JPH0142211B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a manipulator device for a phototherapy device such as a laser scalpel device or a laser coagulator device. The manipulator device according to the present invention is most suitable as a manipulator device for a laser coagulator device, which is particularly useful when incorporated into a lighting device of a slit lamp device.

(Prior Art) A laser coagulator device for treating retinal detachment or diabetic retinal disease generally uses a slit lamp device for illuminating the treated area and observing at high magnification. When incorporating a therapeutic laser light guiding system into this slit lamp device, the laser scan mirror is placed near the illumination light exit mirror of the illumination optical system of the slit lamp, and this scan mirror has horizontal and vertical axes. It is configured so that it can rotate freely around both axes. A manipulator device is then used to move this mirror. It is desirable that the operation handle of this manipulator device be placed near the joystick handle for slightly moving the slit lamp device itself up and down, back and forth, and left and right. There is a disadvantage that the structure for connecting the parts is complicated, and furthermore, there is a disadvantage that play or reaction delay occurs between the operation of the operating handle and the operation of the scanning mirror due to errors in assembly and engagement between each part. It was hot. Also,
Due to the increase in the number of parts and the complexity of the structure, it has become difficult to incorporate the manipulator device into the illumination device of the slit lamp device.

Further, in the case of a manipulator device, it is desirable that the scanning mirror returns to the reference position when the user's hand is released from the operating handle. For this purpose, in conventional manipulator devices, a means for pressing in the reference position direction was provided for each of the horizontal and vertical connection levers between the mirror and the operating handle, which required a large number of parts and was complicated. It had become a structure.

(Object of the Invention) An object of the present invention is to eliminate the drawbacks of the prior art as described above, and to provide a manipulator device that can return to the reference position in both the horizontal and vertical directions with one pressing means. It is in.

(Structure of the Invention) The gist of the invention resides in a manipulator device for a phototherapy device as set forth in the claims.

(Effects of the present invention) According to the present invention, since it is possible to return to the reference position in two movements in the horizontal and vertical directions using one pressing means, the number of parts can be reduced and the manipulator device can be made smaller. . Therefore, the slit lamp can be easily incorporated into a lighting device, which is advantageous in practice.

(Example) Examples of the present invention will be described below with reference to the drawings. Although a laser coagulator will be described as an example, the present invention is not limited to this example.

FIG. 1 is a schematic perspective view showing an example of the optical arrangement of an illumination optical system of a laser coagulator according to the present invention. The illumination unit 1 for illuminating the treated eye E includes:
An arm 2, which is schematically shown in the figure, allows rotation about a vertical axis _A1 . This vertical axis
A microscope section 3 for magnifying observation of the treated area of the eye E to be treated is also rotatably attached to A1 via another arm ₄ . These arms 2,
4 is configured to be relatively rotatable.

The illumination section 1 is roughly divided into an observation illumination system 10 and a laser irradiation system 100.

The observation illumination system 10 includes illumination lamps 11, similar to the illumination system of a known Goldmann type slit lamp device.
It is composed of a condenser lens 12, a slit diaphragm 13, a projection lens 14, and a reflection mirror 15.

The reflecting mirror 15 has two mirrors 15a and 15b inclined at 45 degrees with respect to the illumination optical axis _O1 . These mirrors 15a and 15b are arranged at a predetermined interval in the direction of the optical axis _O1 .

On the other hand, the laser irradiation system 100 includes an optical fiber 101 that guides laser light from a laser tube (not shown), a collimator lens 102, a collimator lens 103, a reflection prism 104, a zoom lens system 105, a projection lens 106, and a scanning mirror 107. (an example of an optical member for reflecting therapeutic light). The scanning mirror 107 is rotatable around a horizontal rotation axis _A2 and a vertical rotation axis _A3 . Scanning mirror 1
By the rotation of 07, the laser beam is irradiated to an arbitrary position of the eye E to be treated.

2 to 4 are diagrams showing an example of the configuration of a manipulator device used in a coregulator according to the present invention.

