O36 and O38. It is determined by the angle η formed between the straight line and the axis of the second gas spring 76. When the angle η formed between the half line passing through the rotation axes O37 and O38 and the axial direction of the second gas spring 76 changes to change the rotational moment about the rotation axis O37, the second gas spring 76 generates a component force. Fv (η) follows and changes, and a force is applied in a direction to cancel the rotational moment about the rotation axis O37.

  On the other hand, the link member 74 receives a rotational moment due to its own weight of the microscope section 68, the vertical moving arm section 66, the arm support section 64, and the first to third connection links 72a, 72b, 72c. A force Fv (η) acting in a direction to cancel the moment around the rotation axis O37 due to its own weight and the moment around the rotation axis O37 due to the component force Fv (η) with the second gas spring 76 (here, this The position where the force Fv (η) occurs (the rotation axis O38) and the distance between the rotation shaft 37 and the moment determined by the force Fv (η) are set to be substantially uniform. For this reason, even if the microscope unit 68 is moved in the vertical direction and rotated around the rotation axis O37 of the link member 74, the balance is obtained by the second gas spring 76 (the balance is obtained by generating a rotational moment). be able to). If it does so, when moving the microscope part 68 to a perpendicular direction (up-down direction), it can be moved by light force.

  Next, from the initial state, as shown in FIG. 7B, the microscope unit 68 is moved downward with respect to the state shown in FIG. FIG. 7B shows a state in which the microscope unit 68 is moved downward with respect to the state shown in FIGS. 5A and 7A. As described with reference to FIG. 7A, the balance of the link member 74 is such that the microscope unit 68 is moved upward in FIG. 7A with respect to the initial state shown in FIG. Taken the same way.

  For example, when the microscope unit 68 is continuously moved from the state shown in FIG. 7A to the state shown in FIG. 7B, the rotational moment about the rotational axis O37 cancels the rotational moment about the rotational axis O37. It is determined by the spring strength (reaction force F (η)) of the second gas spring 76 set to do so. That is, when the angle η formed between the half line passing through the rotation axes O37 and O38 and the axial direction of the second gas spring 76 changes, and the reaction force F (η) of the second gas spring 76 changes, The component force Fv (η) changes following the second gas spring 76, and the microscope section 68, the vertical moving arm section 66, the arm support section 64, and the first to third connection links 72a around the rotation axis O37. , 72b, 72c can cancel the rotational moment due to its own weight.

  As shown in FIG. 7B, when the rotation range of the vertical moving arm portion 66 is relatively large, the angle formed between the half line passing through the rotation axes O37 and O38 and the second gas spring 76. η becomes small. For this reason, component force Fv ((eta)) becomes small. Then, the second gas spring 76 causes a moment around the rotation axis O37 due to the weight of the microscope unit 68, the vertical moving arm unit 66, the arm support unit 64, and the first to third connection links 72a, 72b, and 72c. The component force Fv (η) of the generated reaction force F (η) is insufficient. The reaction force by the compression spring 86 is used as an equilibrium mechanism that compensates for the shortage of the component force Fv (η) of the reaction force F (η).

  As shown in FIG. 8, when the microscope unit 68 is moved downward and the fifth movable link 66e is moved downward, the end face of the link member 74 that was the upper end face in the initial state is auxiliary balanced. It contacts the lower end portion (flange portion 84a) of the shaft portion 84 of the mechanism 80 (two-dot chain line in FIG. 8). When the microscope unit 68 is moved downward and the fifth movable link 66e is further moved downward, the compression spring 86 is pressed obliquely upward at the end surface of the link member 74 that was the upper end surface in the initial state. The two connecting links 72b move upward.

  For this reason, the reaction force against the compression spring 86 contracting acts obliquely downward. Then, the reaction force of the compression spring 86 weakens the moment around the rotation axis O37 of the link member 74. Therefore, the compression spring 86 acts to compensate for the shortage of the component force Fv (η) of the second gas spring 76. If it does so, the continuous motion of the microscope part 68 up and down can be moved with a light force in the state always balanced.

  Therefore, the microscope unit 68 can be moved to an arbitrary position in the vertical direction by rotating the vertical moving arm unit 66 around the rotation axis O24-O30.

