JP2001112777A - Microscope for surgery - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a microscope for surger easily adjusting a diagonal balance of a mirror body in a short time and always giving optimum operability. SOLUTION: The microscope for surger is provided with a mirror body 26 having an observation optical system, a second parallelogrammatic link 15 serving as a mirror body supporting mechanism supporting the mirror body 26 tiltably around two inclination axes and rotationally around a single rotation axis, a mirror body tilting mechanism tilting the mirror body 26 around two orthogonal axes crossing the rotation axis at right angles, a first parallelogrammatic link 4 serving as a balance movement mechanism canceling the weight of the mirror body 26 and the mirror body supporting mechanism by means of a balance weight 31 and supporting the mirror body and its supporting mechanism movably in the vertical and horizontal directions. In this microscope a four-directional inputting joystick switch 34 serving as a balance detection part is arranged in a grip 27 serving as a position changing operation part for the mirror body 26, and for controlling and driving the mirror body tilting mechanism on the basis of the detection output from the balance detection part, a computing control unit is arranged.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

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

[0002]

2. Description of the Related Art In recent years, with the development of surgical techniques and surgical instruments, microsurgery, so-called microsurgery, has been frequently performed. Especially in neurosurgery,
Since it is required to frequently change the observation position and the observation direction, there is a demand for a gantry that can always and reliably move and fix the mirror body to a desired position and angle during operation with a light force.

[0003] For example, in Japanese Patent Publication No. 53-23168, the tilting mechanism and the equilibrium movement, in which the weight and the rotational moment of the mirror body are offset by a balance weight, and the mirror body can be tilted, moved up and down, and horizontally moved with a light force. A so-called counterbalance type gantry having a mechanism is disclosed. With this counter-balance type base, if the position of the heavy object connected to the mirror body, specifically, the position of the assistant's side endoscope is changed, the position of the center of gravity of the mirror body will shift, Directional balance adjustment is required.

[0004] Also, when attaching or detaching an accessory device that can be attached to the mirror unit, specifically, a TV camera or a 35 mm camera, the weight of the mirror unit changes,
It is necessary to change the weight or the position of the balance weight and adjust the balance in the vertical and horizontal directions. JP 9
In JP-A-182759, the direction of imbalance that occurs when an attached device such as a TV camera is removed from a mirror body is detected by a detector, and the weight is moved in a direction to eliminate the unbalance, until the unbalance is detected. A balance adjustment mechanism that moves a weight and automatically adjusts the balance in the vertical direction is disclosed.

In Japanese Patent Application Laid-Open No. 7-16239,
The unbalance in the vertical, horizontal, and tilt directions due to the change in weight and the displacement of the center of gravity caused by the change in the weight of the mirror body is detected by the detection sensor, and the balance weight or the mirror body is moved until the unbalance is no longer detected. A balance adjusting device capable of automatically adjusting the balance in the vertical, horizontal, and tilt directions is disclosed.

Further, in Japanese Patent Application No. 10-047783, which has already been filed by the present applicant, the position of the center of gravity of the mirror is shifted by manually moving the center of gravity of the mirror around two axes perpendicular to each other. The position of the center of gravity can be adjusted by moving on an arc.

[0007]

However, the above-mentioned Japanese Patent Application Laid-Open No. 7-16239 discloses a method for adjusting the balance in the tilt direction with respect to the displacement of the center of gravity of the mirror body by changing the position of the assistant's side endoscope. Regardless of the posture of the surgical microscope during the operation, the balance must be adjusted after setting the rotation axis around the mirror vertically with a level, etc., which requires time for adjustment and the operation must be suspended for a long time. Must.

Japanese Patent Application Laid-Open No. 9-182759 discloses that
Although the vertical balance of the mirror body can be adjusted with respect to the weight change of the entire mirror body, the balance of the mirror body in the tilt direction cannot be adjusted.