As clearly shown in FIG. 3, the scanning mirror 107 has a pedestal 107a and a pedestal 107a.
The mirror 107b is attached to the inclined portion of the mirror 107b. A shaft member 201 is installed on the side surface of the pedestal 107a so as to be coaxial with the horizontal rotation axis _A2 . This shaft member 201 is rotatably fitted into a mirror holding member 203. The mirror holding member 203 itself has a shaft member 202 provided coaxially with the vertical rotation axis _A3 , and is rotatably fitted into the casing (not shown) of the illumination unit 1.

The mirror holding member 203 also has a horizontal rotation axis.
An L-shaped arm 205 that can be rotated around an axis parallel to _A2 is rotatably attached to a shaft member 204. A pin 206 is implanted on the side surface of the L-shaped arm 205 near the bent portion in parallel with the shaft member 204 . This pin 206 extends between and engages a bifurcated piece 208 attached to the side surface of the base 107a. Furthermore, a pin 2 having a drum-shaped inner part is attached to the lower end of the L-shaped arm 205.
09 has been planted. Two pins 210 protruding from the upper side wall of the connecting rod 211 are engaged with the inner part of this pin 209.

As shown in FIG. 2, the connecting rod 211 (an example of a connecting member) is fitted into a cylindrical bearing 313 formed in the projecting portion 301 from the housing of the lighting unit 1, and its shaft It can be slid in the direction of A ₄ (that is, up and down in the figure), and the axis A ₄
It is designed to be able to rotate around the center. A collar 212 is formed in the middle of the connecting rod 211, and a spring 213 is fitted between the collar 212 and a partition plate 214 of the housing. Due to the action of this spring 213, the connecting rod 211 is constantly pressed downward.

An L-shaped first arm 3 is attached to the lower end of the connecting rod 211.
One end of 02 is fixed. First arm 302
is pivoted about axis _A4 by rotation of connecting rod 211.

A vertical shaft member 311 is rotatably supported on an overhanging bearing portion 312 of the casing about a vertical axis _A6 . The upper part of the shaft holding member 310 is attached to the lower end of this vertical shaft member 311. A horizontal shaft member 309 having a horizontal axis A ₅ perpendicular to the vertical axis A ₆ is implanted and fixed to the shaft holding member 310 . The distal end portion of the horizontal shaft member 309 is formed as a spherical portion 317 . Further, the horizontal axis 309 has an L-shaped second arm 306.
is rotatably supported around the horizontal axis _A5 . − end 30 of this second arm 306
On the top surface of 7 is a pin 308 with a spherical head.
has been planted. This pin 308 is arranged so as to be able to come into contact with the lower surface of the negative end of the first arm 302 . A stepped pin 314 is implanted at the other end of the second arm 306. A spring 3 is connected between this pin 314 and the other end 304 of the first arm 302.
15 is stretched out. Due to the tensile force of the spring 315, the side surface of the spherical portion 317 of the horizontal shaft member 309 is configured to be in constant contact with the tip side wall portion 303 of the first arm 302.

An operating handle 4 is provided in the middle part of the second arm 306.
The base 406 of 05 is fixed. its base 4
06 is provided with a mounting portion 401 to which an operating rod 403 is attached.

As shown in FIGS. 2 and 4, the second arm 30
The horizontal axis A ₅ and the vertical axis A ₆ are on the side of the bent part of 6.
A conical concave surface portion 50 whose central axis is an axis A ₇ that is perpendicular to the axis A ₅ and A ₆ and intersects with the intersection of these axes A 5 and A 6 .
A headed screw 501 (an example of a conical concave member) having a diameter of 3 is screwed therein.

The conical concave surface portion 503 of this headed screw 501 has
A spherical head of a piston 502 that slides within a cylinder 504 formed on the wall of the housing is constantly pressed against a spring 505. These pistons 502
The spring 505 is an example of a pressing member.

