DESC:TECHNICAL FIELD
[0001] The present disclosure generally relates to the field of robotic surgical system for minimally invasive surgery, and more particularly, the disclosure relates to an electromechanical failsafe braking system for a manually drive system to stabilize a robotic surgical cart in the robotic surgical system.
BACKGROUND
[0002] This section is intended to introduce the reader to various aspects of art that may be related to various aspects of the present disclosure, which are described below. This disclosure is believed to be helpful in providing the reader with background information to facilitate a better understanding of the various aspects of the present disclosure. Accordingly, it should be understood that these statements are to be read in this light, and not just as an admissions of prior art.
[0003] Robotic assisted surgical systems have been adopted worldwide to gradually replace conventional surgical procedures such as open surgery and laparoscopic surgical procedures. The robotic assisted surgery offers various benefits to a patient during surgery and during post-surgery recovery time. The robotic assisted surgery equally offers numerous benefits to a surgeon in terms of enhancing the surgeon’s ability to precisely perform surgery, less fatigue and a magnified clear three-dimensional (3D) vision of a surgical site. Further, in a robotic assisted surgery, the surgeon typically operates with a hand controller/ master controller/ surgeon input device/joystick at a surgeon console system to seamlessly receive and transfer complex actions performed by him/her giving the perception that he/she himself/herself is directly articulating a surgical tools/ surgical instrument to perform the surgery. The surgeon operating on the surgeon console system may be located at a distance from a surgical site or may be located within an operating theatre where the patient is being operated on. Traditionally, robotically assisted surgical systems comprise one or more robotic arms assembled on one cart. These robotic cart assemblies are generally heavy to maneuver and require a large area to install.
[0004] One of main challenges is, these robotic cart assemblies being heavy, can pick up a substantial amount of momentum during transportation such that it may not be easy for a user to steer the cart assembly to avoid objects and/or to slow down the cart assembly when approaching the operating table. In such instances, if the robotic cart assembly contacts the operating table or some other object at a high velocity, the robotic cart assembly and/or the operating table may become damaged due to shock or impact forces resulting from the contact.
[0005] Yet another challenge is to engage/disengage brakes to maneuver a robotic cart assembly in event of power failure.
[0006] In the light of the above-mentioned challenges, there is a need for a robotic cart assembly, which is integrated with a braking mechanism such that all the issues relating to the current robotic cart assemblies are resolved.
SUMMARY OF THE DISCLOSURE
[0007] Some or all of the above-mentioned problems related to providing training to the surgeons and OT staff are proposed to be addressed by certain embodiments of the present disclosure.
[0008] According to an aspect of the invention, there is disclosed an electro-mechanical failsafe braking system for disengaging a brake of a robotic cart assembly comprising: a pair of drum castor wheels connected to a base of the robotic cart assembly; a lever connected to the pair of drum castor wheels; a solenoid valve having a shaft connected to a profile, the profile configured to connect the shaft of the solenoid valve to the lever; a torsion spring connected to the shaft of the solenoid valve through the profile; and a knob provided in the base of the robotic cart assembly, the knob connected to the torsion spring; wherein the solenoid valve is configured to: receive an input from a user through a pair of clutch buttons; and release a tension of the torsion spring on the lever upon receiving the input from the user, wherein the lever is configured to provide an actuation to the drum castor wheels based on the tension released by the torsion spring to disengage the brake, wherein in case of failure of the electro-mechanical braking system, the tension on the torsion spring will be released on the lever by rotating the knob by the user.
[0009] According to another aspect of the invention, there is disclosed a method for disengaging a brake in an electro-mechanical failsafe braking system of a robotic cart assembly comprising: receiving, using a pair of clutch buttons, an input from a user; releasing, by using a solenoid valve having a shaft connected to a profile, the profile configured to connect the shaft of the solenoid valve to a lever, a tension of the torsion spring on the lever upon receiving the input from the user; providing, by using the lever connected to a pair of drum castor wheels in a base of the robotic cart assembly, an actuation to the pair of drum castor wheels, based on the tension released by the torsion spring to disengage the brake; and releasing, by rotating a knob connected to the torsion spring and provided in the base of the robotic cart assembly, the tension on the torsion spring on the lever by rotating the knob by the user, in case of failure of the electro-mechanical braking system.
[00010] According to an embodiment of the invention, the lever can be a bidirectional cam lever.
[00011] According to another embodiment of the invention, a default state of the robotic cart assembly shall have the electro-mechanical braking system engaged.
[00012] According to yet another embodiment of the invention, the solenoid valve can be energized to pull the lever for disengaging the electro-mechanical braking system to propel the robotic cart assembly.
[00013] According to yet another embodiment of the invention, a microcontroller may be utilized to energize the solenoid valve.
[00014] According to yet another embodiment of the invention, the lever is an electronic lever designed to engage & disengage the electro-mechanical braking system.
[00015] According to still another embodiment of the invention, the knob is accessible by opening a housing on the front bottom side of the robotic cart assembly.
[00016] Other embodiments, systems, methods, apparatus aspects, and features of the invention will become apparent to those skilled in the art from the following detailed description, the accompanying drawings, and the appended claims.
BRIEF DESCRIPTION OF THE DRAWINGS
[00017] The summary above, as well as the following detailed description of the disclosure, is better understood when read in conjunction with the appended drawings. For the purpose of illustrating the present disclosure, exemplary constructions of the disclosure are shown in the drawings. However, the present disclosure is not limited to specific methods and instrumentalities disclosed herein. Moreover, those skilled in the art will understand that the drawings are not to scale. Wherever possible, like elements have been indicated by identical numbers.
