Manual Release Assembly for Robotic Tool Articulation Failure
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Solution Overview
Problem
Robotic surgical systems lack a failsafe mechanism to manually override the articulation of end effectors in case of electrical disruptions, which can render them inoperable, posing risks during procedures.
Innovation Solution
A manual release assembly is integrated into the surgical tool, allowing a user to manually articulate the end effector by moving a release switch from a disengaged to an engaged position, which rotates the drive cable capstans to move the drive cables and control the end effector, enabling safe release or opening of the instrument.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If robotic surgical systems operate based on electricity with automated cable-driven motion systems, then the system achieves precise control and automation of end effector articulation, but the system becomes vulnerable to electrical disruptions that can render it inoperable and prevent manual release
Solution Approach 1:
The system is divided into two independent control pathways: an automated electrical control system for normal operation and a manual mechanical release system for failsafe operation. The manual release assembly includes a release switch that mechanically rotates the drive cable capstan, independent of the electrical system, allowing segmentation of control functions to maintain reliability during electrical disruptions
Solution Approach 2:
A manual release mechanism is built into the system in advance as a protective measure against electrical failures. The release switch and associated mechanical components are pre-positioned to enable immediate manual override without requiring external intervention or complex procedures during an emergency
2Reliability
If a manual release mechanism is added to the robotic surgical tool, then the system gains failsafe capability for electrical disruptions, but the device complexity increases
Solution Approach 1:
The manual release assembly is merged with the existing drive housing structure, sharing common components such as the drive cable capstan and cable routing. The release switch integrates with the capstan rotation mechanism, combining the manual release function with the existing cable-driven articulation system to minimize additional complexity
Solution Approach 2:
The drive cable capstan serves dual functions: it is rotated by the electrical motor during automated operation and can be rotated manually by the release switch during failsafe operation. This multi-functionality reduces the need for separate dedicated components, thereby limiting the increase in device complexity
Data Source
AI summary
A surgical tool includes a drive housing that houses a plurality of drive cable capstans, an elongate shaft that extends from the drive housing, and an end effector operatively coupled to a distal end of the elongate shaft. A plurality of drive cables extend between the drive housing and the end effector, wherein each drive cable is associated with a corresponding drive cable capstan and rotation of the drive cable capstans correspondingly moves the drive cables to articulate the end effector. A manual release assembly is coupled to the drive housing and includes a release switch that is manually movable between a disengaged position and an engaged position. When the release switch is manually moved to the engaged position, the drive cable capstans are rotated to move the drive cables and thereby manually articulate the end effector.