Manual Drive Adapter for Dual-Mode Robotic Instruments
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Solution Overview
Problem
Existing robotic surgical instruments lack the ability to seamlessly transition between teleoperated and manually actuated modes, requiring surgeons to use separate instruments for different procedural stages, which is inefficient and costly.
Innovation Solution
A manual drive adapter that can be releasably coupled to a robotic instrument, allowing it to be actuated manually or through a teleoperated system, enabling the same instrument to be used in both modes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If a robotic instrument is designed for teleoperated control only, then automation and precision are improved, but adaptability and ease of manual operation deteriorate
Solution Approach 1:
The robotic instrument is designed with a universal interface that accepts both teleoperated control inputs and manual actuation inputs. The force transmission mechanism can receive input from either the teleoperated system or a manual actuator, allowing the same instrument to perform both automated and manual functions without requiring separate tools.
Solution Approach 2:
A manual actuator serves as an intermediary device that can be coupled to the robotic instrument's force transmission mechanism. This intermediary allows manual forces to be transmitted through the same interface designed for teleoperated control, enabling seamless transition between control modes.
2Reliability
If separate instruments are used for teleoperated and manual procedures, then functional specialization is improved, but device complexity and cost increase
Solution Approach 1:
Instead of designing separate specialized instruments for teleoperated and manual use, the invention creates a single robotic instrument with universal functionality. The force transmission mechanism accepts inputs from either teleoperated控制系统 or manual actuators, eliminating the need for multiple separate instruments while maintaining functional reliability.
3Ease of operation
If a robotic instrument allows manual override, then ease of operation is improved, but control precision and system integration deteriorate
Solution Approach 1:
The control system is designed to be dynamic, allowing the operator to switch between teleoperated control mode and manual actuation mode as needed. The force transmission mechanism maintains precision in both modes by using the same mechanical interface, ensuring that manual override does not compromise control accuracy while improving operational flexibility.
Data Source
AI summary
A manual drive adapter for a robotic instrument includes an adapter housing configured to be releasably coupled to a force transmission mechanism of the robotic instrument. The force transmission mechanism includes a drive member interface and an input drive member configured to engage with a robotic drive output of a teleoperated surgical system. The adapter includes an output drive interface that includes an output drive member and is coupled to the adapter housing. The output drive interface is configured to be releasably coupled to the drive member interface of the robotic instrument such that the output drive member is engageable with the input drive member of the robotic instrument. A manual actuator of the adapter is operably coupled to the output drive member such that movement of the manual actuator by a user causes the output drive member to operate one or more degrees of freedom of the robotic instrument.