Emergency Release Mechanism for Robotic Surgery Instrument Manipulators
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Robotic surgery systems face challenges in emergency situations where automated removal of articulating instruments from the surgical site is not possible, posing risks to patient safety due to system failures or malfunctions.
Innovation Solution
An instrument manipulator with an emergency release mechanism that allows manual retraction of surgical instruments by disengaging from the actuator, enabling user-controlled movement away from the surgical site, featuring a leadscrew actuator and a release mechanism with a button-activated dual split nut configuration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If automated control is used for instrument manipulation, then precision and consistency of surgical operations are improved, but ability to manually remove instruments in emergency situations deteriorates
Solution Approach 1:
The system is divided into automated control mode and manual emergency mode. The release mechanism segments the control system by providing a physical disconnection point between the automated actuator and the instrument manipulator, allowing transition from automated to manual control when needed.
Solution Approach 2:
The release mechanism acts as an intermediary between the automated actuator and the instrument manipulator. It includes a release button, cam, and follower that mediate the transition from engaged (automated) state to disengaged (manual) state, enabling emergency manual removal.
2Ease of operation
If release mechanism is added for manual emergency operation, then ability to remove instruments in emergencies is improved, but device complexity increases
Solution Approach 1:
The release mechanism is designed to be self-actuating through spring-loaded components. When the release button is pressed, the cam rotates and the follower automatically disengages from the actuator without requiring additional manual manipulation, reducing operational complexity.
Solution Approach 2:
The release mechanism extracts only the essential emergency function from the complex automated system. It provides a simple button-press interface that triggers the disengagement sequence, removing the need for complex manual manipulation procedures while adding minimal complexity to the overall system.
3Reliability
If engagement force between release and actuator is increased, then reliability of automated operation is improved, but ease of manual release deteriorates
Solution Approach 1:
The engagement system uses a cam mechanism that provides dynamic force characteristics. During normal operation, the cam maintains strong engagement with the actuator for reliable automated control. During release, the cam rotates to a disengagement position where the engagement force naturally decreases, allowing easy manual release.
Solution Approach 2:
The spring-loaded follower is pre-positioned to apply engagement force during automated operation. When the release button is pressed, the cam rotates and the spring naturally pushes the follower away from the actuator, creating preliminary anti-action that facilitates easy release without requiring excessive manual force.
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
Facilitates safe and controlled manual removal of surgical instruments during emergencies, ensuring patient safety by allowing manual retraction and preventing unintended movement, thus addressing the limitations of automated systems in critical situations.
Implementation Method 1
The actuator includes a leadscrew. The instrument manipulator can include a motor configured to rotate the leadscrew to cause the leadscrew to advance and retract the housing.
Implementation Method 2
The release can include a pin and at least one spring. The at least one spring can be configured to extend the pin vertically upward when the release is in the second configuration.
Data Source
AI summary
An instrument manipulator for a robotic surgery system can include a housing configured to support a surgical instrument. The instrument manipulator can include an actuator configured to move the housing forward and backward. The instrument manipulator can include a release connected to the housing and configured to engage with the actuator in a first configuration to allow the housing and the at least one surgical instrument to move forward responsive to activation of the actuator. The release can be configured to disengage from the actuator in a second configuration to allow a user to manually retract the housing and the at least one surgical instrument. The instrument manipulator can include a user interface positioned at least partially on an exterior surface of the housing and configured to permit the user to transition the release from the first configuration to the second configuration.