Slipper Clutch Mechanism for Rapid Robotic Surgical Tool Bailout
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Solution Overview
Problem
Existing robotic surgical tools lack efficient mechanisms for manual bailout, which is crucial for rapid and effective release or retraction of surgical instruments during procedures, often requiring significant force and time.
Innovation Solution
A slipper clutch mechanism is integrated into the robotic surgical tool, featuring a bailout ring and pinion gear system that allows manual operation, enabling quick and controlled bailout of functions such as end effector movement and instrument disengagement through a series of interlocking rings and gears.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If traditional robotic surgical tool bailout mechanisms are used, then instrument release can be achieved, but significant force and time are required
Solution Approach 1:
The bailout mechanism is segmented into multiple functional components: a bailout ring for manual input, a pinion gear for motion conversion, a spline for torque transmission, and an end effector for instrument manipulation. This segmentation allows each component to be optimized for its specific function, enabling rapid bailout operation with reduced force and time requirements.
Solution Approach 2:
The pinion gear acts as an intermediary between the bailout ring and the spline, converting the rotational motion from manual ring operation into the appropriate motion to drive the spline and release the end effector. This intermediary mechanism amplifies the operator's input force and controls the bailout sequence, reducing both the force and time needed for instrument release.
2Ease of operation
If traditional robotic surgical tool bailout mechanisms are used, then instrument release can be achieved, but significant force is required
Solution Approach 1:
The bailout mechanism is segmented into multiple functional components: a bailout ring for manual input, a pinion gear for motion conversion, a spline for torque transmission, and an end effector for instrument manipulation. This segmentation allows each component to be optimized for its specific function, enabling rapid bailout operation with reduced force and time requirements.
Solution Approach 2:
The pinion gear acts as an intermediary between the bailout ring and the spline, converting the rotational motion from manual ring operation into the appropriate motion to drive the spline and release the end effector. This intermediary mechanism amplifies the operator's input force and controls the bailout sequence, reducing both the force and time needed for instrument release.
3Productivity
If manual bailout operation is implemented, then procedural efficiency can be improved, but mechanism complexity increases
Solution Approach 1:
The bailout mechanism incorporates universal design elements that allow the same basic components (bailout ring, pinion gear, spline) to serve multiple functions: the bailout ring provides both the operational interface and structural support, the pinion gear converts motion and provides mechanical advantage, and the spline transmits torque while guiding the bailout sequence. This multi-functionality reduces the number of separate components needed, thereby reducing overall complexity while maintaining improved procedural efficiency.
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 slipper clutch mechanism facilitates rapid and intuitive manual bailout of robotic surgical tools, reducing the force and time required for instrument release, enhancing procedural efficiency and safety.
Implementation Method 1
a pinion gear operatively coupled to the spline and arranged to intermesh with radial gear teeth defined on the second ring, wherein manual rotation of the bailout ring rotates the slip carrier and the pin in the same direction and thereby rotates the first ring when the pin is received within the first interface, wherein manual rotation of the bailout ring rotates the second ring once the pin locates and is received within the second interface, and wherein rotating the second ring drives the pinion gear and rotates the spline to manually bail out the function of the robotic surgical tool
Implementation Method 2
a slipper clutch mechanism received within the bailout ring and including a slip carrier rotationally fixed to the bailout ring
Data Source
Figure 1
Figure 2
Figure 3A~3B
AI summary
A robotic surgical tool includes a handle having a drive input and a spline, a bailout ring arranged at the handle, and a slipper clutch mechanism received within the bailout ring. The slipper clutch mechanism including a slip carrier rotationally fixed to the bailout ring and defining a vertical slot that slidably receives a pin, a first ring arranged within the slip carrier and defining a first interface, a second ring arranged within the slip carrier atop the first ring and defining a second interface, and a pinion gear operatively coupled to the spline and arranged to intermesh with radial gear teeth defined on the second ring. Manual rotation of the bailout ring rotates the slip carrier and the pin and thereby rotates the first and second ring in succession to rotate the spline and manually bail out a function of the robotic surgical tool.