FIG. 5 shows the aforementioned operating handle 405 in more detail. The operating rod 403 has a U-shaped bending structure and is connected to the arm 4 for the microscope section 3.
(Fig. 1) are designed so that they do not come into contact even if they are rotated by a small angle around the axis _A1 . A pin 404 is vertically inserted near the tip of the operating rod 403, and a male thread 408 is formed at the tip. On the other hand, the attachment part 401 of the base part 406 has a symmetrical structure in FIG. Part 4
07,407 is formed. Furthermore, V-shaped notches 410 are formed at the stepped portions 407, 407, respectively. and operation rod 40
3 through the through hole 411 from one side, and insert the pin 404
The operating rod 403 is attached to the base portion 406 by bringing it into contact with the V-shaped notch 410 and screwing and fixing the attachment nut 402 onto the male thread 408 from the other side.

Since the mounting portion 401 has a bilaterally symmetrical structure in this manner, the operating rod 403 can be easily attached from either the right side or the left side (in FIG. 5) of the mounting portion 401. As a result, the U-shaped bent portion of the operating rod 403 can be positioned on either the left or the right depending on the arrangement positions of the illumination section 1 and the microscope section 3 according to the convenience of illumination, irradiation, and observation of the eye E to be treated. Therefore, the operating handle 405 is not rubbed by the illumination section 1 or the microscope section 3 during operation.

Note that the mounting portion 401 of the operating handle 405 is not limited to the structure shown in FIG. 5. For example, as shown in FIG. 6, a rectangular parallelepiped pedestal 420 is provided at the tip of the base 406, and a male thread 408 implanted in the pedestal 420 is inserted into a hole 423 formed in the operating rod 403.
The nut 402 may be screwed and fixed to the male screw 408 by passing through the operating rod 403 and bringing the locking surface 421 formed at the end of the operating rod 403 into contact with the side surface of the pedestal 420.

Furthermore, in the illustrated embodiment, in the event that the arms 2 and 4 come into contact with the operating rod 403 of the operating handle 405 due to the relative movement of the illumination section 1 and the microscope section 3 during the operation of the coagulator, the laser beam is A mechanism is provided to limit the rotation of the arms 2, 4 so as not to deviate from the aim.

That is, as shown in FIGS. 7 and 8, a mounting seat 601 is fixed to the housing bottom plate 600 of the illumination unit 1 with screws 607. A screw 603 having a cylindrical pin at the tip and a male thread at the middle is screwed onto the mounting seat 601. A cylindrical pin 604 at the tip of the screw 603 is fitted into a hole 606 formed in a U-shaped stopper lever 605. The two arms 608 of the stopper lever 605 have a length that reaches the arm 4 for the microscope section 3, and the inner surface 60 of these arms 608
9 is brought into contact with the side surface of the arm 4 to limit the amount of rotation of the arm 4. In addition, if you want to make a large turn of the arm 4 as necessary, use the stopper lever 6.
05 is flipped up as shown by an imaginary line 605' in FIG. 8 to avoid contact with the arm 4.

The operation of the manipulator device explained above is explained in the ninth section.
This will be explained with reference to the schematic diagram shown in FIG.

9A to C are scanning mirrors 107
FIG. ₃ is a diagram showing the movement of each component of the manipulator for giving movement around the vertical rotation axis A3.

First, from the reference position of FIG. 9A, operate the operating handle 4.
05 to the right as shown in FIG. 9B, the second arm 306 and horizontal shaft member 309 are rotated counterclockwise about the vertical axis _A6 .
At that time, the spherical portion 317 of the horizontal shaft member 309
Since the end side wall 303 of the arm 302 is in contact with the tensile force of the spring 315, the horizontal shaft member 3
09 counterclockwise rotation causes the first arm 302 to
rotates counterclockwise about axis _A4 .
When the first arm 302 is rotated counterclockwise in this manner, the connecting rod 211 fixed thereto is also rotated by the same amount in the same direction. Therefore, pin 21
Rotate 0 counterclockwise. As a result, pin 2
The pin 209 that is engaged with the mirror holding member 20 is also pushed counterclockwise;
As a result, the mirror holding member 203 rotates clockwise around the vertical rotation axis _A3 .
As a result, the scanning mirror 107 rotates clockwise, and the laser beam l is swung to the right side, that is, to the side on which the operating handle 405 is moved.

