JPH0319366Y2 - - Google Patents

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a laser scalpel device in which a multi-joint manipulator and a balancer are separated and an electromagnetic locking mechanism is provided in at least the main joints. .

[Conventional technology]

Conventionally, in laser scalpels, a multi-joint manipulator including a surgical arm and a hand piece connected to the surgical arm is fixedly or removably attached to a laser head containing a laser oscillation tube, and the emitted laser beam is directed to the surgical field via the manipulator. Those with a projection structure are common.

However, this type of manipulator requires high optical precision and equivalent mechanical strength, and it is also necessary to take vibration resistance into consideration, resulting in a relatively sturdy structure and, therefore, a relatively heavy weight. In order to compensate for this, an equivalent weight is provided on the opposite side of the manipulator for balance, but this results in an increase in the length of the device and excessive weight, which significantly reduces operability. Additionally, with use, the supporting parts and various joints of the laser head may become loose over time, and the optical axis of the laser beam passing through the manipulator may become misaligned, resulting in a decrease in laser output and insufficient scalpel function. It also became a point that I was unable to perform to my full potential.

In addition, the joints are required to rotate or move smoothly in the switch state, but
In the switch-off state, the surgical arm, etc., cannot be fixed and oscillates, which can be a hindrance to the surgeon, and may cause accidents due to incorrect operation or other reasons such as the laser turning on and emitting the beam. Since there is a risk of injury, etc., there is a strong demand for fixing the manipulator at a desired position when the laser scalpel is not in use.

[Problem that the invention attempts to solve]

The present invention was made in order to solve the two major problems of the conventional laser scalpel as described above at once.The balancer is separated from the manipulator, and the adverse effects of the balancer on the manipulator are eliminated or avoided, and the laser head of the manipulator is The aim is to reduce the looseness of screws, etc. in the supporting parts and each joint, ultimately preventing a drop in laser output due to misalignment of the support shaft, and significantly improving operability. The purpose of the present invention is to provide a laser scalpel device that can reliably fix the joints in a desired position instead of the free, so-called dangling state when not in use, and can ensure ease of operation and prevent danger. be.

[Means for solving problems]

In order to solve the above-mentioned problems, the present invention has the following features: (a) a balancer for balancing the multi-joint manipulator and the manipulator are separated, and (b) the balancer is connected to the laser head via a support tube and a base of the balancer. , c On the other hand, the multi-joint manipulator is attached to the laser head by fitting the manipulator holder connected to the manipulator into the attachment/detachment coupling, and d furthermore, the axis of the attachment part of the balancer fitted into the support cylinder protrudes from the laser head. A laser scalpel device is located on the optical axis of the rising part of the manipulator, and the tip of the rod part of the balancer lifts and holds the arm of the manipulator, and e. All or part of the joint parts of the multi-joint manipulator and the balancer. f. A permanent magnet is arranged around the outer periphery of the electromagnet, and a detachable shoe is provided across the S and N poles of the permanent magnet, and g. When the electromagnet is energized, the shoe detaches from the permanent magnet. By releasing the restraint between the housing of the joint or balancer and the shaft installed opposite to the housing, the joint or balancer can move freely; This invention relates to a laser scalpel device that is provided with an electromagnetic lock mechanism that locks the housing and the shaft and fixes the joint or balancer. The present invention will be described below based on embodiments with reference to the drawings.

〔Example〕

First, FIG. 2 is an explanatory side view of a conventional laser scalpel device. An articulated manipulator 22 protruding from the laser head 21 is attached by fitting a manipulator holder 24 into a detachable coupling 23 of the laser head. The laser head 21 has a built-in laser oscillation tube, and the oscillated laser beam is guided into the manipulator 22.
The light is finally emitted from the tip of the hand piece 25. The manipulator 22 has its rising portion 2
6 holds a balancer 28 having a weight 27 at one end, and the other end 29 of the balancer
The arm portion 30 of the manipulator is suspended.

For laser scalpel devices that have conventionally used multi-joint manipulators,
Attempts have been made to use light alloy for the arm portion to improve operability, but the optical lenses and other components used are quite heavy, and the arms are held at the tip 26a of the rising portion 26. When the weight of the balancer 28 is added, the overall weight becomes considerable, and over time, for example, between the detachable coupling part 23 of the laser head and the manipulator holder 24, or between the rising part 26 and the holder 24. Otherwise, the screws in each joint may become loose, which may eventually shift the optical axis of the laser beam that is oscillated by the laser head, passes through the manipulator, and is emitted from the tip of the handpiece, resulting in a decrease in laser output. It had some drawbacks.

In addition, each of these joints needs to operate smoothly in the switch-on state, but on the other hand, in the switch-off state, the surgical arm, etc. should not be fixed and be in a swinging state. There were also other safety concerns, and there were requests for countermeasures to be taken.

In contrast, in the device of the present invention, as shown in FIG. 1, a multi-joint manipulator 2 protruding from a laser head 1 is attached by fitting a manipulator holder 4 connected to the manipulator into a detachable coupling 3 of the head. has a built-in laser oscillation tube, and the oscillated laser beam is guided to the manipulator 2 and finally to the handpiece 5.
The device that is emitted from the tip of the device to the surgical field is substantially the same as that of the conventional device described above.