Further, Japanese Patent Application No. Hei 10-047783 discloses that
By turning knobs provided on two axes orthogonal to each other provided near the mirror body and moving the center of gravity of the mirror body on an arc around the two axes, the rotation axis around the mirror body is vertically moved. You can adjust the balance in the tilt direction without setting to, but to check whether the balance has been adjusted, check the balance state by enabling the mirror to tilt, and if the balance is still broken, And turn the knob.
Operations such as checking the balance state again are repeated, and it takes time to adjust the balance. That is, there is a problem that the time for interrupting the operation is long.

The present invention has been made in view of the above circumstances, and an object of the present invention is to make it possible to adjust the tilt direction of a surgical microscope in a short time even during an operation, so that an optimum balance is always achieved. An object of the present invention is to provide a surgical microscope capable of realizing a state, shortening an operation time and reducing operator fatigue.

Further, the present invention provides a surgical microscope capable of realizing a movement of the center of gravity of the mirror unit and a balance adjustment against a change in weight with a simple configuration without providing a balance detection unit. Is to provide.

[0012]

In order to achieve the above-mentioned object, the present invention provides a mirror having an observation optical system, and a mirror which can tilt the mirror about two tilt axes and has one lens. A mirror body support mechanism that supports the body so as to be rotatable around the rotation axis,
A mirror tilting mechanism that tilts the mirror about two axes that are at right angles to the pivot axis, and that are at right angles to each other, and offset the weight of the mirror and the mirror support by a balanced weight; In a surgical microscope including a balance moving mechanism that supports a movable body in a horizontal direction, a balance detection unit is provided in a position change operation unit of the body, and drive control of the body tilt mechanism is performed based on a detection output. An arithmetic control unit is provided.

[0013] Claim 2 is a mirror having an observation optical system,
A mirror support mechanism for supporting the mirror so as to be tiltable about two tilt axes and to be rotatable about one rotation axis; and the mirror is formed about two axes perpendicular to the rotation axis and perpendicular to each other. A mirror tilt mechanism for tilting the body, and the weight of the mirror and the mirror support mechanism are offset by a balance weight,
In a surgical microscope equipped with an equilibrium moving mechanism for supporting up and down and horizontal movement, a mirror weight center position determining means and a driving amount for storing a driving amount of the mirror tilting mechanism corresponding to the detection result Storage means.

According to a third aspect of the present invention, the mirror center-of-gravity position determining means of the second aspect is a center-of-gravity shift detecting means for detecting a shift of the center of gravity of the mirror body.

According to the first aspect, the unbalance direction is detected by the balance detection unit provided on the grip as the position change operation unit, and the lens body tilting mechanism is driven by the arithmetic control unit according to the unbalance direction. Control to bring the center of gravity of the mirror on the pivot axis.

According to the second and third aspects, the movement of the center of gravity of the mirror body is determined, and the mirror tilt position corresponding to the determination result is output from the mirror tilt position storage means, and the mirror body is shifted according to the position output. By controlling the drive of the tilting mechanism, the center of gravity of the mirror body is made to coincide with the turning axis.

[0017]

Embodiments of the present invention will be described below with reference to the drawings.

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

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

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

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

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

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

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

The link 17 constituting the second parallelogram link 15 has an electromagnetic brake which can lock the rotation of the link 18 with respect to the link 17 and a Y brake in FIG.
There is provided a housing 22 having a built-in electric visual field moving mechanism described later in the + to Y- directions.

In this embodiment, the second parallelogram link 1
5 constitutes a lens body support mechanism, and the first parallelogram link 4 constitutes an equilibrium movement mechanism.

Below the mirror connecting arm 25, the mirror 2 is mounted.
6 are supported. In addition, point C in FIG. 1 indicates a member that rotates around the rotation axis A8, that is, a combined center of gravity of the lens body 26 and the lens body connecting arm 25. The point C can be adjusted by the later-described lens-body connection arm 25 so that the point C always coincides with the turning axis A8, that is, is in a balanced state around the turning axis A8.