In addition, as shown in FIG. 9C, the operating handle 40
5 to the left, the second arm 306 and the horizontal shaft member 309 rotate clockwise about the axis _A6 . Such clockwise rotation of the second arm 306 causes the spring 31 to be attached to the second arm 306.
The first arm 302 connected to the first arm 302 via the horizontal shaft member 309 also rotates clockwise about the axis A ₄ with its side wall surface 303 always in contact with the spherical portion 317 of the horizontal shaft member 309 . This first arm 302
The clockwise rotation of the mirror holding member 203 is transmitted to the clockwise rotation of the mirror holding member 203 in the same manner as described above in FIG. 9B. As a result, contrary to the case shown in FIG. 9B, the mirror holding member 203 rotates counterclockwise around the vertical rotation axis _A3 , and the scanning mirror 107 rotates counterclockwise, thereby causing the laser beam to emit light. l is swung to the left (ie, in the direction in which the operating handle is moved).

In addition, in both cases of FIG. 9B and C,
Conical concave portion 5 attached to second arm 306
03 is engaged with the piston 502, and the spring 50
Since the piston 502 is pushed against the elastic force of FIG. Return to standard position.

Next, with reference to FIGS. 10A to 10C, the operation of each component when swinging the scanning mirror 107 in the vertical direction will be described.

First, when the operating handle 405 is lowered from the reference position of FIG. 10A as shown in FIG. 10B,
A second arm 306 rotates about horizontal axis A ₅ and forces pin 308 upwardly. This causes the first arm 302 in contact with the pin 308 to rise. As a result, the connecting rod 211 fixed to the first arm 302 is lifted up against the elastic force of the spring 213. As the connecting rod 211 rises, the pin 210 lifts the pin 209, thereby causing the lever 205 to rotate counterclockwise about the shaft 204. At the same time, the pin 206 fixed to the lever 205 also pivots counterclockwise, causing the forked piece 208 engaged therewith to pivot clockwise. As a result, the scanning mirror 107 to which the bifurcated piece 208 is attached rotates clockwise about the horizontal rotation axis _A2 . As a result, the laser beam l is swung downward, that is, in the direction of movement of the operating lever 405.

Conversely, as shown in FIG. 10C, the operating handle 40
5 upwards, the second lever 306 rotates about the horizontal axis A ₅ and the pin 308 descends,
As a result, due to the elasticity of the spring 213, the first arm 3
02 and the connecting rod 211 are lowered. When the connecting rod 211 descends in this way, the pin 210 descends,
This causes the lever 205 to rotate clockwise about the axis 204, and at the same time, the pin 206 rotates the scanning mirror 107 counterclockwise about the rotation axis _A2 via the forked piece 208.
Therefore, the laser beam l is swung upward, that is, in the direction of movement of the operating handle 405.

In addition, in both cases of FIG. 10 B and C,
The conical concave portion 503 connects the piston 502 to the spring 505.
The spring 213 is pushed against the elastic force of the spring 213.
are in a compressed or expanded state, so when you release your hand from the operating handle 405, these springs 5
Due to the restoring force of 05,213, each component becomes the 10th
It is returned to the reference position shown in Figure A.

