Stand equipped with counterbalance unit

The present invention relates to a stand equipped with a counterbalance unit, i.e., a stand consisting of links, joints, a front link, and a counterbalance unit. Therefore, even when various medical apparatuses including such as a microscope, etc. are used, a stable counterbalance can be maintained and the degree of freedom of movements of the medical apparatus can be easily adjusted according to the purpose of users.

TECHNICAL FIELD

The present invention relates to a stand equipped with a counterbalance unit, more particularly, a stand equipped with a counterbalance unit wherein a medical apparatus such as a microscope and a surgical end effector can be installed and moved to a desired position.

BACKGROUND ART

Microsurgery, in which a medical surgical microscope is used to observe affected parts while performing surgery, has been studied and introduced in the surgical operation field.

In such microsurgery, a stand is needed to install weighty objects, i.e., a surgical microscope with its attached devices; place them in a desired space; then maintain their position.

Generally, in the balance structure of such a stand, the middle part of a link unit using a parallel link is rotatably connected to a holding unit, while a surgical microscope is installed at one end of the link unit and a counterweight is placed at the other end of the link unit, centered on the point of rotation, in order to offset the weight of the surgical microscope.

Since a surgical microscope is mounted with attachments such as an assistant scope or a video camera, etc., the position of a counterweight is adjusted based on the total weight of the surgical microscope to maintain the overall balance between the surgical microscope and the counterweight.

However, in case when a surgical microscope and its attached devices remain in the desired position, their vertical balance needs to be maintained, but a conventional stand has difficulties to control the vertical balance due to the inconsistent total weight of a surgical microscope by the presence of various attachments.

DISCLOSURE

Technical Problem

The present invention is devised to solve the problem stated above, therefore an object of the present invention is to provide a stand equipped with a counterbalance unit capable of maintaining a reliable and efficient counterbalance regardless positions of a medical apparatus.

Another object of the present invention is to provide a stand equipped with a replaceable counterweight based on the size of torque in joints caused by a medical apparatus, and a counterbalance unit capable of adjusting the length of a balance link.

The other object of the present invention is to provide a stand equipped with a counterbalance unit capable of enhancing degree of freedom easily.

Technical Solution

In order to achieve the objects herein, a stand equipped with a counterbalance unit according to the present invention is composed of the following technical properties: four links arranged in a square configuration; four joints that are connected to each connection part of the four links independently and enable these links to be mutually rotatable; a front link that is extended from an end of any one of the four links and mounted with a medical apparatus at the end; a counterbalance unit connected to a joint that is diagonally located from the joint from where the front link is extended.

Advantageous Effects

A stand equipped with a counterbalance unit according to the present invention can obtain a large torque compensation effect with small weight by optimizing the mounting position of counterbalance.

In addition, even when a number of medical apparatus such as a microscope and the like are used, because of a replaceable counterweight based on the size of torque in joints caused by a medical apparatus and a counterbalance unit capable of adjusting the length of a balance link, a reliable and efficient counterbalance can be maintained.

Moreover, depending upon the purpose of a user, multiple extension link members can be installed to improve the degree of freedom of the movement of a medical apparatus.

BEST MODE

Hereinafter, more detailed description of a stand equipped with a counterbalance unit according to the present invention is provided by using appended drawings.

The present invention relates to a stand equipped with a counterbalance unit, whereinFIG. 1is a schematic diagram illustrating a stand equipped with a counterbalance unit according to the present invention,FIG. 2is schematic diagrams illustratingFIG. 1in operation modes, andFIG. 3is a schematic diagram illustrating an embodiment of a counterbalance unit.

A stand equipped with a counterbalance unit according to the present invention is composed of four links100arranged in a square configuration; four joints110that are connected to each connection part of the four links100independently and enable these links100to be mutually rotatable; a front link120that is extended from an end of any one of the four links100and mounted with a medical apparatus M at the end; a counterbalance unit130connected to a joint110that is diagonally located from the joint110from where the front link120is extended.