A grip 27 held by an operator is provided on the mirror body 26.
(Position change operation unit) is provided, and the grip 27 is provided at each joint of the mirror support mechanism constituted by the second parallelogram link 15 and the equilibrium movement mechanism constituted by the first parallelogram link 4. Each electromagnetic brake 11, which is arranged,
Switch 2 for releasing 12, 13, 29, 43, 43x
8 and a four-way input joystick switch 34 (balance detector) for driving the electric visual field moving mechanism. A main-side observation barrel 32 is connected to the mirror body 26, and an intermediate barrel 33 is connected to the mirror body 26 so as to be rotatable around a rotation axis A20. The tube 30 is connected.

Next, the details of the connection between the lens body 26 and the intermediate lens barrel 33 will be described with reference to FIG.

A spur gear 35 is fixed to the intermediate lens barrel 33.
It rotates around the rotation axis A20 in conjunction with the intermediate lens barrel 33. The gear 36 meshes with the gear 35 and has a rotation axis A
It is connected to an encoder 37 (centroid movement detecting means) so as to rotate around 21. The encoder 37 is disposed in the lens body 26 and detects the position of the intermediate lens barrel 33.

Next, referring to FIG.
The configuration of the slider crank mechanism 59 will be described. In this embodiment, the lens connecting arm 25 forms the slider crank mechanism 59.

A first arm 60 is provided on the link 21 constituting the second parallelogram link 15 so as to be rotatable about a pivot axis A8. This first arm 60
Is provided with an L-shaped second arm 61 rotatably connected around an axis A10 orthogonal to the turning axis A8.
The second arm 61 is provided with a third arm 62 rotatably connected around an axis A11 orthogonal to the pivot axis A8 and the axis A10, and the mirror body 26 is supported by the third arm 62. . Point D in the figure is the rotation axis A8, axis A10,
The intersection of the axis A11 is shown.

The second arm 61 has a first groove 61a extending in a direction perpendicular to the axis A10.
A first slide block 63 that can move only in the longitudinal direction is fitted into a. This first slide block 6
3 is screwed to the second arm 61 so as to be rotatable around the axis A12 and is restricted from moving in the axial direction of the axis A12.

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

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

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

A drive motor 75 having an encoder 76 is directly connected to the screw 64 for driving the first slide block 63, and the drive motor 75 is fixed to the second arm 61. The second slide block 63
A drive motor 77 having an encoder 78 is directly connected to a screw 64 a for driving the drive motor a, and the drive motor 77 is fixed to the second arm 61.

Next, the configuration of the electric circuit will be described with reference to FIG.

The joystick switch 34 is composed of switches 34a, 34b, 34c and 34d, and the switches 34a to 34d and the switch 28 are electrically connected to a control circuit 70 (arithmetic control unit).

The encoder 37 moves the mirror 26 with respect to the position of the intermediate barrel 33 detected by the encoder 37.
Mirror tilt position storage circuit 71 that stores the tilt position of the lens
(Tilt position storage means), and the lens body tilt position storage circuit 71 is electrically connected to the control circuit 70.

An arm drive circuit 72 for fixing and releasing an electromagnetic brake provided on the lens body support mechanism and the balance moving mechanism.
Are the electromagnetic brakes 11, 12, 13, 29, 43,
43x and an electric field-of-view moving drive circuit 73 for driving the electric field-of-view moving mechanism include a Y-axis electromagnetic brake 43, a Y-axis electrode clutch 47, a Y-axis motor 49, an encoder 51 for detecting rotation of the Y-axis motor 49, and an X-axis electromagnetic Brake 43x,
X-axis electromagnetic clutch 47x, X-axis motor 49x and X
A motor 51x for detecting rotation of the shaft motor 49x,
Each is electrically connected.

The lens body tilting mechanism drive circuit 74 includes a drive motor 75 for moving the first slide block 63 along the screw 64, an encoder 76 for detecting the rotation of the drive motor 75, and a second slide block 63a for the screw. A drive motor 77 that can move along the drive motor 64a, and an encoder 78 that detects the rotation of the drive motor 77
And are electrically connected. The arm drive circuit 7
2. The electric visual field movement driving circuit 73 and the lens body tilting mechanism driving circuit 74 are electrically connected to the control circuit 70, respectively.