  The observation direction of the microscope barrel 68b is three-dimensionally moved to an arbitrary position by the above-described horizontal movement, vertical movement, and rotation (rotation) of the rotation axes O31 and O32 of the microscope unit 68 ( Can be inclined).

  The desired part of the patient is observed by combining the vertical and horizontal movements of the microscope unit 68 of the surgical microscope 10 acting in this way.

  As described above, according to the surgical microscope 10 according to this embodiment, the following can be said.

  In addition to the effects described in the first embodiment, since the tilt mechanism for tilting the microscope unit 68 is not provided around the microscope unit 68, the work space for the observer can be increased. it can. Further, since the part 72c of the connecting link of the vertical moving arm portion 66 also serves as the parallelogram link mechanism of the horizontal moving arm portion 62, the link mechanism can be configured simply. Since the storage part (upper end part) of the second gas spring 76 also serves as a moving handle for moving the microscope 10 in a state in which the stopper of the caster 12a is released, a useless space can be reduced.

  Since the second balancing mechanism (auxiliary balancing mechanism) 80 is built in the base portion 60, a wider space can be secured in the vicinity of the operator, and the entire microscope 10 can be configured to be small and light.

  Although several embodiments have been specifically described so far with reference to the drawings, the present invention is not limited to the above-described embodiments, and all the embodiments performed without departing from the scope of the invention are described. Including implementation.

  According to the above description, the following matters can be obtained. Combinations of the terms are also possible.

[Appendix]
(Additional Item 1) A base portion, a base portion that is rotatably held around a vertical rotation axis with respect to the base portion, and a horizontal moving arm that is rotatably held around a first horizontal rotation axis with respect to the base portion. In a surgical microscope having a vertical movement arm rotatably held around a second horizontal rotation axis with respect to the horizontal movement arm and a microscope section held by the vertical movement arm, the first horizontal rotation axis of the horizontal movement arm A first elastic member for applying a force for canceling the surrounding moment to the horizontal moving arm and a second for applying a force for canceling the moment about the second horizontal rotation axis of the vertical moving arm to the vertical moving arm. A surgical microscope characterized in that a fixed fulcrum of the first elastic member and the second elastic member is provided on the base portion.

    (Additional Item 2) The surgical microscope according to Additional Item 1, wherein the horizontal moving arm has a parallelogram link mechanism.

    (Additional Item 3) The vertical moving arm is an inclined arm that can be tilted about two axes orthogonal to each other, and the rotational moment about the two axes is balanced by the weight of the microscope unit and the vertical moving arm. Item 3. The surgical microscope according to item 1 or item 2, which is characterized.

    (Additional Item 4) The vertical movement arm includes a transmission member that transmits the movement around the second horizontal rotation axis to the base portion, according to any one of the additional items 1 to 3. Surgical microscope.

    (Additional Item 5) The surgical microscope according to Additional Item 4, wherein the transmission member includes a plurality of links.

    (Additional Item 6) The surgical microscope according to Additional Item 5, wherein at least one of the plurality of links forms part of a parallelogram link mechanism of the horizontal movement arm.

    (Additional Item 7) The surgical microscope according to any one of Additional Item 1 to Additional Item 6, wherein the moving side fulcrum of the first elastic member is provided on the horizontal movement arm.

    (Additional Item 8) The moving side fulcrum of the second elastic member is attached to one of the plurality of links, according to any one of Additional Item 1 to Additional Item 7, Surgical microscope.

    (Additional Item 9) On the line connecting the first rotating shaft and the second horizontal rotating shaft of the horizontal moving arm, a moving fulcrum of the first elastic member is provided, and the first rotating shaft and the second rotating shaft are provided. The surgical microscope according to any one of appendices 1 to 8, wherein the first elastic member becomes vertical when a line connecting the horizontal rotation axis of the first elastic member becomes vertical.

    (Additional Item 10) Any one of Additional Items 1 to 9, wherein the second elastic member is disposed in a casing of a moving handle that is gripped when the entire surgical microscope is moved. The surgical microscope according to 1.

    (Additional Item 11) The surgical microscope according to Additional Item 1, wherein the first and second elastic members have compression springs.

    (Additional Item 12) The surgical microscope according to Additional Item 1, wherein the first and second elastic members have air springs (gas springs).