Each component is described in more details as follows.

Joints110consist of the first, second, third, and fourth joints112,114,116,118and are connected to each connection part of the four links100independently so that the links100are mutually rotatable.

Links100consist of the first link102whose both ends are connected to the first and fourth joints112,118; the third link106whose both ends are connected to the second and third joints114,116and placed on the opposite side of the first link102; the second link104whose both ends are connected to the first and second joints112,114; the fourth link108whose both ends are connected to the third and fourth joints116,118and placed on the opposite side of the second link104. The links are arranged in a square configuration, but it is preferable to be arranged in a parallelogram configuration as illustrated inFIG. 1. For simplicity, the description hereinafter relates to an embodiment in which links100are arranged in a parallelogram configuration. In case of which links100are not formed in a parallelogram configuration, parallel can be understood as subtended.

Both ends of the first link102are connected to the first and fourth joints112,118, while the third link106located in parallel to the first link102has its both ends connected to the second and third joints114,116. In addition, both ends of the second link104are connected to the first and second joints112,114, while the fourth link108located in parallel to the second link104has its both ends connected to the second and third joints114,116. Accordingly, the first, second, third, and fourth links102,104,106,108are mutually rotatable and thus a medical apparatus M which will be described later is to have the degree of freedom.

Meanwhile, four joints110has at least any one of them fixed to a holding unit (not shown) to be supported, and in case of an embodiment of the present invention, the second joint114is fixed to a holding unit to be supported.

A front link120, extended from any one end of the four links100and mounted with a medical apparatus M at the end, moves the medical apparatus M according to the movement of the links100which is interlocked to the front link. In the embodiment of the present invention, it is set to be that a front link120is extended from an end of the first link102as illustrated inFIG. 1, and the first joint112is connected between the first link102and the front link120.

A counterbalance unit130is connected to a joint110placed in a diagonal direction from the joint110that is located at the extension part from where a front link120is extended, and functions to counterbalance a medical apparatus M. That is, according to the embodiment of links100, as illustrated inFIG. 1, the first joint112is placed at the extension part from where a front link120is extended, and the third joint116is positioned in the diagonal direction from the first joint112, thus a counterbalance unit130is connected to the third joint116.

The counterbalance unit130in the present invention can use weighter and springs to balance against a front link120with a medical apparatus M. Hereinafter, the description of the case using weighter will come first.

A counterbalance unit130is composed of two links100connected to the third joint116, i.e., the first and second balancing links131,133extended from the third and fourth links106,108; the first and second counterweights132,134independently mounted at the end of the first and second balancing links131,133. Accordingly, the first and second counterweights132,134are placed on the opposite side of a medical apparatus M, centering the second joint114, to maintain balance, and in case when the medical apparatus M moves to the direction contrary to gravity, the first and second counterweights132,134move to the direction of gravitational force in order to compensate the torque in joints caused by the medical apparatus. Since a counterbalance unit130is connected to the third joint116as illustrated inFIG. 1instead of to the second joint114that is functioning as the central axis, the effective distance to the central axis (the distance between the central axis and the gravity vector functioning in the counterweights) is maximized in most movements of links100, and thus the torque in joints generated by the medical apparatus can be compensated in full.

Meanwhile, the length of the first and second balancing links131,133is adjustable, and each of the first and second counterweights132,134is removably installed on the first and second balancing links131,133respectively, thus the compensated torque in joints can be controlled in accordance with the length of a front link120or the weight of a medical apparatus M.

A counterbalance unit130in another embodiment is composed of the first and second balancing links131,133extended from the third and fourth links106,108; the first and second counter springs136,138attached to the tip of the first and second balancing links131,133respectively. For reference, a holding unit fixing the second joint114is extended in parallel with the ground. And as illustrated inFIG. 3, one end of the first counter spring136is connected to the tip of the first balancing link131, while the other end is connected to the holding unit. In this case, the first counter spring136is a tension spring that moves the first balancing link131to gravity direction which is the direction of the arrow in order to compensate the torque in joints generated by a medical apparatus M. One end of the second counter spring138is connected to the tip of the second balancing link133, while the other end is connected to the holding unit. The second counter spring138is also a tension spring and it moves the second balancing link133to the direction of the arrow in order to compensate the torque in joints generated by a medical apparatus M.

