Motor, actuator, and medical support arm apparatus

Patent metadata

Field	Value
Publication number	US-10923980-B2
Application number	US-201816119265-A
Country	US
Kind code	B2
Filing date	Aug 31, 2018
Priority date	Mar 5, 2015
Publication date	Feb 16, 2021
Grant date	Feb 16, 2021

Abstract

In order to realize a movable mechanism capable of being configured more compactly and also capable of ensuring higher safety. A motor is provided. Also, an electrically active part is provided with an insulating structure so that insulating properties between the electrically active part and one or more conductors near the electrically active part satisfy a certain safety standard regarding medical electrical equipment.

First claim

The invention claimed is:

1. A medical support arm apparatus, comprising:
a multi joint arm that comprises a plurality of joints;
a medical tool supported on a distal end of the multi joint arm; and
an actuator provided in at least one joint of the plurality of the joints, wherein
the actuator includes a motor,
the motor includes an electrically active part, an insulating structure for the electrically active part, and at least one conductor in proximity to the electrically active part,
the insulating structure is provided with a clearance distance between the electrically active part and a first conductor of the at least one conductor and a creepage distance between the electrically active part and a second conductor of the at least one conductor, and
the clearance distance and the creepage distance are stipulated by a safety standard associated with a medical electrical equipment.

2. The medical support arm apparatus according to claim 1 , wherein
the at least one joint of the plurality of the joints is made of a movable mechanism including a stationary part and a movable part, and
the motor is attached between the stationary part and the movable part without the insulating structure.

3. The medical support arm apparatus according to claim 1 , wherein the medical tool on the distal end of the multi joint arm is an observation unit for observation of a surgical site.

4. The medical support arm apparatus according to claim 1 , wherein the actuator further includes a reduction gear and an encoder.

5. The medical support arm apparatus according to claim 1 , wherein the actuator further includes a torque sensor.

6. The medical support arm apparatus according to claim 1 , wherein the actuator is configured to move based on an applied force.

7. The medical support arm apparatus according to claim 1 , wherein the safety standard is IEC 060601-1.

8. The medical support arm apparatus according to claim 1 , wherein the insulating structure has an insulator.

9. The medical support arm apparatus according to claim 1 , wherein
the motor is a coreless brushless motor without a stator core, and
the electrically active part is a coil.

10. The medical support arm apparatus according to claim 1 , wherein
the motor is a brushless motor including a stator core, and
the electrically active part is a coil.

11. A motor, comprising:
an electrically active part;
an insulating structure for the electrically active part; and
at least one conductor in proximity to the electrically active part, wherein
the insulating structure is provided with a clearance distance between the electrically active part and a first conductor of the at least one conductor and a creepage distance between the electrically active part and a second conductor of the at least one conductor, and
the clearance distance and the creepage distance are stipulated by a safety standard associated with a medical electrical equipment.

12. The motor according to claim 11 , wherein the safety standard is IEC 060601-1.

13. The motor according to claim 11 , wherein the insulating structure has an insulator.

14. The motor according to claim 11 , wherein
the motor is a coreless brushless motor without a stator core, and
the electrically active part is a coil.

15. The motor according to claim 11 , wherein
the motor is a brushless motor including a stator core, and
the electrically active part is a coil.

Assignees

• Sony Corp

Inventors

• Kokubo Wataru
• Kamikawa Yasuhisa
• Tsuboi Toshimitsu
• Kuroda Yohei
• Arai Jun

Classifications

• H02K5/08 Primary

  Insulating casings · CPC title

• H02K1/272

  the magnetisation axis of the magnets being perpendicular to the rotor axis · CPC title

• H02K3/34

  between conductors or between conductor and core, e.g. slot insulation · CPC title

• A61B90/50

  Supports for surgical instruments, e.g. articulated arms · CPC title

• A61B50/13

  Trolleys{, e.g. carts} · CPC title