Surgical Tool Manual Override Fin Mechanism
Solution Overview
Problem
Current robotic surgical systems lack efficient mechanisms for manual manipulation of surgical tools, particularly in scenarios where power failure or tool malfunction occurs, limiting the surgeon's ability to maintain control and precision during minimally invasive procedures.
Innovation Solution
The development of a surgical tool with a drive housing and carriage system that allows manual translation via a fin and drive input, integrated with a robotic arm, enabling user-accessible manual operation and featuring a bailout mechanism for emergency situations, along with a position recognition system for precise control and haptic feedback.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If robotic systems are used for minimally invasive surgery, then surgical precision and control are improved, but the ability to manually manipulate tools during power failure or malfunction deteriorates
Solution Approach 1:
The surgical tool is divided into distinct functional segments: a robotic portion for automated precision control and a manual portion with外露 fin for direct surgeon manipulation. This segmentation allows the tool to operate in purely robotic mode during normal procedures and switch to manual mode during emergencies, resolving the contradiction between robotic precision and manual controllability.
Solution Approach 2:
The system dynamically transitions between robotic-controlled operation and manual operation modes. The drive input can be actuated either by the robotic system's motor or directly by the surgeon through the外露 fin, allowing real-time adaptation to operational needs and maintaining both precision and manual control capability.
2Productivity
If robotic automation is implemented, then surgical efficiency is improved, but surgeon control during emergencies deteriorates
Solution Approach 1:
The manual fin and associated mechanical components are pre-configured and readily accessible within the drive housing, allowing the surgeon to immediately take control in emergency situations without requiring additional setup or activation steps. The fin is positioned for easy grasping and manipulation.
Solution Approach 2:
The外露 fin acts as an intermediary mechanism that bridges the robotic system and the surgeon's hand. It translates the surgeon's manual manipulation into rotational motion of the drive input, enabling direct control of the surgical tool's end effector while maintaining the robotic system's automated capabilities during normal operation.
3Adaptability or versatility
If manual control mechanisms are added to robotic tools, then emergency maneuverability is improved, but device complexity increases
Solution Approach 1:
The essential manual control functionality is extracted as a separate, simple mechanical element (the fin) that can be independently manipulated. This extracted manual control mechanism does not require complex integration with the robotic system's electronics or control software, maintaining simplicity while adding emergency maneuverability.
Solution Approach 2:
The drive input mechanism serves dual functions: it can be actuated by the robotic system's motor for automated precision control during normal surgery, and it can be directly manipulated by the surgeon through the外露 fin for manual control during emergencies. This multi-functionality adds versatility without requiring separate independent mechanisms.
Data Source
AI summary
A surgical tool includes a drive housing having opposing first and second ends and a drive input rotatably mounted to the drive housing at the first end, a carriage mounted entirely within the drive housing and movable between the first and second ends via actuation of the drive input, an instrument driver matable with the drive housing at the first end, a drive output matable with the drive input such that rotation of the drive output rotates the drive input and translates the carriage within the drive housing, a shaft coupled to and extending distally from the carriage and penetrating the first end and the instrument driver, and a fin connected to the carriage and accessible by a user at an exterior of the drive housing, the fin being manually translatable along the exterior of the drive housing between the first and second ends to thereby translate the carriage.