Also, one end of the counter spring can be connected to the third link106, while the other end is connected to the holding unit when necessary.

Hereinafter, the operation mode of a stand equipped with a counterbalance unit according to the present invention will be described by using appended drawings.

Referring toFIG. 2(a), when a medical apparatus M moves to the direction A complying with gravity, due to the structure of links100, each of the third and fourth joints116,118moves to the direction B and C respectively, therefore, the first and second counterweights132,134independently move to the direction D and E contrary to the direction of gravity. Consequently, the potential energy of the first and second counterweights132,134increases, therefore, less force is required for the medical apparatus M to return to its original position or move to other positions as illustrated inFIG. 2(b).

Conversely as illustrated inFIG. 2(b), when a medical apparatus M moves to a direction against gravity, the links100function to the opposite direction fromFIG. 2(a), which leads the first and second counterweights132,134to move conforming to gravity, thus decreases the potential energy while enabling to move the medical apparatus M against gravity using only little force.

FIG. 4is a schematic diagram illustrating a stand equipped with extension link members;FIG. 5is a schematic diagram illustrating another embodiment ofFIG. 4;FIG. 6is schematic diagrams illustratingFIG. 5in operation modes.

Extension link members are composed of extension links200connected to links100and a front link120; extension joints210connected to each connection part of the extension links200respectively and capable of extension links200to be mutually rotatable; an extension front link220extended from an end of the extension link200that is one of extension links200and connected to the front link120, thereby function to improve the degree of freedom of a medical apparatus M.

Extension joints210are composed of the first, second, third, and fourth extension joints212,214,216,218.

Extension links200are placed on the opposite side of the second link104and composed of the second extension link204whose both ends are connected to the first and second extension joints212,214; the third extension link206placed on the opposite side of a front link120and having its one end connected to the second extension joint214while the other end is connected to the third extension joint216; the first extension link202whose both ends are independently connected to the second joint114and the first extension joint212; the fourth extension link208whose one end is connected to the third extension joint216while the other end is connected to the fourth extension joint218; the fifth extension link209whose both ends are independently connected to the first joint112and the second extension joint214.

In extension link members illustrated inFIG. 4, each of the second and third extension links204,206is placed in parallel with the second link104and a front link120respectively, and one ends of the second and third extension links204,206are connected to each other through the second extension joint214, while the other end of the second extension link204is connected to the first extension joint212and the other end of the third extension link206is connected to the third extension joint216. In addition, the both ends of the first extension link202are connected to the second joint114and the first extension joint212, and the both ends of the fourth extension link208are connected to the third extension joint216and the fourth extension joint218, while the both ends of the fifth extension link209are connected to the first joint112and the second extension joint214. That is, extension links200having the shape of two overlapped parallelograms are extended from the center point that is the second joint114.

Also, the first extension link202can be fixed perpendicularly to the installation surface in order to maintain an extension front link220, which will be described later, to be vertical. In other words, since the first extension link202and the fifth extension link209are always in parallel while the fifth extension link209and the fourth extension link208are always in parallel, an extension front link220extended from the fourth extension link208is likewise in parallel with the first extension link202all the time. Accordingly, in case of which a medical apparatus M such as a microscope should always remain vertical, the medical apparatus M can always remain vertical by fixing the first extension link202perpendicularly to the installation surface.

An extension front link220is extended from the fourth extension link208, and has a medical apparatus M mounted at the tip of it. After all, extension links200are the supplementary means to bring the connection of the extension front link220and it is the extension front link220that interlocks the medical apparatus M with movements of links100as well as movements of extension link members to increase the degree of freedom.

