Surgical Robot Brake Release for Power-Off Arm Repositioning
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Solution Overview
Problem
Existing robotic systems face challenges in maintaining the position of robotic arms during power-off or fault states, where manual user-applied force can overcome power-off brakes, and the control system may become inoperable, necessitating a secondary brake release mechanism to ensure safe and flexible operation.
Innovation Solution
Incorporation of a secondary brake release mechanism, such as an electrical brake release device, which allows independent energization of electromagnetic brakes via a power supply, independent of the control system, to disengage brakes and permit arm repositioning, even under electrical or software failure.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If joints are designed to support heavy loads with sturdier brakes, then system strength and reliability are improved, but manual override capability deteriorates
Solution Approach 1:
An electrical interface acts as an intermediary between the user and the electromagnetic brake mechanism. By applying electrical power through this interface, the brake is released without requiring direct manual force on the heavy-duty brake components, thus maintaining brake strength while enabling easy override capability.
Solution Approach 2:
The patent replaces the traditional mechanical brake override system with an electrical system. Instead of using mechanical force to overcome the heavy-duty brake, an electrical interface energizes an electromagnetic mechanism that releases the brake, substituting mechanical effort with electrical actuation.
2Reliability
If controller or control system is unavailable due to fault, then system reliability is compromised, but safety access capability must be maintained
Solution Approach 1:
The electrical interface for brake release is extracted from the main control system. This allows the brake release function to operate independently when the controller is unavailable due to faults, maintaining safety access capability while acknowledging control system unavailability.
Solution Approach 2:
The electrical interface enables self-service brake release functionality that does not depend on the controller or control system. Users can directly activate the brake release mechanism through the electrical interface even when the control system is faulted, ensuring continued safety access capability.
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
Ensures safe and flexible operation of robotic arms by allowing complete unlocking and repositioning, maintaining system integrity and user flexibility, even in complete electrical or software failure scenarios.
Implementation Method 1
an electrical interface that can energize an electromagnetic brake independently of the control system
Data Source
AI summary
A medical robotic system can include a secondary brake release to allow a user to more easily move the arms of the robotic system when the system is in a power-off or fault state. The robotic system can include a joint and a brake mechanism that can limit motion of the joint. The brake mechanism can include a braking material, a first electromagnetic assembly, and a user-commanded release mechanism. The first electromagnetic assembly can disengage the braking material from an engaged configuration to a disengaged configuration. Further, the user-commanded release device can disengage the braking material from the engaged configuration to the disengaged configuration independent of the first electromagnetic assembly.