The control circuit 70 controls the arm driving circuit 72 for an input from the switch 28, the electric field moving circuit 73 for an input from the joystick switch 34, and stores the mirror body tilt position. Although a circuit configuration for operating the lens body tilting mechanism drive circuit 74 in response to an input from the circuit 71, the switch 28 and the joystick switch 34 are simultaneously operated by a logic circuit (not shown) incorporated in the control circuit 70. For input,
The arm driving circuit 72 and the lens body tilting mechanism driving circuit 74 are operated.

Next, the adjustment of the center of gravity C of the lens barrel 26 when the intermediate lens barrel 33 is rotated about the A20 axis in the surgical microscope apparatus according to the first embodiment will be described.

The lens barrel 2 including the intermediate lens barrel 33 and the assistant lens barrel 30 when the intermediate lens barrel 33 is rotated around the A20 axis.
The movement of the center of gravity of No. 6 will be described with reference to FIG. FIG.
Is a top view of the mirror body 26. FIG.

The center of gravity of the intermediate lens barrel 33 is F, the distance from the rotation axis A20 to the center of gravity F is L ₁ , the center of gravity of the lens barrel 26 excluding the weight of the intermediate lens barrel 33 is G, and the center of gravity G is equal to the rotation axis A20. the distance between the point and _{L 2.} At this time, the center of gravity C of the lens body 26 including the intermediate lens barrel 33 is represented by coordinates (x, y) with the position of the center of gravity G as the origin, (−k · L ₂ , −k).
· _{L 1)} to become. k is a coefficient.

Next, the intermediate lens barrel 33 is rotated by the angle θ, and when the center of gravity moves to F ′, the lens barrel 2 including the intermediate lens barrel 33 is rotated.
The center of gravity of 6 moves to C '. When the position of the center of gravity C ′ is represented by coordinates, (−k · (L ₂ + L ₁ sin θ), −k · L
₁ cos θ).

At this time, the center of gravity C 'is displaced from the axis of rotation A8, so that the balance around the axes A10 and A11, that is, the balance in the tilt direction of the mirror body 26 is lost. Since the pivot axis A8 is located at the position of the center of gravity C in FIG.
The balance can be adjusted by inclining the center of gravity C ′ with the position of the center of gravity C by inclining around the axis 10 and the axis A11. The amount of movement from the center of gravity C ′ to C is calculated by (k
· _{L 1} sinθ, becomes _{-k · L 1 (1-cosθ} )).

That is, the center of gravity C 'is about the axis A10.
Is -k · L ₁ cos θ, and the center of gravity C ′ is around the axis A11.
By moving the first slide block 63 and the second slide block 63a so as to move −k · (L ₂ + L ₁ sin θ), the center of gravity C ′ can be made to coincide with the turning axis A8. The mirror body tilt storage circuit 71 stores the positions of the first slide block 63 and the second slide block 63a at this time for each rotation position θ. That is, the rotation position θ when the intermediate lens barrel 33 is rotated is detected by the encoder 37, and the lens body tilt position storage circuit 71 uses the detection signal to cause the first slide block 6 to rotate.
3. Output the position signal of the second slide block 63a,
The lens body tilting mechanism drive circuit is moved to a predetermined position by drive motors 75 and 77 and encoders 76 and 78, and tilts the lens body 26 so that the center of gravity C of the lens body 26
Coincides with the turning axis A8.

Next, a case will be described in which the position of the center of gravity C is shifted due to the drape worn immediately before the operation or the change in the attitude of the main observation lens barrel 32 or the assistant observation lens barrel 30.

When the center of gravity C of the mirror body 26 moves and the center of gravity C is not on the rotation axis A8, the operator turns on the switch 28 while holding the joystick switch 34 of the grip 27 at the neutral position. An input signal is transmitted to the drive circuit 70, and each of the electromagnetic brakes 11 to
13, 29, 43, and 43x are released. At this time, since the center of gravity of the mirror body 26 is located at the position C, the mirror body 26 is inclined in the direction of arrow H in FIG.

