Manipulator for use with a surgical microscope

Claim 2

An optical beam manipulator for selectively deflecting a light beam over an operating area, said manipulator comprising a mirror, mounting means for said mirror comprising an axially retained member that is rotatable about a first rotary axis, said mirror having pivotal connection to one end of said axially retained member on a first pivot axis transverse to said first rotary axis; an actuating lever including a spherical formation mounted universally for two degrees of angular freedom for said lever about a fixed center of manipulation, said fixed center being at offset from said first rotary axis and said spherical formation having a cylindrical guide bore on an axis through said fixed center, a motion pick-off lever of variable length fulcrum-connected to the other end of said axially retained member on a second pivot axis that is parallel to said first pivot axis, a link member connecting a part of said pick-off lever to a part of said mirror and completing a four-bar linkage which includes said mirror, said axially retained member, and said motion pick-off lever; and a motion pick-off connection for said motion pick-off lever and including a spherical formation guided in said bore.

Claim 3

A manipulator according to claim 1, in which the length of said motion pick-off lever is adjustable to shift the position of its spherical formation in said cylindrical guide bore.

Claim 4

A manipulator according to claim 2, characterized by the fact that for any adjusted position of said motion pick-off lever formation an adjusted radius of pick-off lever connection to said handle is retained with respect to the fixed center of handle manipulation.

Claim 5

In combination, a microscope having an objective on an observation axis for viewing a limited field of view, a laser-output connection to said microscope and means including a selectively manipulable mirror so mounted to said microscope as to fold laser output to a spot in said field which spot is small compared to said field; mounting means for said mirror comprising an axially retained member that is rotatable about a first axis, said mirror having pivotal connection to one end of said axially retained member on a first pivot axis transverse to said first axis; an actuating lever mounted universally for two degrees of angular freedom about a fixed center of manipulation, said fixed center being at radial offset from said first axis, a motion pick-off lever fulcrum-connected to the other end of said axially retained member on a second pivot axis that is parallel to said first pivot axis, a link member connecting a part of said pick-off lever to a part of said mirror and completing a four-bar linkage which includes said mirror, said axially retained member, and said motion pick-off lever; and a motion pick-off connection having two degrees of angular freedom between said handle and said motion pick-off lever, said motion pick-off lever comprising telescoping inner and outer component parts the outer one of which is fulcrum-connected to said axially retained member, and the inner one of which is connected to said actuating lever, the point of such motion pick-off connection being at shorter offset from the fixed center of handle manipulability than the offset of said point from said first rotary axis, whereby laser-spot deflection within the field of view sensitively and on a reduced scale tracks the direction and extent of handle manipulation.

Claim 6

In combination, a microscope having an objective on an observation axis for viewing a limited field of view, a laser-output connection to said microscope and means including a selectively manipulable mirror so mounted to said microscope as to fold laser output to a spot in said field which spot is small compared to said field; mounting means for said mirror comprising an axially retained member that is rotatable about a first axis, said mirror having pivotal connection to one end of said axially retained member on a first pivot axis transverse to said first axis; an actuating lever mounted universally for two degrees of angular freedom about a fixed center of manipulation, said fixed center being at radial offset from said first axis, a motion pick-off lever fulcrum-connected to the other end of said axially retained member on a second pivot axis that is parallel to said first pivot axis, a link member connecting a part of said pick-off lever to a part of said mirror and completing a four-bar linkage which includes said mirror, said axially retained member, and said motion pick-off lever; and a motion pick-off connection having two degrees of angular freedom between said handle and said motion pick-off lever, said motion pick-off lever comprising telescoping inner and outer component parts the outer one of which is fulcrum-connected to said axially retained member, and the inner one of which is connected to said actuating lever, the point of such motion pick-off connection being at shorter offset from the fixed center of handle manipulability than the offset of said point from said first rotary axis, whereby laser-spot deflection within the field of view sensitively and on a reduced scale tracks the direction and extent of handle manipulation.

