Surgical Caster Locking With Pedal Position Sensing
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Solution Overview
Problem
Existing surgical systems face challenges in providing efficient, minimally invasive access to patient cavities while maintaining ease of use and reducing operational clutter in the operating room.
Innovation Solution
A robotically enabled medical system with cart-based and table-based configurations, incorporating robotic arms and modular instrument drivers, allows for precise navigation of medical instruments through virtual rails, and separates critical components between a movable tower and the cart/table to enhance maneuverability and reduce clutter.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If conventional casters are used in surgical systems, then ease of movement is achieved, but stability and precision positioning are compromised
Solution Approach 1:
The caster assembly incorporates a dynamic locking mechanism that allows the caster to transition between a locked state (for stability during surgical procedures) and an unlocked state (for ease of movement during repositioning). The lockable wheel mechanism and lockable swivel mechanism enable the system to adapt its characteristics based on operational requirements.
Solution Approach 2:
The caster assembly changes its operational parameters through the locking mechanism. When locked, the wheel parameter changes from rotatable to fixed, and the swivel parameter changes from rotatable to fixed, thereby transforming the caster from a mobile component to a stable support element.
2Reliability
If locking mechanisms are added to casters, then stability is improved, but device complexity increases
Solution Approach 1:
The locking mechanism is integrated into the existing caster structure, merging the locking function with the wheel and swivel mechanisms. The lockable wheel mechanism and lockable swivel mechanism share common components and control systems, reducing overall complexity compared to separate locking systems.
Solution Approach 2:
The caster assembly incorporates manual locking mechanisms that can be easily operated by the user without requiring additional tools or complex control systems. The mechanisms are designed to be self-contained and intuitive, minimizing the complexity burden on the overall surgical system.
3Measurement precision
If multiple locking mechanisms are implemented, then positioning precision is improved, but ease of operation deteriorates
Solution Approach 1:
The locking system is segmented into two independent but coordinated functions: lockable wheel mechanism for linear positioning and lockable swivel mechanism for angular positioning. This segmentation allows each mechanism to be optimized for its specific function while working together to achieve precise overall positioning.
Solution Approach 2:
The caster assembly is designed to be locked into position before the surgical procedure begins, and remains locked throughout the procedure. This preliminary locking action eliminates the need for continuous adjustment during surgery, simplifying operation during the critical surgical phase.
Data Source
AI summary
A caster assembly that includes a caster wheel, a lock member, a pedal, and a position sensor. The lock member can engage the caster wheel. Movement of the pedal towards a depressed position can cause engagement of the lock member against the caster wheel to resist or prevent rotation of the caster wheel. Movement of the pedal towards a released position can separate the lock member from the caster wheel to permit rotation of the caster wheel. The position sensor can detect a position of the pedal.