At this time, the joystick switch 34 held at the neutral position is pulled in the arrow H 'direction opposite to the H direction, and the switch 34d is turned on. At this time, the control circuit 70 switches the switch 28 and the switch 34d
And outputs an operation signal to the lens-body tilting mechanism drive circuit 74. The lens body tilting mechanism drive circuit 74 drives the drive motor 75 based on the operation signal, moves the first slide block 63 in the direction of arrow H "to tilt the lens body 26, and matches the center of gravity C 'with the pivot axis A8. When the mirror 26 stops moving in the direction E, the switch 34d is turned off, and the tilt of the mirror 26 stops, at which time the center of gravity C 'coincides with C on the pivot axis A8. As for the adjustment in other directions, the balance adjustment in the tilt direction can be performed by the same method.Since the unbalance can be detected simultaneously in the X and Y directions, the adjustment of the center of gravity position is also performed simultaneously on two axes.

According to the first embodiment, normally, the switch 28 for fixing and releasing the electromagnetic brake provided on the grip 27 (position change operation unit) and the joystick switch 34 (balance for driving the electric visual field moving device) are provided. The balance of the tilt direction of the mirror body 26 can be balanced only by operating the detection unit at the same time, so that the work of checking the balance state is not required, the balance adjustment can be performed in a short time during the operation, and the optimal operability is always achieved. And shorten the operation time. The switch 2 used by the surgeon during the operation
Since the balance adjustment mode can be set by the switch operation of the joystick switch 8 and the joystick switch 34, the balance adjustment by the operator alone is possible.

The rotation of the intermediate lens barrel 33 is controlled by the encoder 3.
7 (mirror weight center movement detecting means), and based on the detection output, the lens body tilt position storage circuit 71 (tilt position storage means)
By outputting the mirror tilt position from the camera and controlling the drive, the mirror 2
Since the center of gravity C of 6 can be made to coincide with the rotation axis A8, balance can be quickly and reliably adjusted by one operation, and the time required for adjustment can be reduced.

FIGS. 6 to 10 show a second embodiment, in which parts having the same functions as in the first embodiment are denoted by the same reference numerals, and redundant description will be omitted.

The second embodiment differs from the first embodiment in the configuration of the grip 27, the balance weight 31, and the electric circuit. With reference to FIG. 6, the configuration of the grip 27, the balance weight 31, and the balance weight 98 in the second embodiment will be described.

The grip 27 (position change operation unit) is the mirror 2
6, and each of the electromagnetic brakes 1
A switch 28 for releasing 1, 12, 13, 29, 43, 43x is provided. A drive motor 94 having an encoder 95 is disposed on the counterweight 31 and includes a lead screw 96.
Has one end connected and supported so as to rotate in conjunction with the drive motor 94, and the other end connected to the axis A 2
It is supported so as to be able to rotate two turns. Balance weight 98
The rotation of the feed screw 96 is screwed, and the rotation about the axis A22 is regulated by a linear guide (not shown).
It can move in two directions.

Next, the configuration of the grip 27 will be described with reference to FIGS. 7 is a sectional view of the grip 27, and FIG. 8 is a sectional view taken along the line BB in FIG.

The grip 27 has grip portions 81 and 82, and the grip portion 81 is inserted into the grip portion 82. Piezoelectric element sheets 87 and 88 (balance detectors) are provided at the upper and lower ends of the grip 82. As shown in FIG. 7, the piezoelectric element sheets 83, 8
4, 85, and 86 (balance detectors) are provided.

Next, the configuration of the electric circuit will be described with reference to FIG.

The piezoelectric element sheets 83 to 88, the switch 28 and the mode switch 80 are electrically connected to a control circuit 89 (arithmetic control unit). A select switch 91 (weight change determining means) for selecting an accessory attached to the mirror unit is electrically connected to a memory 92 (balance weight moving amount storage means) storing a driving amount of the balance weight corresponding to the accessory. The memory means 92 is electrically connected to the control circuit 89. The drive motor 94
An encoder 95 for detecting the rotation of the drive motor 94 is connected to a weight adjustment drive circuit 93, and the weight adjustment drive circuit 93 is connected to the control circuit 89.

