Medical treatment apparatus

Abstract

To provide a medical treatment apparatus capable of reducing power consumption.SOLUTION: Provided is a medical treatment apparatus that scans a three-dimensional shape. The medical treatment apparatus comprises a housing, a lens, a first drive part, a counterweight, a second drive part, and a control part. The first drive part applies force in a first linear motion direction according to a first magnetic circuit, and causes the lens to move linearly in the first linear motion direction. The counterweight has a weight that is N times (N>1) the weight of the lens. The second drive part applies force in a second linear motion direction on the same line as the first linear motion direction according to a second magnetic circuit, and causes the counterweight to move linearly in the second linear motion direction. The control part controls the driving of each of the first drive part and the second drive part. The control part causes the counterweight to move in a relative direction with respect to the lens, at a drive amplitude that is (1 / N) times the drive amplitude of the lens.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present disclosure relates to medical diagnostic devices. [Background technology]

[0002] There is a known medical diagnostic device that scans the inside of an oral cavity or the like to acquire a three-dimensional shape. In this device, a focusing lens needs to be moved to scan the inside of an oral cavity or the like. However, moving the focusing lens, which has mass, causes vibrations in the device. Therefore, a technology is known that translates a counterweight in the opposite direction to the movement of the focusing element to substantially balance the movement of the focusing lens and reduce the vibrations of the device (for example, Patent Document 1: JP 2015-83978 A). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2015-83978 Summary of the Invention [Problem to be solved by the invention]

[0004] Japanese Patent Laid-Open Publication No. 2015-83978 (Patent Document 1) discloses a scanner in which a focusing lens and a counterweight having the same mass as the focusing lens are mechanically connected via a translation stage, and the focusing lens and the counterweight are linearly moved on the translation stage by a mechanical configuration including a motor. However, there is a problem in that power consumption is high because it is necessary to drive not only the focusing lens but also the counterweight having the same mass by the same distance.

[0005] The present disclosure has been made to solve the above problems, and has an object to provide a medical diagnostic device that can reduce power consumption. [Means for solving the problem]

[0006] The medical diagnostic device according to the present disclosure is a medical diagnostic device for scanning three-dimensional shapes. The medical diagnostic device includes a housing, a lens, a first drive unit, a counterweight, a second drive unit, and a control unit. The first drive unit applies a force in a first linear motion direction by a first magnetic circuit, thereby linearly moving the lens in the first linear motion direction. The counterweight has a mass N times (N>1) the mass of the lens. The second drive unit applies a force in a second linear motion direction on the same line as the first linear motion direction by a second magnetic circuit, thereby linearly moving the counterweight in the second linear motion direction. The control unit controls the driving of each of the first drive unit and the second drive unit. The control unit moves the counterweight in a direction relative to the lens with a drive amplitude that is (1 / N) times the drive amplitude of the lens. [Effects of the Invention]

[0007] The medical diagnostic device according to the present disclosure drives a counterweight having a mass N times (N>1) the mass of the lens with a drive amplitude that is (1 / N) times the drive amplitude of the lens using a second magnetic circuit, thereby reducing power consumption. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a schematic diagram showing a configuration of a three-dimensional scanner according to an embodiment; [Figure 2] FIG. 2 is a schematic diagram showing the configuration of a handpiece according to an embodiment. [Figure 3] 10A and 10B are diagrams for explaining the positional relationship between a lens and a counterweight in the three-dimensional scanner according to the embodiment. [Figure 4] 1 is a perspective view of a linear motor according to an embodiment; [Figure 5] 10A and 10B are diagrams for explaining driving of a lens and a counterweight according to the embodiment. [Figure 6] FIG. 2 is a diagram for explaining design parameters of a three-dimensional scanner according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] A medical diagnostic device according to an embodiment will be described with reference to the drawings. In the embodiment, a three-dimensional scanner used in dental diagnostics will be described as one exemplary form of the medical diagnostic device. The three-dimensional scanner is an intraoral scanner for acquiring the three-dimensional shape of teeth in the oral cavity. The three-dimensional scanner according to the embodiment is not limited to intraoral scanners, but can also be applied to other three-dimensional scanners having a similar configuration. For example, it can also be applied to a scanner for acquiring the three-dimensional shape of the outer ear by imaging the inside of a human ear in addition to the oral cavity. The three-dimensional scanner according to the embodiment can be used in all medical fields, including ophthalmology, otolaryngology, radiology, and veterinary medicine, as well as in dentistry. Furthermore, in this disclosure, the term "diagnosis" also includes the meanings of "diagnosis" and "treatment."

[0010] [Configuration of 3D scanner] Fig. 1 is a schematic diagram showing the configuration of a three-dimensional scanner 100 according to an embodiment. As shown in Fig. 1, the three-dimensional scanner 100 includes a handpiece 70, a control unit 40, a display unit 50, and a power supply 45. The handpiece 70 is a handheld member, and includes a probe 10, a connection unit 20, and an optical measurement unit 30. The control unit 40 is included inside the optical measurement unit 30.

[0011] The probe 10 is inserted into the oral cavity and projects light having a pattern (hereinafter simply referred to as the pattern) onto an object 99 such as a tooth. The probe 10 guides the light reflected from the object 99 onto which the pattern is projected to the optical measurement unit 30. The probe 10 is detachable from the optical measurement unit 30. Therefore, as a countermeasure against infection, the surgeon can remove only the probe 10 that may come into contact with a living body from the optical measurement unit 30 and perform sterilization processing (for example, processing in a high-temperature, high-humidity environment).

[0012] The connection part 20 is a part of the optical measurement part 30, protruding from the optical measurement part 30, and has a shape that can fit into the base of the probe 10. The connection part 20 includes optical components such as a lens system for guiding light collected by the probe 10 to the optical measurement part 30, a cover glass, an optical filter, and a retardation plate (a quarter wave plate).

[0013] The optical measurement unit 30 projects a pattern onto the object 99 via the probe 10 and captures an image of the projected pattern. As will be described below, the optical measurement unit 30 according to the embodiment is configured to acquire a three-dimensional shape using the principle of focusing, but may also be configured to acquire a three-dimensional shape using the principle of confocal method or the like. In other words, the optical measurement unit 30 may be configured using any principle as long as it includes a configuration that changes the position of the focal point of the projection pattern or the optical sensor and acquires a three-dimensional shape using an optical method.

[0014] The control unit 40 controls the operation of the optical measurement unit 30 and processes images captured by the optical measurement unit 30 to obtain a three-dimensional shape. Although not shown, the control unit 40 includes a CPU (Central Processing Unit) as a control center, a ROM (Read Only Memory) that stores programs and control data for the CPU to operate, a RAM (Random Access Memory) that functions as a work area for the CPU, and an input / output interface for maintaining signal consistency with peripheral devices. The control unit 40 can also output the obtained three-dimensional shape to a display unit 50, and can also input information such as settings for the optical measurement unit 30 using an input device (not shown).

[0015] At least a part of the calculations for processing the captured images to obtain the three-dimensional shape may be realized as software by the CPU of the control unit 40, or may be realized as hardware that performs processing separately from the CPU. At least a part of the processing by the CPU or hardware may be performed by a PC or the like external to the optical measurement unit 30. In Figure 1, the components of the three-dimensional scanner 100 (optical measurement unit 30, power supply 45, display unit 50) are depicted as being wired by cables (thick lines in the figure), but some or all of these wires may be connected by wireless communication.

[0016] The display unit 50 displays the measurement results of the three-dimensional shape of the object 99 obtained by the control unit 40. The display unit 50 can also display other information such as setting information for the optical measurement unit 30, patient information, the startup status of the scanner, an instruction manual, and a help screen. The display unit 50 can be, for example, a stationary liquid crystal display or a head-mounted or eyeglass-type wearable display. Furthermore, there may be multiple display units 50, and the three-dimensional shape measurement results and other information may be displayed simultaneously or in separate displays on multiple display units 50.

[0017] The power supply 45 supplies power to the optical measurement unit 30 and the control unit 40. The power supply 45 may be provided outside the handpiece 70 as shown in Fig. 1, or may be provided inside the handpiece 70. Furthermore, a plurality of power supplies 45 may be provided so that power can be supplied individually to the control unit 40, the optical measurement unit 30, and the display unit 50.

[0018] [Handpiece configuration] FIG. 2 is a schematic diagram showing the configuration of a handpiece 70 according to an embodiment. The components of the handpiece 70 shown in FIG. 2 are housed in the optical measurement unit 30 shown in FIG. 1. As shown in FIG. 2, the handpiece 70 includes a light source 71, a lens 81, an optical sensor 75, and a control unit 40 inside a housing 77. The handpiece 70 may also include a beam splitter that separates light from the light source 71 toward the object 99 from light from the object 99 toward the optical sensor 75, and a reflector that reflects light toward the object 99. In the embodiment described below, for convenience of explanation, an imaginary line representing the direction of linear motion of the lens 81 is indicated by L, an axis parallel to the line L is referred to as the X-axis, an axis perpendicular to the line L and pointing upward on the paper surface of FIG. 2 is referred to as the Z-axis, and an axis perpendicular to both the X-axis and the Z-axis is referred to as the Y-axis.

[0019] Light output from the light source 71 passes through the lens 81 and is irradiated onto the object 99, where it is reflected. The light reflected by the object 99 passes through the lens 81 again and is detected by the optical sensor 75. When a three-dimensional shape is acquired using a focusing technique, light that passes through a pattern generating element (not shown) provided between the lens 81 and the object 99 is projected onto the object 99. When the lens 81 moves linearly on the same straight line (for example, the straight line L in the figure), the focal position of the projected pattern changes. The optical sensor 75 detects the light from the object 99 with each change. The control unit 40 described above calculates shape information of the object 99 based on the position of the lens 81 and the detection result by the optical sensor 75 at that time.

[0020] When lens 81 moves linearly in the direction of line L (X-axis direction), the center of gravity of handpiece 70 moves by an amount equal to the mass of lens 81, and this is transmitted as vibration to the hand of the user holding handpiece 70. To cancel out this vibration, handpiece 70 further includes counterweight 91 inside housing 77. Counterweight 91 is provided on the back side of optical sensor 75 in the X-axis direction so as not to block the optical path between object 99 and lens 81 and the optical path between lens 81 and optical sensor 75.

[0021] 3 is a schematic diagram illustrating the positional relationship between a lens 81 and a counterweight 91 in a three-dimensional scanner 100 according to an embodiment. As shown in FIG. 3, the lens 81 is supported by a linear guide 60 parallel to the line L so as to move linearly in the direction of the line L. Although not shown, the linear guide 60 is fixed by a housing 77. Furthermore, the lens 81 is connected to a magnetic circuit 85 of a first drive unit 80. The first drive unit 80 constitutes a linear motor that linearly moves the lens 81 in the direction of the line L by means of the magnetic circuit 85.

[0022] As will be described later, the counterweight 91 is a weight having a mass N times (N>1) the mass of the lens 81, and is driven by the second drive unit 90 at a drive amplitude 1 / N times the drive amplitude of the lens 81. This reduces the power consumption of the three-dimensional scanner 100 compared to when a counterweight with the same mass as the lens is driven the same distance. The counterweight 91 is provided on the same line L as the lens 81 and is supported by a linear guide 65 parallel to the line L. In this embodiment, the linear guide 65 is a separate member from the linear guide 60. Furthermore, the counterweight 91 is connected to a magnetic circuit 95 of the second drive unit 90. The second drive unit 90 constitutes a linear motor that linearly moves the counterweight 91 in the direction of the line L using the magnetic circuit 95.

[0023] The first drive unit 80 and the second drive unit 90 are each controlled by the control unit 40. In the embodiment, the first drive unit 80 and the second drive unit 90 are each controlled by the common control unit 40, but the first drive unit 80 and the second drive unit 90 may each be controlled by different control units.

[0024] When the first driving unit 80 linearly moves the lens 81 in the direction of the line L, the second driving unit 90 linearly moves the counterweight 91 in the direction relative to the lens 81 with a driving amplitude that is (1 / N) times the driving amplitude of the lens 81. For example, if the mass of the counterweight 91 is twice the mass of the lens 81 (N=2), when the lens 81 moves 5 mm on the line L in the direction toward the object 99, the counterweight 91 moves 2.5 mm on the line L in the direction away from the object 99. Furthermore, when the lens 81 moves 5 mm on the line L in the direction away from the object 99, the counterweight 91 moves 2.5 mm on the line L in the direction toward the object 99. In other words, the driving amplitude of the counterweight 91 is (1 / 2) times the driving amplitude of the lens 81.

[0025] In this way, by linearly moving counterweight 91, which has a mass N times (N>1) the mass of lens 81 in a direction relative to lens 81, with a drive amplitude that is (1 / N) times the drive amplitude of lens 81, the momentum of lens 81 becomes equal to that of counterweight 91. Therefore, the counterweight 91 can offset the deviation of the center of gravity of handpiece 70 caused by the drive of lens 81, and can cancel out the vibration of handpiece 70.

[0026] [Linear motor configuration] Next, a specific configuration of a linear motor will be described with reference to the drawings. Fig. 4 is a perspective view of a linear motor 801 according to an embodiment. In the example shown in Fig. 4, the configuration of the linear motor 801 corresponding to the first drive unit 80 will be described, but the configuration of the linear motor corresponding to the second drive unit 90 is also similar to that of the linear motor 801. That is, in the case of the linear motor corresponding to the second drive unit 90, in the example shown in Fig. 4, the lens 81 is replaced with a counterweight 91, but the other configurations are similar to that of the linear motor 801.

[0027] Linear motor 801 has a magnetic circuit 85 including a yoke 51, a coil 52, and a permanent magnet 53. Linear motor 801 also has a mover 190 that holds lens 81 so as to surround the outer periphery of lens 81, and permanent magnets 53 are provided above and below mover 190 in the figure. Note that the yoke 51 and coil 52 portions that are positioned opposite permanent magnet 53 constitute the stator of linear motor 801. Permanent magnet 53 is fixed to mover 190, for example, with its north pole facing the positive direction of the X-axis and its south pole facing the negative direction of the X-axis.

[0028] The mover 190 has an opening in the direction of linear motion, and holds a lens 81 (optical component) in the opening, so that the optical path between the target object 99 and the optical sensor 75 passes through the opening. One end of the mover 190 holding the lens 81 abuts against a spring 55a, and the other end of the mover 190 abuts against a spring 55b.

[0029] Springs 55a and 55b are provided to surround the outer periphery of lens 81 so as not to block the optical path at the center of lens 81. Springs 55a and 55b correspond to one embodiment of an elastic member. Coil springs or the like are used as springs 55a and 55b. Note that the elastic member is not limited to a spring, and any member such as rubber that deforms when a force is applied and returns to its original shape when the force is removed may be used.

[0030] One end of each of springs 55a and 55b abuts against mover 190, and the other end is fixed to housing 59 of linear motor 801. Furthermore, springs 55a and 55b are held within housing 59 so as to allow deformation in the X direction and to make deformation in the YZ directions difficult. Springs 55a and 55b arranged in this manner apply an elastic force to mover 190 in the linear motion direction.

[0031] In the linear motor 801, two linear guides 60, each consisting of a rail 57 and a block 56, are provided in parallel on the outer periphery of the mover 190. The two linear guides 60 are arranged at different positions on the outer periphery of the mover 190. Specifically, the two linear guides 60 are arranged parallel to each other at positions that are rotationally symmetrical with respect to the optical axis (straight line L) that is parallel to the linear motion direction of the lens 81 and passes through the center of the lens 81. It should be noted that the number of linear guides 60 does not necessarily have to be two, and one, three or more may be used.