Claim 7

In combination, a microscope having an objective on an observation axis for viewing a limited field of view, a laser-output connection to said microscope on a laser-beam entry axis normal to said observation axis, and a selectively manipulable mirror so mounted to said microscope as to fold laser output to a spot in said field which spot is small compared to said field; mounting means for said mirror comprising an axially retained member that is rotatable about a first rotary axis that intersects the observation axis and is substantially aligned with the laser-beam entry axis, said mirror having pivotal connection to one end of said axially retained member on a first pivot axis normal to said first axis and substantially at the intersection of said first axis with the observation axis; an actuating lever mounted universally for two degrees of angular freedom about a fixed center of manipulation, said fixed center being at radial offset from said first rotary axis and located in the geometrical plane defined by said first rotary axis and by the observation axis, a motion pick-off lever fulcrum-connected to the other end of said axially retained member on a second pivot axis that is parallel to said first pivot axis, a link member connecting a part of said pick-off lever to a part of said mirror and completing a four-bar linkage which includes said mirror, said axially retained member, and said motion pick-off lever; and a motion pick-off connection having two degrees of angular freedom between said handle and said motion pick-off lever, said motion pick-off lever comprising telescoping inner and outer component parts the outer one of which is fulcrum-connected to said axially retained member, and the inner one of which is connected to said actuating lever, and the point of such motion pick-off connection being at shorter offset from the fixed center of handle manipulability than the offset of said point from said first rotary axis, whereby laser-spot deflection within the field of view sensitively and on a reduced scale tracks the direction and extent of handle manipulation.

Claim 8

In combination, a microscope having an objective on an observation axis for viewing a limited field of view, a laser-output connection to said microscope on a laser-beam entry axis normal to said observation axis, and a selectively manipulable mirror so mounted to said microscope as to fold laser output to a spot in said field which spot is small compared to said field; mounting means for said mirror comprising an axially retained member that is rotatable about a first rotary axis that intersects the observation axis and is substantially aligned with the laser-beam entry axis, said mirror having pivotal connection to one end of said axially retained member on a first pivot axis normal to said first axis and substantially at the intersection of said first axis with the observation axis; an actuating lever mounted universally for two degrees of angular freedom about a fixed center of manipulation, said fixed center being at radial offset from said first rotary axis and located in the geometrical plane defined by said first rotary axis and by the observation axis, a motion pick-off lever fulcrum-connected to the other end of said axially retained member on a second pivot axis that is parallel to said first pivot axis, a link member connecting a part of said pick-off lever to a part of said mirror and completing a four-bar linkage which includes said mirror, said axially retained member, and said motion pick-off lever; and a motion pick-off connection having two degrees of angular freedom between said handle and said motion pick-off lever, said motion pick-off lever comprising telescoping inner and outer component parts the outer one of which is fulcrum-connected to said axially retained member, and the inner one of which is connected to said actuating lever, and the point of such motion pick-off connection being at shorter offset from the fixed center of handle manipulability than the offset of said point from said first rotary axis, whereby laser-spot deflection within the field of view sensitively and on a reduced scale tracks the direction and extent of handle manipulation.

Claim 9

The combination of claim 5, in which said second pivot axis substantially intersects said first rotary axis.

Claim 10

The combination of claim 5, in which the points of link connection are in a geometrical plane which includes said first rotary axis.

Claim 11

The combination of claim 5, in which said motion pick-off connection comprises a cylindrical bore in said actuating lever, said bore being on an axis through the fixed center of manipulation, the inner telescoping component part having a spherical end formation locating in said bore, and selectively operable adjustable means for radially positioning said spherical end formation with respect to the fixed center of manipulation.

Claim 12

The combination of claim 8, in which said adjustable means includes a stop member carried by said actuating lever and adjustably determining the limit of radial entry of said inner component part in said bore, and means on said pick-off lever compressionally loading said spherical end formation into stop-member contact.

Claim 13

The combination of claim 9, in which the range of stop member adjustable positioning is such as to enable selective placement of the center of said spherical end formation either substantially on the fixed center of manipulation or at adjusted radial offsets therefrom, the maximum adjusted radial offset being substantially 25 percent of the radial offset of said fixed center from said first rotary axis.

Claim 14

The combination of claim 10, in which said mirror is inclined at 45 degrees to the observation axis and to thelaser-beam entry axis when said spherical end formation is positioned concentric to said fixed center of manipulation.