Cable Brake Assembly for Robotic Surgical Tool Disconnection
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Solution Overview
Problem
Robotic surgical systems face challenges in safely disconnecting drive housings due to large tensile loads in cable driven motion systems, which can lead to unintended articulation or ejection of the drive housing, potentially causing damage or harm during emergency situations or system failures.
Innovation Solution
A cable brake assembly is introduced that can be selectively engaged by a user to inhibit axial translation of drive cables, preventing unintended articulation of the end effector and ensuring safe disconnection of the drive housing from the robotic manipulator by binding the cables and managing tension.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the drive housing is detached from the robotic manipulator without releasing cable tension, then the drive housing can be quickly disconnected, but the sudden release of tension can launch the drive housing and cause damage or harm
Solution Approach 1:
The cable tension release mechanism is activated before detaching the drive housing from the robotic manipulator. This preliminary action reduces the tensile load in the drive cables to a safe level, preventing the sudden release of tension that could launch the drive housing and cause damage or harm to users.
Solution Approach 2:
The cable tension release mechanism acts as a cushioning system that gradually dissipates the stored tensile energy in the drive cables before disconnection. This beforehand cushioning prevents the harmful sudden release of force by controlling the rate of tension reduction, thereby protecting the drive housing and users from potential damage.
2Reliability
If a manual cable tension release mechanism is added, then safety during disconnection is improved, but the device complexity increases
Solution Approach 1:
The cable tension release mechanism is integrated into the existing drive housing structure, allowing the same mechanical components to serve multiple functions: maintaining cable tension during normal operation and releasing tension during disconnection. This multi-functionality reduces the need for entirely separate safety systems, thereby limiting the increase in device complexity.
Solution Approach 2:
The cable tension release mechanism is designed to be manually operable by the user without requiring external assistance or complex automated systems. The user can directly actuate the release mechanism to reduce cable tension, making the safety function self-serviceable and reducing the need for additional complex control systems.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The cable brake assembly effectively prevents unintentional movement of drive cables, ensuring safe disconnection of the drive housing and reducing the risk of damage or injury during emergency situations or system failures, providing a manual safety mechanism independent of robotic control.
Implementation Method 1
a brake pad arranged such that the drive cables are displaceable between the brake and the brake pad. The cable brake assembly is actuatable to a braking position, in which the brake and the brake pad bind the drive cables to prevent movement of the drive cables in the longitudinal direction
Data Source
Figure 1~2
Figure 3
Figure 4A~4B
AI summary
A surgical tool that includes a drive housing, an elongate shaft that extends from the drive housing, and a plurality of drive cables extending within the elongate shaft between the drive housing and an end effector coupled to a distal end of the elongate shaft. A cable brake assembly is at least partially arranged within a cavity defined in the drive housing or the elongate shaft, the cable brake assembly having one or more brakes and a brake pad engageable with one or more of the plurality of drive cables. The cable brake assembly is actuatable between a first position, where the plurality of drive cables are free to move longitudinally within the elongate shaft, and a second position, where the one or more brakes and the brake pad engage and prevent the one or more of the plurality of drive cables from moving.