(A) is a side view showing a schematic configuration of the surgical microscope according to the first embodiment, and (B) is an enlarged view of the auxiliary balancing mechanism shown in (A). The schematic structure of the surgical microscope concerning 1st Embodiment is shown, (A) is the schematic which shows the state which moved the microscope part to the horizontal direction left side, and (B) is a microscope. Schematic which shows the state which moved the part to the horizontal direction right side toward the paper surface. The schematic structure of the surgical microscope concerning 1st Embodiment is shown, (A) is the schematic which shows the state which moved the microscope part to the vertical direction upper side toward the paper surface, (B) is a microscope Schematic which shows the state which moved the part to the horizontal direction lower side toward the paper surface. Schematic which shows the state which the 2nd connection link contact | abutted to the auxiliary | assistant balance mechanism when the microscope part in the surgical microscope concerning 1st Embodiment was moved to the horizontal direction downward toward the paper surface. (A) is a side view showing a schematic configuration of the surgical microscope according to the second embodiment, and (B) is an enlarged view of the auxiliary balancing mechanism shown in (A). The schematic structure of the surgical microscope concerning 2nd Embodiment is shown, (A) is the schematic which shows the state which moved the microscope part to the horizontal direction left toward the paper surface, (B) is a microscope. Schematic which shows the state which moved the part to the horizontal direction right side toward the paper surface. The schematic structure of the surgical microscope concerning 2nd Embodiment is shown, (A) is the schematic which shows the state which moved the microscope part to the orthogonal | vertical direction upper side toward the paper surface, (B) is a microscope Schematic which shows the state which moved the part to the horizontal direction lower side toward the paper surface. Schematic which shows the state in which the link member was contact | abutted to the auxiliary | assistant balance mechanism when the microscope part in the operation microscope concerning 2nd Embodiment was moved to the horizontal direction downward toward the paper surface.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 10 ... Surgical microscope, 14 ... Base part, 16 ... Horizontal moving arm part, 16a ... 1st vertical direction link, 16b ... 2nd vertical direction link, 18 ... Joint part, 18a, 18b ... Arm, 20 ... Vertical Moving arm part, 20a ... first horizontal link, 20b ... second horizontal link, 22 ... tip joint part, 22a, 22b ... arm, 24 ... microscope part, 24a ... first inclined arm, 24b ... first 2 inclined arms, 24c ... barrel, 30 ... first compression spring, 34 ... link member, 34a, 34b ... arm, 36 ... second compression spring, 40, 42, 44 ... connecting link, O2, O3 ... First horizontal rotation axis, O4, O5, O6, O7 ... Second horizontal rotation axis, F (α), F (β) ... reaction force, Fv (α), Fv (β) ... component force

Claims (3)

A surgical microscope provided with a microscope unit having an observation mechanism for observing a patient,
The base,
A first horizontal rotation axis supported by the base and extending in the horizontal direction;
A horizontal movement arm unit supported rotatably about the first horizontal rotation axis and moving the microscope unit in a substantially horizontal direction;
A second horizontal rotation shaft supported by the horizontal moving arm and extending in the horizontal direction;
A vertically movable arm portion supported so as to be rotatable around the second horizontal rotation axis and supported so as to move the microscope portion in a substantially vertical direction by rotation around the second horizontal rotation axis;
One end is supported by the base, and when the horizontal moving arm rotates about the first horizontal rotation axis with respect to the base, a rotational moment about the first horizontal rotation caused by its own weight is canceled out. A first elastic force generation mechanism for generating a force in the direction;
A second elastic force generating mechanism that has one end supported by the base and generates a force in a direction that cancels a rotational moment generated by its own weight when the vertical moving arm rotates with respect to the horizontal moving arm; A surgical microscope characterized by that.   The first elastic force generation mechanism has one end at the base and the other end between both ends of the horizontal moving arm, and the horizontal moving arm is centered on the first horizontal rotation axis. The surgical microscope according to claim 1, further comprising a first elastic member that can elastically expand and contract along the axial direction when rotating.   The second elastic force generating mechanism includes a connection link having one end supported by the second horizontal rotation shaft, a link member supported by the base portion so as to be swingable, and connected to the connection link. And a second elastic member coupled to the link member and elastically expandable / contractable along the axial direction when the vertical moving arm portion rotates about the second horizontal rotation axis. The surgical microscope according to claim 1 or 2, wherein

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