[Brief explanation of drawings]

FIG. 1 is a perspective view showing an example of the optical arrangement of the illumination device in the laser coagulator device, FIG. 2 is a perspective view showing the transmission mechanism of the operating handle of the manipulator device according to the present invention, and FIG. 3 is the present invention. A perspective view showing the transmission mechanism on the scanning mirror side of the manipulator device according to the invention, FIG. 4 is a plan view showing the mutual relationship between the first arm, the second arm, and the horizontal shaft member, and FIG. 5 is the configuration of the operating handle. , FIG. 6 is a diagram showing another embodiment of the mounting portion of the operating handle, FIG. 7 is a front view showing an example of the arm restriction mechanism, FIG. 8 is a side view thereof, and FIGS. 9A and B. ,C
and FIGS. 10A, B, and C are schematic diagrams showing the operation of the manipulator device. 107... Scanning mirror, 201... Horizontal rotating shaft, 202... Vertical rotating shaft, 211... Connecting rod, 302... First arm, 306... Second arm, 309... Horizontal shaft member, 311... ... Vertical shaft member, 315 ... Spring, 405 ... Operation handle, 501 ... Headed screw, 503 ... Conical concave portion, 502 ... Piston, 505 ... Spring, 40
6... Base, 401... Mounting part, 403... Operating rod.

Claims (1)

[Claims] 1. An optical member 107 for reflecting therapeutic light having a horizontal rotation axis A ₂ and a vertical rotation axis A ₃ ; and an axis A ₄ substantially parallel to the vertical rotation axis A ₃ ;
A connecting member 211 configured to be rotatable around A ₄ and movable in its axial direction; and axial movement of the connecting member 211 to rotational movement of the optical member 107 around the horizontal rotation axis A ₂ ;
Transmission means 203-206, 208 for converting and transmitting the rotation of the connecting member 211 into rotational movement of the optical member 107 about the vertical rotation axis _A3 , respectively;
-210, a first arm 302 having one end fixed to the lower end of the connecting member 211 and extending horizontally, and having a side surface portion 303 near the other end; and a first arm 302 extending horizontally and extending horizontally. 3
Tip part 3 capable of point contact with the side surface part 303 of 02
17, which is rotatably supported with the horizontal shaft member 309 as a rotation axis, and one end portions 307 and 308 of the horizontal shaft member 309
The second arm 306 is configured to be in contact with the lower surface of the arm 302 at all times, and the vertical rotation axis A ₃ of the optical member 107 is off-axis, and the horizontal axis of the horizontal shaft member 309
a vertical shaft member 311 for rotatably supporting the horizontal shaft member 309 and the second arm 306 together around a vertical axis _{A6 perpendicular to A5 ;} and the side surface 303 of the first arm 302. a spring member 315 stretched between the first arm 302 and the second arm 306 to keep the tip end 317 of the horizontal shaft member 309 in constant contact;
and the horizontal shaft member 309 and the vertical shaft member 3
The second arm 306 is provided so that its apex is located on an axis A ₇ that is orthogonal to each of the 11 axes A ₅ and A ₆ and intersects with the intersection of the 11 axes A ₅ and A ₆ . a conical concave member 503, which always presses the conical concave member 503 along a direction perpendicular to the vertical axis _A6 of the vertical shaft member 311; and pressure members 502 and 505 attached to the second arm 306. an operating handle 405, whereby when the operating handle 405 is operated to rotate the horizontal shaft member 309 together with it about the axis _A6 of the vertical shaft member 311 via the second arm 306, The tip portion 317 and the spring member 3
15 to rotate the first arm 302 together with the connecting member 211 around the axis _A4 , and rotate the optical member 107 around the vertical rotation axis _A3 through the transmission means 203-206, 208-210.
is configured to rotate the second arm 306 by operating the operating handle 405 to align the second arm 306 with the horizontal axis of the horizontal shaft member 309.
When rotated around _A5 , the second arm 306
moves the first arm 302 together with the connecting member 211 along the axis _A4 direction through the one end portions 307 and 308 of the transmitting means 20.
3-206, 208-210 to rotate the optical member 107 around the horizontal rotation axis _A2 , and when the operation handle 405 is released, the cone of the elastic member 502, 505 Concave member 5
03 automatically returns the optical member 107 to its initial position via the second arm 306, the horizontal shaft member 309, the connecting member 211, and the transmission means 203-206, 208-210. A manipulator device for a phototherapy device, which is configured as follows.