The control circuit 89 controls the arm driving circuit 72 for the input from the switch 28, the lens body tilting mechanism driving circuit 74 for the input from the center-of-gravity position storage circuit 71, and the memory means 92. The weight adjustment drive circuit 93 for the input of
Operate regardless of FF. Mode switch 80 is ON
At this time, the control circuit 89 includes the piezoelectric element sheets 83 to 86
The tilting mechanism driving circuit 7
4 operates the weight adjustment drive circuit 93 in response to an input from one of the piezoelectric element sheets 87 and 88.

Next, adjustment of the position of the center of gravity and adjustment of the balance in the vertical direction in the surgical microscope apparatus according to the second embodiment will be described.

When the operator turns on the mode switch 80 and turns on the switch 28 disposed on the grip 27 and holds the grip 27 so as not to move, the control circuit 89 Lens tilting mechanism drive circuit 7
4. The weight adjustment drive circuit 93 and the arm drive circuit 72 operate. When the position of the center of gravity is shifted to the position of C ′ in FIG. 3, the mirror body 26 tends to tilt in the direction of the arrow E.
At this time, the piezoelectric element sheet 83 in FIG. 7 is pressed by the operator's hand held and turned on.

When the piezoelectric element sheet 83 is turned on, the drive motor 75 is driven to move the first slide block 63 in the direction of the arrow H ", so that the mirror body 26 is inclined and the center of gravity C 'coincides with the turning axis A8. Move to the piezoelectric element sheet 8
By holding until the 3 is turned off, the center of gravity C 'coincides with C, and the balance is obtained. The balance adjustment in other inclination directions is performed in the same manner.

When the mirror body 26 and the balance weight 98 are not balanced, each electromagnetic brake 11, 1
Since 2, 13, 29, 43, and 43x are released, the mirror body 26 attempts to move up and down in an unbalanced direction. When the mirror body 26 is lighter and the mirror body 26 is about to rise, the piezoelectric element sheet 88 in FIG. 7 is turned on.
When the piezoelectric element sheet 88 is turned on, the drive motor 94 is driven, and the balance weight 98 is moved in the direction of arrow I in FIG. By holding the grip 27 until the piezoelectric element sheet 88 is turned off, the mirror body 26 can be balanced in the vertical direction. When the mirror body 26 moves downward, the balance can be adjusted in the same manner.

Next, when an accessory having a known weight, such as a TV camera, is attached to the mirror 26,
The balance adjustment will be described.

First, the balance between the mirror body 26 and the balance weights 31 and 98 in this embodiment will be described with reference to FIG. The weight of the lens body 26 W, the weight _{W 2,} the weight _{W 3} of the balance weight 98 of the equilibrium weight 31. Further, the distance from the axis of rotation A2 to the center of gravity of the mirror body 26 X, and the distance from the rotation axis A5 to the center of gravity of the balancing weight 31 and the balance weight 98, and X _1, the rotation moment about the rotation axis A2 or A5 is To balance, the following formula must be satisfied.

W × X = (W ₂ + W ₃ ) × X ₁ Next, the mirror 26 with the TV camera 99 and the balance weight 3
The balance between 1 and the balance weight 98 will be described.

Assuming that the weight of the TV camera is W ₄ , the position after movement of the balance weight 98 is 98 ′, and the distance between the position 98 before movement and the position 98 ′ of movement is X ₂ , the rotation axis A 2 or A 5 In order for the rotational moments around to balance, the following formula must be satisfied.

(W + W ₄ ) × X = W ₂ × X ₁ + W
₃ × (X ₁ + X ₂ ) When the above relational expression and the relational expression without a TV camera are arranged, the following expression is obtained.