The important features of this laser scalpel device that differ from the conventional device of the present invention are (i) the manipulator 2 and the balancer 9 are separated, and (ii) an electromagnetic locking mechanism is provided in all or part of the joints. It consists in being. That is, the balancer 9 having the weight 8 is rotatable in the left-right direction inside the support cylinder 7 which is placed and fixed on the lower part 10b of the mounting part 10 or on the base 6 which stands up from the end of the laser head 1. It is inserted. Further, the upper part 10a of the mounting part 10 rotatably holds the end of the rod part 11 and supports a weight 8.
The end of the side rod portion 12 is fixed. Further, the tip 14 of the rod 11 lifts and holds the arm 13 of the manipulator. Further, in the device of the present invention, the axis of the mounting portion 10 of the balancer 9, that is, the lower portion 10
The axial center of b is located on the optical axis of the rising portion 15 of the manipulator 2. Next, in the present invention, an electromagnetic lock mechanism is applied to all or part of the joint. In FIG. 1, the mechanism can be applied to joints A and B in the manipulator and C in the balancer. Furthermore, it is also applied to the joint D. In this example,
What is applied to the particularly important joint D of the tip of the scalpel will be described. In FIG. 3, a shaft 32 is fixedly attached to a mirror block 31, and the laser light incident on the block from the direction of an arrow 33 is reversed by the mirror surface and transferred to the shaft 32, which is a hollow light guide path.
The light passes through the interior of the mirror block 34, is further reversed, and is then emitted to a handpiece (see reference numeral 5 in FIG. 1) in the direction of an arrow 35. Shaft 32
is fitted into the housing 36 via a slider 37.

A clasp 39 is fixedly attached to the shaft 32 to fix one end of a spring 38 as shown in FIG. 4. As shown in FIG. Further, the other end of the spring 38 is attached to a shoe 41 formed from an iron piece.
The shoe 41 has a permanent magnet 4 attached to the outer periphery of the electromagnet 42.
The permanent magnet 43 of the electromagnetic lock mechanism 45 is fixed to the housing 36, and is attracted to the permanent magnet so as to straddle the S pole of the permanent magnet 43 and the N pole of the permanent magnet 44. That is, in the state shown in FIG. 4, the operation switch of the laser scalpel is off, and the electromagnet 42
is not energized, so shoe 41 is attracted to permanent magnets 43 and 44.

If you turn on the operation switch now, the electromagnet 42 will be energized at the same time, so the permanent magnet 4
An N pole is generated at the S pole of No. 3, and an S pole is generated at the N pole of No. 44, so that both permanent magnets demagnetize each other, and the shoe 42, which was attracted to the permanent magnet, becomes attached to the spring 38. Permanent magnets 43, 4 due to repulsive force
4 in the direction of arrow 46. In this way, the shaft 32 and the housing 36 become free from each other, and the lock restraint at the joint is released.

Next, when the operation switch is turned off again, the electromagnet is demagnetized, so the relationship between the N and S poles of the permanent magnets returns to the state shown in FIG. 4. As a result, the shaft 41 is attracted to the permanent magnets 43 and 44, and the housing become stuck, ie, the joint becomes locked. One or more such electromagnetic lock structures can be provided in one joint.

[Effect of idea]

The present invention is based on the above configuration. First, since the weight of the balancer is not applied to the manipulator, there is no play over time in the support part of the laser head that holds the manipulator. This eliminates the drawbacks of conventional devices such as deviation of the optical axis of the laser beam, and since the manipulator is lighter overall, its handling and operability are significantly improved. Secondly, since the joints can be restrained in the switch-off state, the manipulator does not swing and can be fixed in a position where it will not get in the way, making it convenient for the operator to work when the switch is off, and even if there is a problem such as an erroneous operation. This is an extremely useful device that has many advantages, such as ensuring greater safety by avoiding the risk of being hit by the beam even if a beam is emitted based on the beam.

[Brief explanation of the drawing]

Fig. 1 is an overall explanatory diagram of the laser scalpel device according to the present invention, Fig. 2 is an explanatory diagram of a conventional product, Fig. 3 is a sectional view showing the joint part, and Fig. 4 shows the dotted circular part in Fig. 3. FIG. 3 is an enlarged detailed cross-sectional view. 1... Laser head, 2... Multi-joint manipulator, 6... Base, 7... Support tube, 8... Weight,
9... Balancer, 10... Mounting part (of balancer), 15... Rising part (of manipulator),
A, B, C, D... joints (to which an electromagnetic lock mechanism can be applied).

Claims (1)

[Scope of utility model registration request] A balancer for balancing the multi-joint manipulator and the manipulator are separated, and the balancer is connected to the laser head via the support tube and base of the balancer, while the multi-joint manipulator is connected to the manipulator connected to the manipulator. The holder is attached to the laser head by fitting the attachment/detachment coupling, and furthermore, the axis of the attachment part of the balancer fitted into the support tube is on the optical axis of the rising part of the manipulator that protrudes from the laser head, and the tip of the rod part of the balancer is a laser scalpel device that lifts and holds an arm part of a manipulator, and a permanent magnet is arranged around the outer periphery of an electromagnet in all or a part of the joint parts of the multi-joint manipulator and the balancer, and the S pole and the S pole of the permanent magnet are A removable shoe is provided across the N pole, and when the electromagnet is energized, the shoe detaches from the permanent magnet and releases the restraint between the housing of the joint or balancer and the shaft opposite the housing. It is constructed by providing an electromagnetic locking mechanism that allows the joint part or balancer to move freely, and that when the electromagnet is de-energized, the shoe is attracted to the permanent magnet again and locks the housing and shaft, thereby fixing the joint part or balancer. A laser scalpel device characterized by: