JP6658394B2 - Medical support arm device and motor - Google Patents

Description

  The present disclosure relates to a medical support arm device and a motor.

  2. Description of the Related Art In recent years, support arm devices have been used in medical practice to support surgery and examination. For example, there has been proposed a method in which an observation unit such as a camera for observing an operation portion is provided at the end of an arm portion of a support arm device, and an operator performs an operation while viewing an image captured by the observation unit. Alternatively, there has also been proposed a method of causing a support arm device to perform a work conventionally performed manually, such as supporting a treatment tool such as forceps by an arm portion of the support arm device.

  Here, in general, in a medical electric device (ME device: Medical Electric device), a predetermined safety standard (for example, IEC060601-1 which is an international safety standard) is used to protect a patient and an operator (operator). Required insulation must be provided. For example, in the case of a support arm device having a movable mechanism in which an actuator is provided at a joint, it is required that a motor of the actuator be insulated so as to satisfy a predetermined safety standard.

  For example, as a technique relating to insulation of a motor, Patent Literature 1 discloses a technique in which an outer casing of a motor is formed of an insulating resin. According to this technology, by ensuring that the thickness of the insulating resin constituting the jacket satisfies the required thickness stipulated in the safety standards, it is possible to ensure high reliability in safety such as prevention of electric shock. Will be possible.

JP-A-8-308162

  However, when the method of forming the outer cover of the motor with a predetermined thickness of insulating resin as in the technique described in Patent Document 1 is applied to the support arm device, the motor becomes larger, that is, the actuator becomes larger. As a result, there is a possibility that the arm portion is enlarged.

  On the other hand, considering use in the medical field, the arm portion of the support arm device is required to be smaller. If the configuration of the arm portion is large, the working space of the operator performing the operation and the field of view of the operator are restricted by the arm portion, which may hinder smooth operation.

  As described above, in the movable mechanism of the medical electrical device such as the joint of the medical support arm device, both smaller size and ensuring high safety by satisfying a predetermined safety standard are compatible. The technology to make it happen was required. Thus, the present disclosure proposes a new and improved medical support arm device and motor that can be further downsized and that can ensure higher safety.

  According to the present disclosure, an arm unit including a plurality of joint units, a medical device provided at a distal end of the arm unit, and an actuator provided at at least one of the joint units, Having a motor, the motor has a live part and a conductor around the live part, and a predetermined space distance and a predetermined creepage distance are provided between the live part and the conductor. A medical support arm device is provided, wherein a secured insulation structure is provided.

  According to the present disclosure, a live part and a conductor around the live part are provided, and a predetermined spatial distance and a predetermined creepage distance are provided between the live part and the conductive part. A motor is provided that is provided with a secured insulation structure.

  According to the present disclosure, an insulating structure in which a predetermined spatial distance and a predetermined creepage distance are secured between a live part and a conductor around the live part inside the motor. Therefore, when incorporating the motor into the movable mechanism, there is no need to provide an insulating structure between the motor and another member to which the motor is attached. Therefore, it is possible to realize a movable mechanism that is smaller and that can ensure higher safety.

  As described above, according to the present disclosure, it is possible to realize a movable mechanism that can be reduced in size and that can ensure higher safety.

  Note that the above effects are not necessarily limited, and any of the effects described in the present specification or other effects that can be grasped from the present specification are used together with or in place of the above effects. May be played.

It is the schematic which shows an example of the movable mechanism to which general insulation was given. It is the schematic which shows the other example of the movable mechanism to which general insulation was given. FIG. 2 is a schematic diagram illustrating a configuration example of a movable mechanism of a medical electrical device to which the motor according to the first embodiment is applied. FIG. 3 is a cross-sectional view in a plane (XY plane) perpendicular to the drive shaft of the motor according to the first embodiment. FIG. 2 is a cross-sectional view of a motor according to the first embodiment taken along a plane (YZ plane) passing through the drive shaft and parallel to the drive shaft. It is sectional drawing in the plane (XY plane) perpendicular to the drive shaft of the motor which concerns on 2nd Embodiment. FIG. 10 is a cross-sectional view of a motor according to a second embodiment taken along a plane (YZ plane) passing through a drive shaft and parallel to the drive shaft. It is a schematic diagram showing a situation of an operation using a support arm device. It is a figure showing an example of the whole composition of the support arm device to which the motor concerning a 1st and 2nd embodiment can be applied. FIG. 10 is an exploded perspective view illustrating a configuration example of an actuator provided at each joint of the support arm device illustrated in FIG. 9.

  Hereinafter, preferred embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In the specification and the drawings, components having substantially the same functional configuration are denoted by the same reference numerals, and redundant description is omitted.

The description will be made in the following order.
1. General insulation method for movable mechanism 1-1. Method of covering motor with insulator 1-2. Method of covering movable mechanism with insulator 1-3. Study on general insulation method First embodiment3. Second embodiment4. 4. Summary of First and Second Embodiments Application example 5-1. Overview of support arm device 5-2. Overall configuration of support arm device 5-3. 5. Configuration of actuator Supplement

  Here, the present disclosure relates to insulation for a medical electrical device having a movable mechanism that is rotationally driven by an actuator. As described above, in medical electrical equipment, it is necessary to perform insulation required by a predetermined safety standard. In the following description, as an example, a case will be described in which the safety standard is IEC060601-1 (which corresponds to JIS T0601-1 in JIS), which is widely used as an international safety standard for medical electrical equipment. However, the present disclosure is not limited to such an example, and the safety standard applied to the medical electrical device may be another standard.

  According to IEC060601-1, for example, a predetermined insulation is provided between a live part such as a coil of a motor in a medical electric device and a member of the medical electric device with which a person (operator, patient, or the like) can come into contact. Needs to be ensured. Here, in this specification, the “active part” means a conductive part intended to conduct electricity during normal use. In the case of a motor, a coil, a harness for guiding a current from the outside to the coil, a substrate receiving a current from an external power supply to which the harness can be connected, and the like correspond to the live part.

  In a general motor, a coil can be constituted by an enameled wire coated with an insulating coating, but the insulating properties of the coating of the enameled wire often do not satisfy the requirements of IEC060601-1. Therefore, in a general motor, it is considered that the motor itself is not provided with sufficient insulation. Therefore, in a medical electrical device using a general motor, an insulating structure that satisfies the insulation specified by IEC060601-1 is provided for the motor. According to IEC060601-1, the insulating structure is to provide an insulator (solid insulation) having a predetermined insulating property between the live part and the surrounding conductor, or to provide a predetermined space distance and This can be realized by providing a predetermined creepage distance.

  In the following, first, in (1. General Insulation Method for Movable Mechanism), an existing general insulation method for a movable mechanism of medical electrical equipment will be described. Next, in (2. First Embodiment) and (3. Second Embodiment), preferred embodiments of the present disclosure conceived by the present inventors will be described. Next, in (4. Summary of First and Second Embodiments), effects and the like achieved by the first and second embodiments described above will be summarized. Further, in (5. Application example), as an application example of the motor according to the first and second embodiments of the present disclosure, a configuration of a support arm device including an actuator to which the motor is applied will be described.

(1. General insulation method for movable mechanism)
Here, prior to describing a preferred embodiment of the present disclosure, in order to make the present disclosure more clear, the present inventors have examined an existing general insulating method for a movable mechanism of a medical electrical device. The results will be described, and the background that the present inventors came to the present disclosure will be described.

(1-1. Method of Covering Motor with Insulator)
An example of a general insulating method for a movable mechanism will be described with reference to FIG. FIG. 1 is a schematic diagram showing an example of a general insulated movable mechanism.

  FIG. 1 schematically shows a movable mechanism of a medical electrical device. Referring to FIG. 1, the movable mechanism 60 is connected to a fixed part 620, a motor 610 connected to the fixed part 620, and a driving shaft of the motor 610, and is driven to rotate with respect to the fixed part 620 as the motor 610 is driven. And a movable part 630. The fixed part 620 and the movable part 630 correspond to parts of the movable mechanism 60 that can be contacted by a patient and an operator, and have an exterior made of, for example, a metal chassis. Note that, in FIG. 1 and FIGS. 2 and 3 described below, different hatchings are given to the respective members for the sake of convenience in order to easily understand the relationship between the arrangement of the respective members.

  In the following description, when describing the configurations of the movable mechanism and the motor, the direction of the drive shaft of the motor (that is, the direction of the rotation axis) is also referred to as the Z-axis direction. The two directions orthogonal to each other in a plane perpendicular to the Z-axis direction are also referred to as an X-axis direction and a Y-axis direction, respectively.

  As shown in the figure, in the movable mechanism 60, a solid insulation 640 (insulator 640) is provided between the housing of the motor 610 and the fixed part 620, and between the drive shaft of the motor 610 and the movable part 630. . The insulator 640 is formed of, for example, an insulating resin or the like, and its material, thickness, and the like are adjusted so as to satisfy the insulation specified in IEC060601-1. Thereby, the insulation between the motor 610 and the fixed part 620 and between the motor 610 and the movable part 630 satisfy the requirements of IEC060601-1 and the contact between the fixed part 620 and the movable part 630 is satisfied. Patient and the operator are kept safe. Thus, as an example of a general insulating method for the movable mechanism, there is a method of covering the motor 610 with an insulator. It can be said that the technique described in Patent Document 1 is based on the method.

(1-2. Method of Covering Movable Mechanism with Insulator)
With reference to FIG. 2, another example of a general insulating method for a movable mechanism will be described. FIG. 2 is a schematic diagram showing another example of a movable mechanism provided with general insulation.

  FIG. 2 schematically shows a movable mechanism of the medical electrical apparatus, similarly to FIG. Referring to FIG. 2, the movable mechanism 70 is connected to a fixed part 720, a motor 710 connected to the fixed part 720, and a driving shaft of the motor 710, and is driven to rotate with respect to the fixed part 720 as the motor 710 is driven. And a movable portion 730. The fixed part 720 and the movable part 730 correspond to parts of the movable mechanism 70 that can be contacted by a patient and an operator, and have an exterior made of, for example, a metal chassis.

  As shown in the figure, the movable mechanism 70 is provided with a solid insulator 740 (insulator 740) so as to cover the entire movable mechanism 70. The insulator 740 is made of, for example, an insulating resin or the like, and its material, thickness, and the like are adjusted so as to satisfy the insulation specified by IEC060601-1. Thereby, the patient and the operator come into contact with the fixed part 720 and the movable part 730 via the insulator 740 having a predetermined insulation property, so that the safety of the patient and the operator is maintained. It is. As described above, another example of a general insulating method for the movable mechanism includes a method of covering the movable mechanism 70 with an insulator.

(1-3. Examination of general insulation method)
Here, in recent years, a support arm device is being used in a medical field to support surgery and examination. In a support arm device having a drive shaft, an actuator is provided at a joint corresponding to the drive shaft, and the position and posture of the arm are controlled by controlling the drive of a motor of the actuator. As described above, the joints of the medical support arm device correspond to the above-described movable mechanisms 60 and 70, and the joints are required to have insulation properties conforming to IEC060601-1.

  On the other hand, in a medical support arm device, the arm portion is required to be smaller. If the configuration of the arm portion is large, the working space of the operator performing the operation and the field of view of the operator are restricted by the arm portion, which may hinder smooth operation. In addition, since there are many medical staff and other medical devices in the operating room, further downsizing of the medical support arm device is required in order not to interfere with people and objects around them. ing.

  Considering the above circumstances, a case where the above-described general insulating method is applied to the joint of the medical support arm device will be considered. First, when the method of covering the motor 610 with an insulator is applied, the size of the motor 610 is increased, so that the size of the actuator is increased, and consequently, the size of the arm may be increased. In addition, in this method, the insulator 640 is also provided on the drive shaft of the motor 610, so that the output torque of the motor 610 may be limited so that the insulator 640 is not deformed or broken. In order to secure the output torque of the motor 610, it is necessary to increase the size of the insulator 640 in order to improve the strength of the insulator 640, and the arm portion is further increased in size.

  In addition, when a method of covering the entire movable mechanism 70 with an insulator is applied, the entire arm portion is covered with the insulator, so that there is a concern that the arm portion may also be enlarged. In addition, since the insulator 740 must be arranged so as not to hinder the operation of the arm portion and not to expose the arm portion even when the arm portion operates, the number of parts increases and the design difficulty increases. Would. When the configuration is complicated, there is a concern that the assembling work and the maintenance work become complicated. Further, since the entire arm portion is covered with the insulator, the heat generated by the motor or the like is unlikely to be radiated to the outside, and the normal operation of the medical electrical apparatus may be hindered.

  As described above, according to the general existing technology, an actuator provided in a movable mechanism of a medical electrical device such as a joint of a medical support arm device has a smaller size and satisfies a predetermined safety standard. It has been difficult to ensure a high level of safety. In view of the above circumstances, the present inventors have developed a technology that can achieve both miniaturization of an actuator and ensuring high safety by satisfying a predetermined safety standard. As a result of intensive studies, the present inventors have arrived at the following preferred embodiments of the present disclosure. Hereinafter, preferred embodiments of the present disclosure conceived by the inventors will be described in detail.

(2. First Embodiment)
The configuration of the motor according to the first embodiment of the present disclosure will be described with reference to FIGS. FIG. 3 is a schematic diagram illustrating a configuration example of a movable mechanism of a medical electrical device to which the motor according to the first embodiment is applied. FIG. 4 is a sectional view on a plane (XY plane) perpendicular to the drive shaft of the motor according to the first embodiment. FIG. 5 is a cross-sectional view of the motor according to the first embodiment taken along a plane (YZ plane) passing through the drive shaft and parallel to the drive shaft.

  FIG. 3 schematically illustrates a movable mechanism of a medical electrical apparatus to which the motor according to the first embodiment is applied. Referring to FIG. 3, the movable mechanism 10 is connected to a fixed unit 120, a motor 110 connected to the fixed unit 120, and connected to a drive shaft of the motor 110, and is driven to rotate with respect to the fixed unit 120 as the motor 110 is driven. And a movable part 130. The fixed part 120 and the movable part 130 correspond to parts of the movable mechanism 10 that a patient and an operator can contact. For example, the movable mechanism 10 corresponds to a joint forming an arm of the medical support arm device. Further, for example, the fixed part 120 and the movable part 130 are parts corresponding to the links constituting the arm part of the medical support arm device, and have an exterior made of, for example, a metal chassis.

  As will be described later with reference to FIGS. 4 and 5, in the first embodiment, in the motor 110, a live part such as the coil 113 is connected to a conductor surrounding the live part. An insulation structure is provided in which the insulation properties satisfy a predetermined safety standard (for example, IEC060601-1). The conductive member existing around the live part includes, for example, an iron core, a motor exterior (housing), a bearing, a rotor shaft (drive shaft), a magnet, and the like, and has conductivity among components constituting the motor. Various parts are included. Therefore, in the first embodiment, as shown in FIG. 3, an insulator is provided between the motor 110 and the fixed part 120 and between the motor 110 and the movable part 130, or the fixed part 120 and the movable part 130 are There is no need to provide an insulator to cover. Therefore, according to the first embodiment, it is possible to further reduce the size of the movable mechanism 10 as compared with the above-described general method.

  The configuration of the motor 110 according to the first embodiment will be described in more detail with reference to FIGS. 4 and 5, the motor 110 includes a drive shaft 111, a substantially cylindrical housing 115 that rotatably supports the drive shaft 111 via a bearing (not shown), and an outer periphery of the drive shaft 111. And a substantially cylindrical coil 113 provided in the housing 115 so as to oppose the magnet 112, and a magnet 112 provided so as to cover one portion in the rotation axis direction in the circumferential direction and rotating together with the drive shaft 111. And a substantially cylindrical back yoke 114 provided on the inner wall so as to face the magnet 112 via the coil 113. In the motor 110, a solid insulation 116 (insulator 116) is provided so as to cover the periphery of the coil 113.

  When a current is applied to the coil 113 and its direction is switched at an appropriate timing, the drive shaft 111 rotates due to the interaction between the magnetic field generated from the coil 113 and the magnetic field generated by the magnet 112. The back yoke 114 is a member provided to suppress the leakage of magnetic flux and increase the magnetic flux density interlinking the coil 113. For example, a thin plate made of a soft magnetic material such as an iron-based alloy to which Si is added is used. It is formed by laminating a plurality.

  Thus, the motor 110 is different from a so-called coreless general brushless motor in that the insulator 116 is provided between the coil 113 and the surrounding conductors (for example, the back yoke 114, the housing 115, etc.). Corresponding. As the drive shaft 111, the magnet 112, the coil 113, the back yoke 114, and the housing 115, various configurations generally used in a coreless brushless motor may be applied. Description is omitted.

  Here, in order to satisfy the insulation specified by IEC060601-1 in the motor 110, it is necessary to provide an insulating structure that satisfies the insulation specified by IEC060601-1 for the coil 113 that is a live part. There is. According to IEC060601-1, the insulating structure is to provide an insulator (solid insulation) having a predetermined insulation performance between the live part and the surrounding conductor, or to provide a predetermined space distance and a predetermined distance. This can be achieved by providing a creepage distance. At this time, the insulation required for the insulator and the distance required for the space distance and the creepage distance can be determined based on IEC060601-1 according to, for example, the power supply voltage of the motor 110 and the use environment.

  In the first embodiment, as described above, the insulator 116 is provided so as to cover the periphery of the coil 113. The material and thickness of the insulator 116 are adjusted so as to satisfy the insulation specified by IEC060601-1. Note that the insulator 116 may be a sheet-like member made of, for example, a resin-based material. However, the first embodiment is not limited to such an example. As the insulator 116, various known materials and shapes that can achieve desired insulation properties may be used.

  On the other hand, in the illustrated example, an opening that is not covered with the insulator 116 exists in one portion of the coil 113. The opening may be, for example, a portion where a harness or the like for guiding a current from outside to the coil 113 is connected to the coil 113. In the first embodiment, the coil 113 and the coil 113 are connected so that the space distance and the creepage distance between the coil 113 and the surrounding conductor through the opening are secured by the distance specified by IEC060601-1. The positional relationship with the housing 115, the positional relationship between the coil 113 and the back yoke 114, and / or the formation position of the insulator 116 (that is, the formation position of the opening in the insulator 116) are adjusted. In FIG. 5, as an example, a spatial distance dcl between the coil 113 and the housing 115 and a creepage distance dcr between the coil 113 and the back yoke 114 are schematically shown. When the harness is connected to the coil 113 as described above, the harness may also be a live part, so that the harness may be covered with, for example, the insulator 116, or may be provided around the harness. , Such as providing a predetermined spatial distance and creepage distance.

  As described above, in the motor 110 according to the first embodiment, the insulator 116 that satisfies IEC060601-1 and the IEC060601- are provided between the coil 113 that is an active body and the surrounding conductor. A predetermined spatial distance and a predetermined creepage distance that satisfy the requirements of 1 are provided. Therefore, members exposed to the outside of the motor 110, such as the drive shaft 111 and the housing 115, have the insulation specified by IEC060601-1. Therefore, as shown in FIG. There is no need to further provide an insulator between the and surrounding members. Therefore, according to the first embodiment, it is possible to further reduce the size of the movable mechanism 10 while satisfying the requirements of IEC060601-1.

  In the example shown in FIG. 5, in order to insulate the coil 113, the periphery of the coil 113 is covered with the insulator 116, and a predetermined space distance and a predetermined creepage distance are set at the opening not covered with the insulator 116. Although secured, the first embodiment is not limited to such an example. As described above, according to IEC060601-1, an insulator having a predetermined insulation performance is provided between the coil 113 as an active body and a surrounding conductor, or a predetermined space distance and a predetermined By providing the creepage distance, insulation properties may be ensured, and a method of realizing an insulating structure for insulating the coil 113 is not limited to the illustrated example.

  For example, if it is possible to provide a predetermined space distance and a predetermined creepage distance between the coil 113 and the surrounding conductors, the insulator 116 may not be provided. Alternatively, for example, if it is possible to cover the entire periphery of the live part such as the coil 113 and the harness described above with the insulator 116, a predetermined space distance and a predetermined creepage distance are provided around these live parts. It is not necessary. How to realize the insulating structure may be appropriately set according to the structure of the motor 110 or the like.

  However, it is generally known that in a motor, when the distance between the coil and the magnet increases, the interaction of the magnetic field between the coil and the magnet weakens, so that the output torque of the motor decreases. By providing the insulating structure, the distance between the coil 113 and the magnet 112 can be changed. Therefore, when providing the insulating structure for the motor 110, the performance required for the motor 110 in consideration of the application is taken into consideration. Is preferably determined.

  In addition, in the examples illustrated in FIGS. 4 and 5, the case where the coil 113 is insulated as an example of the live part is illustrated, but the first embodiment is not limited to such an example. In the motor 110, other than the coil 113, there may be other components that can function as a live part, such as the above-described harness and a substrate that receives a current from an external power supply to which the harness can be connected. In the first embodiment, when there is a live part other than the coil 113, an insulation structure suitable for IEC060601-1 is provided for the other live part as well as the coil 113. Can be

  The configuration of the motor 110 according to the first embodiment has been described above with reference to FIGS. Note that the configuration of the motor 110 is not limited to the examples illustrated in FIGS. 4 and 5, and the motor 110 may have a configuration in which an insulator 116 is provided for various known coreless brushless motors.

(3. Second Embodiment)
A configuration of a motor according to the second embodiment of the present disclosure will be described with reference to FIGS. 6 and 7. FIG. 6 is a cross-sectional view in a plane (XY plane) perpendicular to the drive shaft of the motor according to the second embodiment. FIG. 7 is a cross-sectional view of a motor according to the second embodiment taken along a plane (YZ plane) passing through the drive shaft and parallel to the drive shaft. The configuration of the movable mechanism on which the motor according to the second embodiment can be mounted is the same as that of the movable mechanism 10 according to the first embodiment shown in FIG. Therefore, in the following description of the second embodiment, the configuration of the motor according to the second embodiment will be mainly described, and description of the movable mechanism on which the motor can be mounted will be omitted.

  Referring to FIGS. 6 and 7, a motor 210 according to the second embodiment includes a drive shaft 211 and a substantially cylindrical housing 215 that rotatably supports the drive shaft 211 via a bearing (not shown). A magnet 212 provided so as to circumferentially cover one portion of the outer periphery of the drive shaft 211 in the rotation axis direction and rotating with the drive shaft 211; and a plurality of stator cores 214 projecting inward from the inner wall of the housing 215. And a coil 213 formed by winding a conductive wire around the stator core 214 and provided to face the magnet 212. In the motor 210, the solid insulation 216 (insulator 216) is provided so as to cover the periphery of the coil 213 provided on each stator core 214.

  When a current is applied to the coil 213 and its direction is switched at an appropriate timing, the interaction between the magnetic field generated from the coil 213 and the magnetic field generated by the magnet 212 causes the drive shaft 211 to rotate. Thus, the motor 210 is different from a general brushless motor having the stator core 214 in that the insulator 216 is provided between the coil 213 and the surrounding conductors (for example, the stator core 214 and the housing 215). Corresponding. As the drive shaft 211, the magnet 212, the coil 213, the stator core 214, and the housing 215, various configurations generally used in a brushless motor having a stator core may be applied. Description is omitted.

  As in the first embodiment, the material and thickness of the insulator 216 covering the coil 213 are adjusted to satisfy the insulation specified by IEC060601-1. The insulator 216 can be made of, for example, a resin-based material. However, the second embodiment is not limited to such an example. As the insulator 216, various known materials and shapes that can achieve desired insulating properties may be used.

  As shown in FIG. 7, in the second embodiment as well, an opening that is not covered with the insulator 216 for connecting a harness or the like to the coil 213 may exist in one portion of the coil 213. . As described above, when an opening that is not covered with the insulator 216 exists in one portion of the coil 213, the spatial distance and the creepage distance between the coil 213 and the surrounding conductor through the opening. Is secured by a distance defined by IEC060601-1 so that a positional relationship between the coil 213 and the housing 215, a positional relationship between the coil 213 and the stator core 214, and / or a formation position of the insulator 216 (that is, The position at which the opening is formed in the insulator 216 and the like can be adjusted (for simplicity, the spatial distance dcl and the creepage distance dcr are not shown in FIG. 7). As in the first embodiment, when a harness is connected to the coil 213, the harness is also covered with, for example, an insulator 216 or a predetermined space distance and a predetermined distance around the harness. Measures such as providing a creepage distance may be taken.

  As described above, in the motor 210 according to the second embodiment, similarly to the motor 110 according to the first embodiment, the IEC060601 is provided between the coil 213 that is an active body and the surrounding conductor. An insulator 216 that satisfies the stipulation of -1 and a predetermined spatial distance and a predetermined creepage distance that satisfy the stipulation of IEC060601-1 are provided. Therefore, members exposed to the outside of the motor 210, such as the drive shaft 211 and the housing 215, have the insulation specified by IEC060601-1, so that the movable mechanism 10 shown in FIG. In the case where the motor 210 is used, there is no need to further provide an insulator between the motor 210 and surrounding members. Therefore, also in the second embodiment, it is possible to further reduce the size of the movable mechanism 10 while satisfying the requirements of IEC060601-1.

  Note that, similarly to the first embodiment, in the second embodiment, an insulator having a predetermined insulating performance is provided between the coil 213 that is an active body and a surrounding conductor, or By providing a predetermined space distance and a predetermined creepage distance, insulation may be ensured, and a method of realizing an insulating structure for insulating the coil 213 is not limited to the illustrated example. When an insulating structure is provided for the motor 210, the insulating structure is preferably determined in consideration of a change in performance of the motor 210 due to the provision of the insulating structure. 6 and 7 show a case where the coil 213 is insulated as an example of the live part. However, when there is a live part other than the coil 213, Also, an insulating structure suitable for IEC060601-1 can be provided for the other live parts as well as the coil 213.

  The configuration of the motor 210 according to the second embodiment has been described above with reference to FIGS. Note that the configuration of the motor 210 is not limited to the examples illustrated in FIGS. 6 and 7, and the motor 210 may have a configuration in which an insulator 216 is provided for a brushless motor having various known stator cores.

(4. Summary of First and Second Embodiments)
As described above, in the motors 110 and 210 according to the first and second embodiments, inside the motors 110 and 210, the insulation between the live parts and the surrounding conductors is predetermined. An insulation structure that meets safety standards is provided. Therefore, there is no need to provide an insulating structure between the motors 110 and 210 and other members that come into contact with the motors 110 and 210, and the motors 110 and 210 can be directly attached to the members. It is possible to reduce the size of the entire structure of the movable mechanism 10 provided with the motors 110 and 210 while ensuring the insulation specified by the safety standards.

  Further, since the motors 110 and 210 can be directly attached to the metal chassis of the exterior of other members (for example, the fixed part 120 and the movable part 130 shown in FIG. 3), the heat generated by the motors 110 and 210 is And the temperature of the entire medical electrical device can be suppressed from rising.

  Here, as described in the above (1. General insulating method for movable mechanism), in the method of covering motor 610 with an insulator, the drive shaft of motor 610 is connected to movable section 630 via insulator 640. Therefore, the output torque of the motor 610 may be limited so that the insulator 640 is not deformed or broken. On the other hand, according to the first and second embodiments, the drive shafts of the motors 110 and 210 can be directly attached to the movable unit 130 as described above. Therefore, since the housing of the motor and the metal chassis of the movable portion 130 can be used as strength components, the output torque of the motor 110 is not excessively limited as compared with the case where the insulator 640 is interposed.

  In addition, as described in the above (1. General method of insulating the movable mechanism), the method of covering the entire movable mechanism 70 with the insulator does not hinder the operation of the arm unit, and is performed when the arm is operated. Even if there is, the insulator 740 must be arranged so that the arm portion is not exposed, so that the number of parts increases, and there is a possibility that the design difficulty may increase. On the other hand, according to the first and second embodiments, as described above, the drive shafts of the motors 110 and 210 can be directly attached to the movable unit 130, so that the configuration can be simplified, and Lighter weight and lower cost of electric equipment can be realized.

  In the first and second embodiments described above, the case where the motors 110 and 210 are brushless motors has been described, but the present disclosure is not limited to such an example. The type of motor to which the insulating structure in the first and second embodiments can be applied is not particularly limited, and the insulating structure may be applied to various known motors.

(5. Application example)
As described above, the motors 110 and 210 according to the first and second embodiments have insulation properties that satisfy the standard IEC060601-1 for medical electrical equipment. Here, as an application example of the motors 110 and 210 to medical electrical equipment, a case where the motors 110 and 210 are used for an actuator provided at a joint of a medical support arm device used for a medical operation such as an operation or an examination. Will be described. However, the medical electrical devices to which the motors 110 and 210 can be applied are not limited to such examples, and the motors 110 and 210 may be applied to various medical electrical devices having a driving mechanism.

(5-1. Outline of support arm device)
Prior to a detailed description of a configuration of a support arm device to which the motors 110 and 210 according to the first and second embodiments can be applied, a state of an operation using the support arm device will be described, and a medical support arm will be described. Various performances required for the device will be described.

  With reference to FIG. 8, an operation using the support arm device will be described. FIG. 8 is a schematic view showing a state of an operation using the support arm device.

  FIG. 8 illustrates a state in which the surgeon 520 is performing an operation on the patient 540 on the operating table 530 using a surgical treatment tool 521 such as a scalpel, forceps, or forceps. A support arm device 510 to which the motors 110 and 210 according to the first and second embodiments can be applied is provided beside the operating table 530.

  The support arm device 510 includes a base 511 serving as a base, and an arm 512 extending from the base 511. Although not shown, the support arm device 510 is provided with a control device (corresponding to a control device 430 shown in FIG. 9 described later) that controls the operation of the support arm device 510.

  The arm unit 512 includes a plurality of joints 513a, 513b, 513c, a plurality of links 514a, 514b connected by the joints 513a, 513b, and an imaging unit 515 connected to the tip of the arm 512 by the joint 513c. And The joints 513a to 513c are provided with an actuator 300 shown in FIG. 10 described later, and the joints 513a to 513c are configured to be rotatable with respect to a predetermined rotation axis by driving the actuator 300. When the drive of the actuator 300 is controlled by the control device, the rotation angles of the joints 513a to 513c are controlled, and the drive of the arm 512 is controlled.

  The motors 110 and 210 according to the first and second embodiments described above can be suitably applied as a motor of the actuator 300. Thus, the actuator 300, that is, the joints 513a to 513c can be reduced in size, and the entire arm 512 can be reduced in size.

  In FIG. 8, for simplicity, the configuration of the arm portion 512 is shown in a simplified form, but in actuality, the joint portions 513a to 513c and the link 514a, The number and arrangement of the 514b, the direction of the drive shaft (rotation axis) of the joints 513a to 513c, and the like may be appropriately set. For example, the arm portion 512 can be preferably configured to have six or more degrees of freedom. Accordingly, the imaging unit 515 can be freely moved within the movable range of the arm 512.

  The imaging unit 515 is an example of an observation unit for observing an operation site of the patient 540, and is, for example, a camera that can capture a moving image and / or a still image of a capturing target. Other examples of the observation unit include, for example, an endoscope and a microscope. In the present specification, a support arm device provided with an observation unit for observing the operative site of the patient 540 at the distal end of the arm portion 512 is also referred to as an observation device in this specification.

  When performing an operation, as shown in FIG. 8, the arm unit 512 and the imaging unit 515 are supported by the support arm device 510 such that the imaging unit 515 provided at the distal end of the arm unit 512 takes an image of the operative site of the patient 540. Is controlled. In the operating room, a display device 550 is provided at a position facing the operator 520, and an image of the operative site captured by the imaging unit 515 is displayed on the display device 550. The surgeon 520 performs various treatments while observing the image of the surgical site displayed on the display device 550.

  Note that the distal end unit provided at the distal end of the arm portion 512 is not limited to the observation unit such as the imaging unit 515, and may be various medical instruments. The medical instrument may include various treatment tools such as forceps and a retractor in addition to the above-described observation unit. Conventionally, the operation of these medical instruments has been performed manually, and therefore, a large number of medical staffs have been required for the surgery. However, by operating these medical instruments by the support arm device 510, less operation is required. The operation can be performed by the number of people.

  The operation using the support arm device 510 has been described above with reference to FIG. In the example illustrated in FIG. 8, the support arm device 510 is used for an operation. However, for example, if a unit for inspection such as an endoscope is provided as a distal end unit, the support arm device 510 is used for inspection. You may be.

  Here, in the medical support arm device 510 as described above, the arm portion 512 is located near the operative site during an operation or an examination. Therefore, when the configuration of the arm portion 512 is large, the working space of the operator 520 is limited, and it may be difficult to perform a smooth treatment. Also, as shown in the figure, when the surgeon 520 performs an operation while referring to the image on the display device 550, the arm portion 512 can be located between the surgeon 520 and the display device 550. If the configuration of 512 is large, the field of view of the operator 520 observing the display device 550 may be blocked, and the operation of the operator 520 may be hindered.

  As described above, the arm portion 512 of the medical support arm device 510 is required to be smaller in order to perform the operation and the examination more smoothly. According to this application example, the arm unit 512 can be reduced in size by providing the actuator 300 on which the motors 110 and 210 according to the first and second embodiments are mounted in each of the joint units 513a to 513c. It is possible to meet the request of.

  Hereinafter, the configuration of the support arm device according to this application example will be described in more detail.

(5-2. Overall Configuration of Support Arm Device)
With reference to FIG. 9, an overall configuration of a support arm device to which the motors 110 and 210 according to the first and second embodiments can be applied will be described. FIG. 9 is a diagram illustrating an example of an overall configuration of a support arm device to which the motors 110 and 210 according to the first and second embodiments can be applied.

  Referring to FIG. 9, the support arm device 400 includes a base unit 410, an arm unit 420, and a control device 430. The support arm device 400 is a medical support arm device that can be suitably applied to surgery, examination, and the like, similarly to the support arm device 510 illustrated in FIG. 8 described above.

  The base 410 is a base of the support arm device 400, and the arm 420 extends from the base 410. The base unit 410 is provided with casters, and the support arm device 400 is configured to be in contact with the floor via the casters and to be movable on the floor by the casters.

  The arm 420 has a plurality of joints 421a to 421f, a plurality of links 422a to 422c connected to each other by the joints 421a to 421f, and an imaging unit 423 provided at a tip of the arm 420.

  The links 422a to 422c are rod-shaped members. One end of the link 422a is connected to the base 410 via the joint 421a, and the other end of the link 422a is connected to one end of the link 422b via the joint 421b. The other end of the link 422b is connected to one end of the link 422c via the joints 421c and 421d. Furthermore, the imaging unit 423 is connected to the tip of the arm 420, that is, the other end of the link 422c via the joints 421e and 421f. As described above, the ends of the plurality of links 422a to 422c are connected to each other by the joints 421a to 421f with the base 410 serving as a fulcrum, thereby forming an arm shape extending from the base 410.

  The imaging unit 423 is an example of an observation unit for observing a surgical site, and is, for example, a camera that can capture a moving image and / or a still image of a capturing target. The imaging unit 423 corresponds to the imaging unit 515 shown in FIG. 8 described above. The image of the operative site of the patient captured by the imaging unit 423 is displayed on, for example, a display device (not shown) provided in the operating room, and the operator can display the image of the operative site of the patient displayed on the display device. Perform surgery while observing. As described above, the support arm device 400 can be the observation device 400 in which the observation unit is attached to the tip of the arm 420. As described above, for example, an endoscope or a microscope may be provided as the observation unit.

  However, the distal end unit provided at the distal end of the arm 420 is not limited to the observation unit, and various treatment tools such as forceps and a retractor may be connected to the distal end of the arm 420.

  The joints 421a to 421f are provided with an actuator 300 shown in FIG. 10 described later. The joints 421a to 421f are configured to be rotatable with respect to a predetermined rotation axis by driving the actuator 300. The driving of the actuator 300 is controlled by the control device 430. By controlling the drive of the actuator 300 of each of the joints 421a to 421f, the drive of the arm 420, for example, extending or contracting (folding) the arm 420 is controlled.

  In this application example, the motors 110 and 210 according to the first and second embodiments described above can be mounted on the actuator 300 of each of the joints 421a to 421f. Accordingly, the actuator 300, that is, the joints 421a to 421f can be reduced in size, and the entire arm 420 can also be reduced in size. The configuration of the actuator 300 will be described in detail below (5-3. Configuration of Actuator).

  In the illustrated example, the support arm device 400 has six joints 421 a to 421 f, and achieves six degrees of freedom with respect to driving of the arm 420. By configuring the arm unit 420 to have six degrees of freedom, the imaging unit 423 can be freely moved within the movable range of the arm unit 420. This makes it possible for the imaging unit 423 to image the operative site from various angles and distances. However, the configuration of the arm 420 is not limited to the illustrated example. It may be appropriately set to have a degree of freedom. However, in consideration of the degree of freedom of the position and posture of the imaging unit 423, the arm unit 420 may be preferably configured to have six or more degrees of freedom.

  The control device 430 is configured by, for example, a processor such as a CPU (Central Processing Unit) or a DSP (Digital Signal Processor), or a microcomputer equipped with these processors, and executes signal processing according to a predetermined program. , The operation of the support arm device 400 is controlled.

  The control method of the support arm device 400 is not particularly limited, and the operation of the support arm device 400 may be controlled by various known control methods such as position control and force control. When the support arm device 400 is controlled by position control, an input device such as a controller for operating the arm unit 420 may be provided. When the support arm device 400 is controlled by force control, for example, the user may touch the arm unit 420 directly, and in response to an operation of moving the arm unit 420, the user may be added to the arm unit 420. The operation of the arm 420 can be controlled such that the arm 420 moves in the direction of the force. As a specific control method of the support arm device 400 by the position control or the force control, various known methods may be used, and a detailed description thereof will be omitted.

  Although the control device 430 is connected to the base unit 410 via a cable in the illustrated example, a control board or the like having the same function as the control device 430 may be provided inside the base unit 410. .

  The overall configuration of the support arm device 400 to which the motors 110 and 210 according to the first and second embodiments can be applied has been described with reference to FIG.

(5-3. Configuration of Actuator)
With reference to FIG. 10, a configuration of an actuator provided in each of the joints 421a to 421f of the support arm device 400 illustrated in FIG. 9 will be described. FIG. 10 is an exploded perspective view showing a configuration example of an actuator provided in each of the joints 421a to 421f of the support arm device 400 shown in FIG.

  Referring to FIG. 10, the actuator 300 includes a motor 310, a speed reducer 320, an input shaft encoder 330, an output shaft encoder 340, an output shaft 350, and a housing 360. In the actuator 300, the rotation of the rotation shaft of the motor 310 is reduced at a predetermined reduction ratio by the speed reducer 320, and transmitted to another member at the subsequent stage via the output shaft 350, whereby the other member is driven. It will be.

  The housing 360 has a substantially cylindrical shape, and each component is stored inside. The actuator 300 is incorporated in each of the joints 421a to 421f of the above-described support arm device 400 in a state where each component is stored in the housing 360.

  The motor 310 is a driving mechanism that generates a driving force by rotating a rotating shaft at a rotation speed corresponding to the command value when a predetermined command value (current value) is given. In this application example, as the motor 310, the motors 110 and 210 according to the above-described first and second embodiments are used. Accordingly, there is no need to provide an insulating structure such as an insulator between the rotating shaft or the exterior of the motor 310 and other members that come into contact with them, so that the actuator 300 can be reduced in size.

  A reduction gear 320 is connected to a rotation shaft of the motor 310. The speed reducer 320 transmits the rotation speed of the rotation shaft of the connected motor 310 (that is, the rotation speed of the input shaft) to the output shaft 350 by reducing the rotation speed at a predetermined reduction ratio. In this application example, the configuration of the reduction gear 320 is not limited to a specific configuration, and various known reduction gears may be used as the reduction gear 320. However, as the speed reducer 320, it is preferable to use a speed reducer such as Harmonic Drive (registered trademark) that can set the reduction ratio with high accuracy. Further, the reduction ratio of the speed reducer 320 can be appropriately set according to the use of the actuator 300. For example, when the actuator 300 is applied to the joints 421a to 421f of the support arm device 400 as in this application example, the speed reducer 320 having a speed reduction ratio of about 1: 100 can be suitably used.

  The input shaft encoder 330 detects the rotation angle of the input shaft (that is, the rotation angle of the motor 310). The output shaft encoder 340 detects the rotation angle of the output shaft 350. The configurations of the input shaft encoder 330 and the output shaft encoder 340 are not limited. As the input shaft encoder 330 and the output shaft encoder 340, various known rotary encoders such as a magnetic encoder and an optical encoder may be used.

  The configuration of the actuator 300 to which the motors 110 and 210 according to the first and second embodiments can be applied has been described with reference to FIG. Note that the actuator 300 may further include a configuration other than the illustrated configuration. For example, the actuator 300 is a general circuit such as a driver circuit (driver IC (Integrated Circuit)) for rotating the motor 310 by supplying a current to the motor 310 or a torque sensor for detecting a torque acting on the output shaft 350. Various members that the actuator may have may be further provided. In particular, when the operation of the support arm device 400 is controlled by force control, the actuator 300 may be suitably provided with a torque sensor to detect the force acting on the arm 420.

(6. Supplement)
Although the preferred embodiments of the present disclosure have been described above in detail with reference to the accompanying drawings, the technical scope of the present disclosure is not limited to such examples. It is apparent that a person having ordinary knowledge in the technical field of the present disclosure can arrive at various changes or modifications within the scope of the technical idea described in the claims. It is understood that also belongs to the technical scope of the present disclosure.

  Further, the effects described in this specification are merely illustrative or exemplary, and are not restrictive. That is, the technology according to the present disclosure can exhibit other effects that are obvious to those skilled in the art from the description in the present specification, in addition to or instead of the above effects.

Note that the following configuration also belongs to the technical scope of the present disclosure.
(1)
An arm portion composed of a plurality of joint portions;
A medical device provided at the tip of the arm portion,
An actuator provided on at least one of the joints;
With
The actuator has a motor,
The motor has a live part and a conductor around the live part,
An insulation structure is provided between the live part and the conductor, where a predetermined space distance and a predetermined creepage distance are secured,
Medical support arm device.
(2)
The joint is configured by a movable mechanism having a fixed part and a movable part,
The motor is mounted between the fixed part and the movable part without a further insulating structure interposed therebetween.
The medical support arm device according to the above (1).
(3)
The medical device provided at the tip of the arm unit is an observation unit for observing an operation site.
The medical support arm device according to (1) or (2).
(4)
The actuator further includes a speed reducer and an encoder,
The medical support arm device according to any one of (1) to (3).
(5)
The actuator further includes a torque sensor,
The medical support arm device according to any one of (1) to (4).
(6)
The driving of the actuator is controlled by force control.
The medical support arm device according to any one of (1) to (5).
(7)
The space distance and the creepage distance are defined by a predetermined safety standard for medical electrical equipment,
The medical support arm device according to any one of the above (1) to (6).
(8)
The safety standard is IEC060601-1.
The medical support arm device according to the above (7).
(9)
At least a part of the insulating structure is provided with an insulator.
The medical support arm device according to any one of (1) to (8).
(10)
The motor is a coreless brushless motor having no stator core,
The live part is a coil,
The medical support arm device according to any one of (1) to (9).
(11)
The motor is a brushless motor having a stator core,
The live part is a coil,
The medical support arm device according to any one of (1) to (9).
(12)
Live parts,
A conductor around the live part,
With
An insulation structure is provided between the live part and the conductor, where a predetermined space distance and a predetermined creepage distance are secured,
motor.
(13)
The live part includes at least a coil,
The space distance and the creepage distance are defined by a predetermined safety standard for medical electrical equipment,
The motor according to (12).
(14)
The safety standard is IEC060601-1.
The motor according to (13).
(15)
At least a part of the insulating structure is provided with an insulator.
The motor according to any one of (12) to (14).
(16)
The motor is a coreless brushless motor having no stator core,
The live part is a coil;
The motor according to any one of (12) to (15).
(17)
The motor is a brushless motor having a stator core,
The live part is a coil;
The motor according to any one of (12) to (15).

10, 60, 70 Movable mechanism 110, 610, 710 Motor 120, 620, 720 Fixed part 130, 630, 730 Movable part 111, 211 Drive shaft 112, 212 Magnet 113, 213 Coil 114 Back yoke 115, 215 Housing 116, 216 Insulator 214 Stator core 300 Actuator 310 Motor 320 Reducer 330 Input shaft encoder 340 Output shaft encoder 350 Output shaft 360 Housing 400, 510 Support arm device (observation device)
410, 511 Base unit 420, 512 Arm unit 421a to 421f, 513a to 513c Joint unit 423, 515 Imaging unit 430 Control device 640, 740 Insulator

Claims (14)

An arm portion composed of a plurality of joint portions;
A medical device provided at the tip of the arm portion,
An actuator provided on at least one of the joints;
With
The actuator has a motor,
The motor has a live part and a conductor around the live part,
A space is provided between the live part and the conductor as an insulating structure in which a predetermined space distance and a predetermined creepage distance defined by IEC060601-1 as a predetermined safety standard for medical electrical equipment are secured. Can be
Medical support arm device. The periphery of the live part is covered with an insulator except for the opening,
Through the opening, so that the space distance and creepage distance between the live part and the conductor, the predetermined space distance and the predetermined creepage distance are ensured, the live part and the creepage distance The positional relationship with the conductor is adjusted,
The medical support arm device according to claim 1 . The joint is configured by a movable mechanism having a fixed part and a movable part,
The motor is mounted between the fixed part and the movable part without a further insulating structure interposed therebetween.
The medical support arm device according to claim 1. The medical device provided at the tip of the arm unit is an observation unit for observing an operation site.
The medical support arm device according to any one of claims 1 to 3 . The actuator further includes a speed reducer and an encoder,
The medical support arm device according to any one of claims 1 to 4 . The actuator further includes a torque sensor,
The medical support arm device according to any one of claims 1 to 5 . The driving of the actuator is controlled by force control.
The medical support arm device according to any one of claims 1 to 6 . The motor is a coreless brushless motor having no stator core,
The live parts is Ri Oh coil,
The conductor is a back yoke,
The medical support arm device according to any one of claims 1 to 7 . The motor is a brushless motor having a stator core,
The live parts is Ri Oh coil,
The conductor is the stator core,
The medical support arm device according to any one of claims 1 to 7 . A motor included in an actuator provided at at least one of the joints of an arm having a medical device at a distal end, the motor including a plurality of joints,
Live parts,
A conductor around the live part,
With
A space is provided between the live part and the conductor as an insulating structure in which a predetermined space distance and a predetermined creepage distance defined by IEC060601-1 as a predetermined safety standard for medical electrical equipment are secured. Can be
motor. The periphery of the live part is covered with an insulator except for the opening,
Through the opening, so that the space distance and creepage distance between the live part and the conductor, the predetermined space distance and the predetermined creepage distance are ensured, the live part and the creepage distance The positional relationship with the conductor is adjusted,
The motor according to claim 10 . The live part includes at least a coil,
A motor according to claim 10 . The motor is a coreless brushless motor having no stator core,
The live parts is Ri Oh coil,
The conductor is a back yoke,
The motor according to any one of claims 10 to 12 . The motor is a brushless motor having a stator core,
The live part is a coil,
The conductor is the stator core,
The motor according to any one of claims 10 to 12 .

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