JPH023612B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a manipulator for a phototherapy device such as a laser scalpel device or a laser coagulator device. The manipulator according to the present invention is most suitable as a manipulator for a laser coregulator 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 for observation at high magnification. When incorporating a therapeutic laser light guide system into this slit lamp device, the laser scanning mirror is placed on the illumination light exit mirror of the illumination optical system of the slit lamp,
Moreover, this scanning mirror is configured so that it can freely rotate around both the horizontal and vertical axes. A manipulator device is used to move this scanning 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. The disadvantage is that the structure for connecting is complicated,
Furthermore, there is a drawback that play or a delay in response occurs between the operation of the operating handle and the operation of the scanning mirror due to errors in assembly or engagement between the respective parts.
Furthermore, 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.

(Object of the Invention) A first object of the present invention is to provide a new and useful manipulator for a phototherapy device such as a laser coagulator device or a laser scalpel device.

A second object of the present invention is to overcome the above-mentioned drawbacks of the prior art, to have a relatively simple structure, and to be able to transmit the movement of the operating handle to the movement of the scanning mirror without play or delay in response. The purpose is to provide a manipulator.

A third object of the present invention is to provide a manipulator that can be built into a slit lamp device and that can satisfy the first and second objects described above.

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

(Effect of the invention) According to the present invention, the number of parts is relatively small;
A manipulator with a simple structure can be provided.

Further, since a spring member is stretched between the first arm and the second arm, and the tension of this spring always maintains the horizontal shaft member and the first arm in a point contact state,
It is possible to provide a highly accurate manipulator that can transmit the movement of an operating handle to a scanning mirror without play or reaction delay.

(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 around 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 system 105, a projection lens 106, and a scanning mirror 107 (for treatment). Example of optical member for light reflection)
It consists of Scanning mirror 107
is rotatable around a horizontal rotation axis _A2 and a vertical rotation axis _A3 . By rotating the scanning mirror 107, a laser beam is irradiated onto 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 pivot around an axis parallel to A ₂ 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 . One 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 one 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 distal end 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 503 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 .
Headed screw 501 (an example of a conical concave member)
is screwed on. The spherical head of a piston 502 that slides within a cylinder 504 formed on the wall of the housing is constantly pressed against the conical concave surface 503 of the headed screw 501 by a spring 505. These piston 502 and spring 505 are examples of elastic members.

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. 40
7,407 is formed. In addition, the stepped part 4
V-shaped notches 410 are formed at positions 07 and 407, respectively. and operation rod 403
The operating rod 403 is attached to the base 406 by passing it through the through hole 411 from one side, bringing the pin 404 into contact with the V-shaped notch 410, and screwing and fixing the mounting nut 402 onto the male thread 408 from the other side. It's getting old.

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 obstructed 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 the nut 402 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 Arm 2, so as not to cross the aim
A mechanism is provided to limit the rotation of 4.

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 that 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 surfaces 609 of these arms 608 are brought into contact with the side surfaces of the arm 4 to rotate the arm 4. Limit quantity. In addition, if you want to make a large turn of the arm 4 as needed, move the stopper lever 605 along the imaginary line 6 in FIG.
By flipping up as shown at 05', contact with the arm 4 is avoided.

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 rotated by the same amount in the same direction. Thereby pin 210
rotate counterclockwise. As a result, pin 21
The pin 209 that is engaged with the mirror holding member 203 is also pushed counterclockwise.
Since the mirror holding member 203 is fixed to the L-shaped lever 205 connected to the
It will rotate clockwise around _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 first arm 302 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. As a result, the first arm 302 is in contact with the pin 308.
will 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 up 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 about the clockwise axis 204, and at the same time, the pin 206 rotates the scanning mirror 107 via the fork 208 counterclockwise about the rotation axis _A2 .
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 limiting function, 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; Arm 3
Tip part 3 capable of point contact with the side surface part 303 of 02
17, which is rotatably supported as a rotating shaft on the horizontal shaft member 309, and one end portions 307, 308 of the horizontal shaft member 309 are rotatably supported as a rotating shaft.
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 A ₆ perpendicular to A ₅ ; 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 an operating handle 405 attached to the second arm 306, whereby the operating handle 405 is operated to integrally move the horizontal shaft member 309 with the vertical shaft member via the second arm 306. 311 about the axis _A6 , the tip 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.
and 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 and 208-210, the manipulator for a phototherapy device is configured to rotate the optical member 107 around the horizontal rotation axis _A2 .