Surgical Tool Bailout Mechanism for Manual Drive Actuation
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Solution Overview
Problem
Current robotic surgical systems face challenges in providing intuitive and efficient manual actuation of surgical tools, particularly in minimally invasive procedures, where precise control and ease of use are crucial for reducing recovery time and scarring.
Innovation Solution
A surgical tool design featuring a drive housing with a spline and drive gear system, coupled with a bailout mechanism that includes a lever and manual drive gear, allowing for manual rotation and actuation of the tool's end effector, enabling both robotic and manual operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If robotic actuation is used, then precision and automation are improved, but system complexity and reliability risks increase
Solution Approach 1:
The system dynamically switches between robotic actuation mode and manual bailout mode based on operational needs. The spline can engage with either the robotic drive output or the manual lever, allowing the system to adapt its degree of automation rather than being fixed in one mode.
Solution Approach 2:
The drive mechanism is segmented into separate robotic and manual components that can operate independently. The spline serves as a common interface that can be engaged by either the robotic drive gear or the manual lever, dividing the actuation function into distinct segments.
2Measurement precision
If robotic actuation is used, then precision is improved, but reliability decreases due to potential system failure
Solution Approach 1:
The manual bailout mechanism serves as a pre-prepared backup system that can be activated if the robotic actuation fails. The lever and spline are positioned and ready for engagement, providing a cushion against the risk of robotic system failure before it occurs.
Solution Approach 2:
The system can change its actuation parameter from robotic-driven to manual-driven by moving the lever between positions. This allows switching between high-precision robotic control and reliable manual control based on system status.
3Reliability
If manual bailout mechanism is added, then reliability is improved, but device complexity increases
Solution Approach 1:
The manual bailout mechanism is merged with the existing robotic drive system through the common spline interface. Both the robotic drive gear and the manual lever engage with the same spline, combining two actuation methods into a unified mechanism rather than separate systems.
Solution Approach 2:
The spline serves multiple functions: it can be engaged by the robotic drive output for automated operation, engaged by the manual lever for bailout operation, or disengaged from both. This multi-functionality reduces the need for separate transmission paths for each mode.
4Adaptability or versatility
If dual engagement positions are provided, then adaptability is improved, but device complexity increases
Solution Approach 1:
The lever can dynamically change its engagement position with the spline, moving between a first position for robotic engagement and a second position for manual engagement. This dynamic repositioning provides adaptability without requiring completely separate mechanisms for each mode.
Data Source
AI summary
A method of manually operating a surgical tool includes arranging the surgical tool adjacent a patient, the surgical tool including a drive housing having opposing first and second ends, a spline extending between the first and second ends and being rotatably coupled to a drive input at the first end, a drive gear coupled to and rotatable with the spline, a carriage movably mounted to the spline and housing an activating mechanism operatively coupled to the drive gear such that rotation of the spline actuates the activating mechanism, and a bailout mechanism arranged at the second end and including a lever engageable with the spline. The lever is movable relative to the spline to engage the lever allow the lever to be manually rotated to rotate the spline and the drive gear to manually actuate the activating mechanism.