Meanwhile, as illustrated inFIG. 5, a stand equipped with a counterbalance unit according to the present invention can be formed in the shape in which the top and the bottom ofFIG. 4are inverted. In case when a medical apparatus M functions from bottom to top, e.g., such as an objective lens of a microscope is in use, similarly, as illustrated inFIG. 6(a)andFIG. 6(b), the first extension link202can be fixed perpendicularly towards the ground in order for the extension front link220always to remain vertical while moving.

FIG. 7toFIG. 9are schematic diagrams illustrating various embodiments of a counterbalance unit.

Hereinafter, a stand equipped with extension link members with the application of counter springs is described using appended drawings.

First, referring toFIG. 7, there provided the first and second balancing links131,133extended from the third and fourth links106,108; the first and the second auxiliary links202a,202bextended from the first extension link202, and the first and second auxiliary links202a,202bare fixed perpendicularly towards the ground like the first extension link202. And one end of the first counter spring136is connected to the tip of the first balancing link131, while the other end is connected to the first auxiliary link202a. In this case, the first counter spring136is a tension spring and moves the first balancing link131to the gravitational direction, i.e. the direction of the arrow, to compensate torque in joints created by a medical apparatus M. The one end of the second counter spring138is connected to the tip of the second balancing link133, while the other end is connected to the second auxiliary link202b. In this case, the second counter spring138is a tension spring and moves the second balancing link133to the direction of the arrow to compensate torque in joints created by a medical apparatus M.

Referring toFIG. 8as another embodiment, one end of the first counter spring136is connected to the fourth link108, while the other end is connected to the first extension link202. One end of the second counter spring138is connected to the third link106, while the other end is connected to the first extension link202. The first and second counter springs136,138are tension springs and each of them moves the fourth link108and the third link106to the directions of the arrows respectively to compensate torque in joints created by a medical apparatus M.

Referring toFIG. 9as the other embodiment, the second auxiliary link202bis extended from the first extension link202, and the first balancing link131is extended from the third link106connected to the second joint114. One end of the first counter spring136is connected to the first balancing link131, while the other end is connected to the second auxiliary link202b. In this case, the first counter spring136is a tension spring, and moves the first balancing link131to the direction of the arrow to compensate torque in joints created by a medical apparatus M.

Thus, in case of which counter springs are applied to a stand equipped with extension link members, various embodiments can be configured. For the greater variety of embodiments, counter springs that are directly connected to links100or extension links200as well as additional balancing links upon the necessity can be provided.

Meanwhile, more extension link members can be mounted upon the necessity. An additional link is connected to the second joint114supported by a holding unit; a link is connected in parallel with the second link104; more links are connected, wherein each of the links is in parallel with a front link120and an extension front link220respectively. Next, an additional front link is connected to the extension front link220and then a medical apparatus is mounted at the tip of the connected front link. In the same manner as above, N number of extension link members can be additionally mounted in order to variously set the degree of freedom of medical apparatus.

And as the number of extension link members increases, a medical apparatus M gets further from the second joint114that is the center point of rotation, accordingly, the torque in joints generated by the medical apparatus M grows bigger. In order to maintain a stable counterbalance, it is desirable that the length of the first and second balancing links131,133increases proportion to the growing number of extension link members. For the efficient counter balance, it is more preferable to increase the weight of the first and second counterweights132,134as well as the length of the first and second balancing links131,133.

DETAILED DESCRIPTION OF MAIN ELEMENTS

100: link102: the first link104: the second link106: the third link108: the fourth link110: joint112: the first joint114: the second joint116: the third joint118: the fourth joint120: front link130: counterbalance unit131: the first balancing link132: the first counterweight133: the second balancing link134: the second counterweight136: the first counter spring138: the second counter spring200: extension link202: the first extension link202a: the first auxiliary link202b: the second auxiliary link204: the second extension link206: the third extension link208: the fourth extension link209: the fifth extension link210: extension joint212: the first extension joint214: the second extension joint216: the third extension joint218: the fourth extension joint220: extension front link