[0032] Block 56 supports mover 190 and lens 81 and is fitted to rail 57, and moves linearly along rail 57 to cause lens 81 to move back and forth linearly. A viscous lubricant such as grease may be applied between block 56 and the connecting surface of rail 57, or a rolling bearing such as a ball or roller may be provided.

[0033] Lens 81, together with mover 190, is supported by linear guide 60 via support portion 180 and holding portion 160 so as to be capable of reciprocating linear motion. Specifically, holding portion 160 is provided on a portion of mover 190 that holds lens 81. Support portion 180 is screwed to a portion of block 56 that moves on rail 57. Support portion 180 and holding portion 160 are fitted together.

[0034] [Lens and counterweight drive] Next, the driving of lens 81 and counterweight 91 will be described in detail. Fig. 5 is a diagram for explaining the driving of lens 81 and counterweight 91 according to the embodiment. As shown in Fig. 5, linear motor 801 that drives lens 81 and linear motor 901 that drives counterweight 91 are linearly connected via connecting member 700. Then, by linearly moving counterweight 91, which has a mass N times (N>1) the mass of lens 81 in a direction relative to lens 81, with a driving amplitude that is (1 / N) times the driving amplitude of lens 81, it is possible to offset the deviation of the center of gravity of handpiece 70 caused by the driving of lens 81 and cancel out vibrations of handpiece 70.

[0035] Specifically, if the mass of the lens 81 is approximately 10 g and the driving amplitude of the lens 81 is approximately ±5 mm, the mass of the counterweight 91 is approximately twice as large (N=2), that is, approximately 20 g, and the driving amplitude of the counterweight 91 is approximately half as large, that is, approximately ±2.5 mm. By driving the lens 81 and the counterweight 91 in this manner, the momentum of the lens 81 and the momentum of the counterweight 91 become equal, and the vibration of the handpiece 70 can be canceled out. Furthermore, from the equation of motion of the linear motor (Equation 1), it is found that the parameter of the motion system is M n (mass),D n (viscosity coefficient), K n (spring constant). Also, the control input F(x n , t) parameter is the linear motor driving frequency f d and drive amplitude A d is decided.

[0036]

number

[0037] Linear motor drive amplitude A d is proportional to the current flowing in the coil, and since the power consumption of a linear motor is the Joule loss generated by the current flowing in the coil, it is proportional to the square of the current flowing in the coil. Therefore, the power consumption of a linear motor is proportional to the square of the current flowing in the coil.d In other words, the linear motor drive amplitude A d If you multiply by (1 / N), the power consumption of the linear motor will be (1 / N 2 ) times reduction.

[0038] As mentioned above, if the drive amplitude of the counterweight 91 is reduced to approximately 1 / 2, or approximately ±2.5 mm, the power consumption of the linear motor 901 that drives the counterweight 91 can be reduced to (1 / 4) times. In particular, the three-dimensional scanner 100 that scans the oral cavity places a very large calculation load on the control unit 40 provided in the handpiece 70, and heat generation from the CPU of the control unit 40 may become a problem. Therefore, in the three-dimensional scanner 100 according to this embodiment, the drive amplitude of the counterweight 91 is increased to (1 / N) times, thereby reducing the power consumption of the linear motor 901 to (1 / N). 2 ) times, suppressing heat generation from the linear motor 901 and reducing the amount of heat generated by the entire device.

[0039] The power consumption of linear motor 901 is Joule loss generated by the current flowing through coil 52, and therefore can be further reduced by further miniaturizing linear motor 901, which reduces the resistance of coil 52. Furthermore, if the degree of vibration of handpiece 70 is judged to be sufficiently small based on the sensation when held in the hand, the power consumption of linear motor 901 can be further reduced by further reducing the drive amplitude of counterweight 91.

