Robotic Surgical Tool Bailout Detection to Protect Internal Gearing
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Solution Overview
Problem
Existing surgical tools with manual bailout mechanisms risk damaging internal gearing and require precise resetting, necessitating a way to accurately track manual bailout events.
Innovation Solution
Implement a system that monitors torque and motion of the firing motor, sets a bailout Boolean value upon manual intervention, and records bailout events, enabling the robotic surgical system to recognize and handle manual bailout situations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If manual bailout mechanism is provided to allow manual manipulation of the tool during emergency, then the tool can be operated during power loss or malfunction, but the internal gearing may be damaged and the tool requires precise resetting
Solution Approach 1:
The system continuously monitors operational parameters (torque, motion, position) during tool operation and compares actual values against expected ranges. When parameters indicate manual bailout activation, the system provides feedback by disabling the tool and alerting the user, preventing further operation that could damage internal gearing.
Solution Approach 2:
The system takes preliminary action by disabling the surgical tool before damage can occur. When manual bailout is detected through parameter monitoring, the system immediately prevents further use of the tool, thereby protecting internal gearing from additional stress or damage that would result from continued operation.
2Reliability
If the tool is disabled after manual bailout to prevent further use, then tool integrity is protected, but the tool cannot be used again until properly reset
Solution Approach 1:
The system performs preliminary actions during normal operation by monitoring parameters and detecting signs of manual bailout before damage occurs. This early detection allows the system to disable the tool in advance, protecting integrity while enabling controlled recovery through proper reset procedures.
Solution Approach 2:
The system provides self-service through automatic monitoring and detection of manual bailout conditions. The tool self-diagnoses by comparing operational parameters against expected values, automatically disables itself when anomalies are detected, and provides user guidance for proper reset procedures without requiring external intervention.
3Measurement precision
If monitoring systems are added to track manual bailout events, then accurate tracking and tool disabling can be achieved, but the device complexity increases
Solution Approach 1:
The monitoring system serves multiple functions: it monitors normal operational parameters during regular use, detects manual bailout activation, tracks tool state for disabling decisions, and provides data for user alerts. This multi-functionality achieves accurate bailout tracking without proportionally increasing system complexity.
Solution Approach 2:
The system performs self-monitoring by internally comparing operational parameters against expected values and automatically detecting abnormal conditions. This self-service approach eliminates the need for separate external monitoring devices, achieving accurate tracking while minimizing added complexity.
Data Source
AI summary
A surgical tool includes a drive housing removably coupled to a tool driver of a robotic surgical system, a shaft extending from the drive housing, an end effector arranged at an end of the shaft, and a computer system. The computer system is programmed to send a command signal to a motor of the tool driver to drive rotation of a drive shaft mounted within the drive housing, monitor torque and rotational motion of the motor with a torque sensor and a rotary encoder, respectively, in communication with the computer system, measure an unexpected change in the torque or the rotational motion of the motor with the torque sensor or the rotary encoder when the surgical tool is manually bailed out by manually rotating the drive shaft and backdriving the motor, report the unexpected change as a bailout signal, and disable the surgical tool once the bailout signal is received.