W ₄ × X = + W ₃ × X _{2 From the} above equation, if the weight W ₄ of the TV camera 99 is known in advance, the moving amount X ₂ of the balance weight 98 is determined. The amount of movement X ₂ is stored in the memory unit 92. In the case of other TV cameras having different weights or other attached devices, the moving amount corresponding to the other TV cameras is stored in the memory means 92.

Next, a method of adjusting the balance will be described.

Regardless of whether the mode switch 80 is ON or OFF, for example, when a TV camera is mounted, the memory means 92 is operated by turning on a select switch 91 corresponding to the TV camera, and the balance weight corresponding to the TV camera is turned on. An output signal of a movement amount of 98 is output. Based on the output signal, the weight adjustment drive circuit 93 controls the balance weight 98
Is moved by a predetermined amount, the balance in the vertical direction can be adjusted.

When the TV camera is detached, the TV
By turning off the select switch 91 corresponding to the camera, the memory means 92 is operated, and the balance in the vertical direction can be adjusted by moving the balance weight 98 by a predetermined amount in the direction opposite to that when the memory means 92 is turned on.

According to the second embodiment, only the operation of the switch 28 while holding the grip 27 (position change operation unit) with the mode switch 80 turned ON is performed.
Since the balance adjustment in the tilt direction of the mirror body and the balance adjustment in the vertical direction can be easily performed, there is no need for the operator to perform a troublesome operation in performing the balance adjustment, which leads to a reduction in fatigue of the operator. In addition, since it is not necessary to check the balance, the balance can be adjusted in a short time, which leads to a reduction in the operation time.

The amount of movement of the weight when various accessories are attached is stored in the memory means 92 (balanced weight movement amount storage means), and the type of attached equipment is selected by the select switch 91 (weight change discrimination means). ), The balance can be quickly and reliably adjusted by one switch operation, and the time required for the balance adjustment can be reduced.

In this embodiment, the balance adjustment when an attached device such as a TV camera attached to the lens body is attached and detached is described. However, the objective lens is exchanged, and the type of the assistant lens barrel is changed. With the same configuration, the balance can be quickly and reliably adjusted.

According to the above embodiment, the following configuration is obtained.

(Supplementary Note 1) A mirror body having an observation optical system, a mirror body support mechanism for supporting the mirror body so as to be tiltable around two tilt axes and to be rotatable around one rotation axis, A mirror tilting mechanism that tilts the mirror about two axes that form a right angle and that are at right angles to each other, and offset the weights of the mirror and the mirror supporting mechanism by a balance weight, and move vertically and horizontally. A surgical operation microscope provided with a balance moving mechanism that supports the mirror body, a balance detection section is provided in a position change operation section of the lens body, and a calculation control section that drives and controls the lens body tilting mechanism based on the detection output. An operating microscope characterized by comprising:

(Supplementary Note 2) A mirror body having an observation optical system, a mirror body support mechanism that supports the mirror body so as to be tiltable around two tilt axes and is rotatable around one rotation axis, A mirror tilting mechanism that tilts the mirror about two axes that form a right angle and that are at right angles to each other, and offset the weights of the mirror and the mirror supporting mechanism by a balance weight, and move vertically and horizontally. In a surgical microscope having an equilibrium moving mechanism that supports the mirror, the mirror weight center position determining means,
A surgical operation microscope, comprising: a driving amount storage means for storing a driving amount of the lens body tilting mechanism corresponding to the detection result.

(Supplementary Note 3) The mirror center-of-gravity position determining means may include:
3. The operating microscope according to claim 2, wherein the microscope is a center-of-gravity shift detecting means for detecting a center-of-gravity shift of the mirror body.

(Supplementary Note 4) The mirror center-of-gravity position discriminating means includes:
4. The operating microscope according to claim 2, wherein the weight change determining means determines a weight change of the mirror body.

(Supplementary Note 5) The driving amount storage unit is a tilt position storage unit that stores a tilt position of the mirror body.
Or the surgical microscope according to 3 above.

(Supplementary note 6) The surgical microscope according to Supplementary note 2 or 4, wherein the drive amount storage means is a balance weight movement amount storage means that stores a balance weight drive amount.