[0040] [Design Parameters] Next, the design parameters of the three-dimensional scanner 100 according to this embodiment will be described. FIG. 6 is a diagram for explaining the design parameters of the three-dimensional scanner 100 according to this embodiment. As shown in FIG. 6, the design parameters include control input parameters, motion system parameters, and parameters calculated from the motion system. The control input parameters are the parameters calculated from the control input F(x n , t) and the driving frequency f of the linear motor d [Unit: Hz] and drive amplitude A d [Unit: mm] is included.

[0041] As can be seen from the equation of motion (Equation 1) above, the motion system parameters are M n (Mass) [unit: g], D n (viscosity coefficient), K n (spring constant) [unit: N / m]. Note that M n (Mass) is the mass of the counterweight 91 M C and the mass M of lens 81 L The parameters calculated from the motion system include the resonant frequency f W [Unit: Hz] is included.

[0042] The design parameter values ​​shown in Fig. 6 are an example of the three-dimensional scanner 100 for scanning the oral cavity. For example, the drive frequency f d The driving frequency f of the linear motors 801 and 901 is 5Hz to 30Hz. d When the driving frequency f of the linear motors 801 and 901 is increased, the speed of scanning the oral cavity becomes faster, and the calculations in the control unit 40 cannot keep up, which may result in an increase in the amount of heat generated by the control unit 40. d If the driving frequency f of the linear motors 801 and 901 becomes high, there is a risk that a problem will occur in the durability of the linear motors 801 and 901 themselves. d The lower the r, the slower the intraoral scan speed and the lower the data rate from the 3D scanner 100.

[0043] Drive amplitude A of linear motors 801 and 901 d The driving amplitude A of the linear motors 801 and 901 is ±0.5 mm to ±10 mm. d As the value of increases, the depth of field of the three-dimensional scanner 100 increases, but is limited by the length of the linear motors 801 and 901 in the linear motion direction. d is the driving amplitude of the lens 81, and the driving amplitude A of the linear motor 901 d is the drive amplitude of the counterweight 91. From the design parameters shown in Fig. 6, the drive amplitude of the counterweight 91 is, for example, 1 / 20 or more times and less than 1 time the drive amplitude of the lens 81.

[0044] Mass M of lens 81 L The mass M of the lens 81 is 1 g to 15 g. L is determined by the optical design. On the other hand, the mass M of the counterweight 91 C The mass M of the counterweight 91 is 5g to 40g. C is the mass M of lens 81 L Therefore, if the counterweight 91 is made of a material with the same density as the lens 81, the counterweight 91 will be large. Therefore, it is preferable that the density of the material used for the counterweight 91 is greater than the density of the lens 81.

[0045] Spring constant K n Viscosity coefficient D is 30N / m to 120N / m. n is 0.002 to 0.8. Resonant frequency f W The resonance frequency f of the linear motor 801 (first driving unit 80) is 5 Hz to 20 Hz. W and the resonance frequency f of the linear motor 901 (second driving unit 90). W However, since the handheld three-dimensional scanner 100 may be used at an angle, the resonant frequency f of the linear motor 801 may be set to the same frequency as the resonant frequency f of the linear motor 801. W is the resonant frequency f of the linear motor 901 W Higher is preferable.

[0046] [Variations] The medical treatment device according to the present disclosure is not limited to the configuration described in the above embodiment, and various modifications and applications are possible. Modifications applicable to the present disclosure will be described below.

[0047] (About objects) In the three-dimensional scanner 100, as shown in FIG. 2, the lens 81 and the counterweight 91 are configured to move linearly in opposite directions, but the counterweight 91 may also function as a lens.

[0048] (Location of each component in the drive unit) In the three-dimensional scanner 100, as shown in Fig. 4, springs 55a and 55b are arranged to sandwich lens 81 from the direction of line L, but the number of springs and their locations are not limited to this. For example, multiple springs may be arranged to surround the outer periphery of lens 81 so as not to block the optical path at the center of lens 81. Furthermore, although springs 55a and 55b are arranged to sandwich lens 81, springs may be arranged on only one side of lens 81.

