Medical holding apparatus, medical arm system, and drape mounting mechanism
There is provided a medical holding apparatus including: a first actuator configured to cause a medical optical tool that guides light from a body cavity of a subject to a camera head during a surgical operation, to rotate about an optical axis of the medical optical tool and a rotation mechanism configured to support the camera head that acquires an image of the body cavity of the subject via the medical optical tool, the camera head being rotatable about the optical axis of the medical optical tool independently from the medical optical tool.
1. A medical holding apparatus comprising:
a first actuator configured to cause a medical optical tool that guides light from a body cavity of a subject to a camera head during a surgical operation, to rotate about an optical axis of the medical optical tool;
a second actuator configured to cause the camera head to rotate about the optical axis of the medical optical tool, wherein the first actuator and the second actuator have hollow shapes, and the optical axis of the medical optical tool and an optical axis of the camera head pass through the hollow shapes; and
a rotation mechanism configured to support the camera head that acquires an image of the body cavity of the subject via the medical optical tool,
the camera head being rotatable about the optical axis of the medical optical tool independently from the medical optical tool.
2. The medical holding apparatus according to claim 1 , comprising
a weight having a center of mass at a position shifted from the optical axis of the camera head,
wherein, due to the weight, the camera head rotates about the optical axis of the medical optical tool through the rotation mechanism.
3. The medical holding apparatus according to claim 1 , wherein
the rotation mechanism includes an encoder configured to detect a rotational position of the camera head, and
a vertical orientation of the acquired image of the body cavity of the subject that is acquired by the camera head is optimized by image processing in accordance with the rotational position detected by the encoder.
4. The medical holding apparatus according to claim 1 , wherein the medical optical tool is a rigid endoscope.
5. The medical holding apparatus according to claim 4 , wherein the rigid endoscope is an oblique viewing endoscope.
6. The medical holding apparatus according to claim 1 , wherein the first actuator includes a stator fixed to a frame, and a rotor that is rotated by the stator and integrally rotates with the medical optical tool.
7. The medical holding apparatus according to claim 1 , wherein the second actuator includes a stator fixed to a frame, and a rotor that is rotated by the stator to be integrally rotated with the camera head.
8. The medical holding apparatus according to claim 1 , comprising
a lens barrel inside the hollow shapes.
9. The medical holding apparatus according to claim 8 , wherein the second actuator is configured to integrally rotate the lens barrel and the camera.
10. The medical holding apparatus according to claim 1 , comprising
a drape mount configured to separate a clean area and an unclean area,
wherein the medical optical tool is connected to an interface device, which is configured to apply a driving force of the first actuator, through the drape mount, and rotates together with the interface device and the drape mount.
11. The medical holding apparatus according to claim 10 , wherein
the drape mount has a circular outer shape having the optical axis of the medical optical tool as a central axis, and
the outer shape of the drape mount is fitted to a fixing member, and the drape mount rotates relative to the fixing member.
12. The medical holding apparatus according to claim 11 , wherein an O-ring is inserted between the outer shape of the drape mount and the fixing member.
13. The medical holding apparatus according to claim 12 , wherein the clean area and the unclean area are separated from each other by the drape mount, the fixing member, and the O-ring.
14. The medical holding apparatus according to claim 1 , comprising
a detachable mount that is configured to attach or detach the camera head to or from an interface device configured to apply a driving force of the second actuator.
15. The medical holding apparatus according to claim 1 , comprising
a frame configured to support the first actuator and the second actuator and to be mounted at a distal end of a medical supporting arm apparatus.
16. The medical holding apparatus according to claim 1 , wherein the first actuator and the second actuator each include a ring-shaped ultrasonic motor.
17. The medical holding apparatus according to claim 1 , further comprising driving circuitry to drive the first actuator and the second actuator in a no-load state.
18. The medical holding apparatus according to claim 1 , wherein the first actuator rotates in conjunction with the second actuator.
19. The medical holding apparatus according to claim 1 , further comprising driving circuitry to stop driving of the first actuator and drive the second actuator to control a vertical orientation of capture by the camera head.
20. The medical holding apparatus according to claim 1 , further comprising driving circuitry to stop driving of a first one of the first actuator and the second actuator, and drive a second one of the first actuator and the second actuator in a no-load state.