(Supplementary Note 7) The surgical microscope according to Supplementary Note 1, wherein the balance detection unit is an operation unit having input means in four directions.

(Supplementary note 8) The surgical microscope according to Supplementary note 1, wherein the balance detection unit is a direction detecting unit that detects a moving direction of the mirror body.

(Supplementary note 9) The surgical microscope according to supplementary note 1 or 7, wherein the position change operation unit includes a center-of-gravity position adjustment mode setting means.

(Supplementary note 10) The surgical microscope according to supplementary note 8, wherein the direction detecting means is a piezoelectric element sheet.

(Supplementary Note 11) The surgical microscope according to Supplementary Note 3, wherein the center-of-gravity shift detecting means is a position detecting means for detecting a change position of an assistant lens barrel provided in the lens barrel.

(Supplementary Note 12) The surgical microscope according to Supplementary Note 4, wherein the weight change determination means is a device selection input means for selecting and inputting an attached device attached to the mirror body.

[0092]

As described above, according to the first aspect of the present invention, since the balance detecting means is provided in the position changing operation section, the balance adjustment in the tilt direction of the mirror can be easily performed in a short time. Optimum operability can always be obtained, which leads to a reduction in operation interruption time and, consequently, a reduction in operation time.

According to the second aspect of the present invention, there is provided the lens body tilt position storing means for storing the lens body tilt position corresponding to the determination result from the center-of-gravity position determining means. The adjustment can be performed quickly and reliably by one operation, and the adjustment time can be reduced.

[Brief description of the drawings]

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

FIG. 2 is a side view showing a connection portion between the mirror body and the intermediate lens barrel of the embodiment.

FIG. 3 is a perspective view of a lens barrel connecting arm and a slider crank mechanism of the embodiment.

FIG. 4 is an exemplary block diagram of an electric circuit according to the embodiment;

FIG. 5 is a top view of the mirror body of the embodiment.

FIG. 6 is a perspective view of a surgical microscope according to a second embodiment of the present invention.

FIG. 7 is a partially cutaway side view of the grip according to the embodiment.

8 is a sectional view of the same embodiment, taken along line BB of FIG. 7;

FIG. 9 is a block diagram of an electric circuit of the embodiment.

FIG. 10 is an operation explanatory view of the embodiment.

[Explanation of symbols]

4 First parallelogram link (balance movement mechanism) 15 Second parallelogram link (mirror support mechanism) 25 Mirror connection arm 26 Mirror 27 Grip (position change operation unit) 31 Balance weight 34 4-way input joystick switch (balance detector) 37 encoder (centroid shift detector) 70 control circuit (arithmetic controller) 71 lens-body tilt position storage circuit (tilt position storage means)

Claims (3)

[Claims] 1. A mirror body having an observation optical system, a mirror body support mechanism for supporting the mirror body so as to be tiltable around two tilt axes and to be rotatable around one rotation axis, and None, and a mirror tilt mechanism that tilts the mirror about two axes that are at right angles to each other, and the weights of the mirror and the mirror support mechanism are offset by a balance weight, and can be moved vertically and horizontally. In a surgical microscope including a supporting balance moving mechanism, a balance detecting unit is provided in a position changing operation unit of the mirror body,
An operation microscope, further comprising an arithmetic control unit that controls the driving of the lens body tilting mechanism based on the detection output. 2. A mirror body having an observation optical system, a mirror body support mechanism that supports the mirror body so as to be tiltable around two tilt axes and is rotatable around one rotation axis, None, and a mirror tilting mechanism that tilts the mirror about two axes that are at right angles to each other, and the weights of the mirror and the mirror support are offset by a balance weight so that the mirror can move vertically and horizontally. An operating microscope including a supporting balance moving mechanism, wherein a mirror weight center position determining means and a driving amount storing means for storing a driving amount of the lens body tilting mechanism corresponding to the detection result are provided. A surgical microscope that is a feature. 3. The mirror center-of-gravity position determining means is a center-of-gravity movement detecting means for detecting a center-of-gravity movement of the mirror body.
An operating microscope as described.