[0049] (About the drive unit) In the three-dimensional scanner 100, as shown in Figures 3 to 5, the driving unit applies a force to the lens 81 and the counterweight 91 in the direction of the straight line L by a magnetic circuit including a magnet, a coil, and a yoke, but the driving unit may also apply a force to the lens 81 and the counterweight 91 in the direction of the straight line L by a configuration different from such a magnetic circuit.

[0050] 3 to 5, in the three-dimensional scanner 100, the drive unit uses the resonance phenomenon caused by the response of the motion system to linearly move the lens 81 and counterweight 91 in the direction of the line L at a constant cycle, but it is not necessary to use a spring. If a spring is not used, it is sufficient to continue to pass a current through the magnetic circuit when moving an object in a linear direction, and to stop the current in the magnetic circuit when stopping the object.

[0051] The first and second drive units may both utilize the resonance phenomenon due to the response of the motor system, neither may utilize the resonance phenomenon due to the response of the motor system, or one of the first and second drive units may utilize the resonance phenomenon due to the response of the motor system.

[0052] (Examples of other applications) In the embodiment, a three-dimensional scanner that can be used in dental treatment has been described as one exemplary form of the medical treatment device, but the medical treatment device can also be applied to other uses. For example, the medical treatment device may be a cutting device that uses a cutting tool (e.g., a scaler tip, a root canal treatment file, etc.) to cut or remove an object to approximate a desired shape.

[0053] The embodiments disclosed herein should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is defined by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims. Note that the configurations exemplified in the embodiments and the configurations exemplified in the modified examples can be combined as appropriate. [Explanation of symbols]

[0054] 10 probe, 20 connection part, 30 optical measurement part, 40 control part, 45 power supply, 50 display part, 51 yoke, 52 coil, 53 permanent magnet, 55a, 55b spring, 56 block, 57 rail, 59, 77 housing, 60, 65 linear guide, 70 handpiece, 71 light source, 75 optical sensor, 80 first drive part, 81 lens, 85, 95 magnetic circuit, 90 second drive part, 91 counterweight, 99 object, 100 three-dimensional scanner, 160 holding part, 180 support part, 190 mover, 801, 901 linear motor.

Claims

1. A medical diagnostic device for scanning three-dimensional shapes, The housing and Lenses and a first driving unit that applies a force in a first linear motion direction by a first magnetic circuit to linearly move the lens in the first linear motion direction; A counterweight having a mass N times (N>1) the mass of the lens; a second driving unit that applies a force in a second linear motion direction that is on the same line as the first linear motion direction by a second magnetic circuit, thereby linearly moving the counterweight in the second linear motion direction; a control unit that controls driving of each of the first driving unit and the second driving unit, The control unit The medical diagnostic device moves the counterweight in a direction relative to the lens with a drive amplitude that is (1 / N) times the drive amplitude of the lens.

2. The medical diagnostic device according to claim 1 , wherein at least one of the first drive unit and the second drive unit includes an elastic member that applies an elastic force in a linear motion direction.

3. the first driving unit provides the elastic members at the front and rear of the lens in the first linear motion direction, The medical diagnostic device according to claim 2 , wherein the second drive unit includes elastic members provided in front of and behind the counterweight in the second linear motion direction.

4. the elastic member is a coil spring, 4. The medical diagnostic device according to claim 2, wherein the inner diameter of the coil spring is the optical path of the lens.

5. The medical diagnostic device according to any one of claims 1 to 3, wherein the control unit drives the first drive unit and the second drive unit at the same drive frequency.

6. The medical diagnostic device according to any one of claims 1 to 3, wherein the resonant frequency of the first drive unit is higher than the resonant frequency of the second drive unit.

7. The medical diagnostic device according to any one of claims 1 to 3, wherein the drive amplitude of the counterweight is equal to or greater than 1 / 20 and less than 1 time the drive amplitude of the lens.

8. The medical treatment device according to any one of claims 1 to 3, wherein the first magnetic circuit and the second magnetic circuit include a magnet, a coil, and a yoke.

9. The medical treatment device according to any one of claims 1 to 3, wherein the medical treatment device is a handheld type.

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