Embodiments of the present disclosure will now be described, by way of example only, with reference to the following diagrams wherein:
Figure 1 illustrates an example implementation of a multi arm teleoperated surgical system which can be used with one or more features in accordance with an embodiment of the disclosure;
Figure 2 illustrates an example robotic cart assembly with wheels on ground in accordance with an embodiment of the disclosure;
Figure 3 illustrates a perspective view of the robotic cart assembly in accordance with an embodiment of the disclosure;
Figure 4(a) illustrates a rear view of manual drive system integrated with an electro-mechanical braking system in accordance with an embodiment of the disclosure;
Figure 4(b) illustrates an exploded view of an electro-mechanical braking system in accordance with an embodiment of the disclosure;
Figure 5(a) illustrates a view of an electro-mechanical braking system of the robotic cart assembly with brakes disengaged state, in accordance with an embodiment of the disclosure;
Figure 5(b) illustrates a view of an electro-mechanical braking system of the robotic cart assembly with brakes engaged state, in accordance with an embodiment of the disclosure;
Figure 5(c) illustrates machine drawing of the exemplary electro-mechanical braking system (403) of the robotic cart assembly, in accordance with an embodiment of the disclosure; and
Figure 6 illustrates a flowchart of the working of electro-mechanical failsafe braking system in accordance with an embodiment of the disclosure.
DETAILED DESCRIPTION OF THE DISCLOSURE
[00018] For the purpose of promoting an understanding of the principles of the disclosure, reference will now be made to the embodiment illustrated in the drawings and specific language will be used to describe the same. It will nevertheless be understood that no limitation of the scope of the disclosure is thereby intended, such alterations and further modifications in the illustrated system, and such further applications of the principles of the disclosure as illustrated therein being contemplated as would normally occur to one skilled in the art to which the disclosure relates.
[00019] It will be understood by those skilled in the art that the foregoing general description and the following detailed description are exemplary and explanatory of the disclosure and are not intended to be restrictive thereof. Throughout the patent specification, a convention employed is that in the appended drawings, like numerals denote like components.
[00020] Reference throughout this specification to “an embodiment”, “another embodiment”, “an implementation”, “another implementation” or similar language means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present disclosure. Thus, appearances of the phrase “in an embodiment”, “in another embodiment”, “in one implementation”, “in another implementation”, and similar language throughout this specification may, but do not necessarily, all refer to the same embodiment.
[00021] The terms “comprises”, “comprising”, or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process or method that comprises a list of steps does not include only those steps but may include other steps not expressly listed or inherent to such process or method. Similarly, one or more devices or sub-systems or elements or structures proceeded by “comprises... a” does not, without more constraints, preclude the existence of other devices or other sub-systems or other elements or other structures or additional devices or additional sub-systems or additional elements or additional structures.
[00022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. The device, system, and examples provided herein are illustrative only and not intended to be limiting.
[00023] The terms “a” and “an” herein do not denote a limitation of quantity, but rather denote the presence of at least one of the referenced items. Further, the term sterile barrier and sterile adapter denotes the same meaning and may be used interchangeably throughout the description.
[00024] Embodiments of the disclosure will be described below in detail with reference to the accompanying drawings.
[00025] Figure 1 illustrates an example implementation of a multi arm teleoperated surgical system which can be used with one or more features in accordance with an embodiment of the disclosure. Specifically, Figure 1 illustrates the multi arm teleoperated surgical system (100) having four robotic arms (101a), (101b), (101c), (101d) mounted on four robotic arm carts around an operating table (103). The four-robotic arms (101a), (101b), (101c), (101d) as depicted in Figure 1 are for illustration purpose and the number of robotic arms may vary depending upon the type of surgery. The four robotic arms (101a), (101b), (101c), (101d) are arranged along the operating table (103) and may be arranged in different manner but not limited to the robotic arms (101a), (101b), (101c), (101d) arranged along the operating table (103). The robotic arms (101a), (101b), (101c), (101d) may be separately mounted on the four robotic arm carts or the robotic arms (101a), (101b), (101c), (101d) mechanically and/ or operationally connected with each other or the robotic arms (101a), (101b), (101c), (101d) connected to a central body (not shown) such that the robotic arms (101a), (101b), (101c), (101d) branch out of a central body (not shown). Further, the multi arm teleoperated surgical system (100) may include a console system (105), a vision cart (107), and a surgical instrument and accessory table (109).
[00026] Figure 2 illustrates a robotic cart assembly (200) for a robotic arm (101a, 101b, 101c, 101d). The robotic cart assembly (200) may include a base lift assembly (203), a plurality of wheel (205), a hand steering assembly (207) including a touch screen and plurality of clutch buttons. Further, the robotic cart assembly (200) may include a column assembly (209), a set-up joint assembly (211), a telescopic joint assembly (213), a parallelogram arm assembly (215), a tool interface (217), an instrument camera actuator (219), an instrument (221). The base lift assembly (203) is configured to move in vertical direction. The robotic cart assembly (200) needs to be stable so that the movement of the parallelogram arm assembly (215) during surgical procedures may not produce unwanted movement/vibrations to the robotic cart assembly (200).
[00027] In an embodiment, the robotic cart assembly (200) is on the wheels (205) as illustrated in Figure 2. The plurality of wheels (205) touching a ground may also be refereed as the grounded position of the robotic cart assembly (200) and the plurality of wheels (205) when not touching the ground may be referred as the ungrounded position of the robotic cart assembly (200). The plurality of wheels (205) may facilitate the robotic cart assembly (200) to move from one place to another. For example, during the surgical set-up, the robotic cart assembly (200) may require to be positioned around a surgical table based on the surgical procedures (as shown in Figure 1). Further, the cart assembly (200) may also require moving between different operation theaters. The base lift assembly (203) facilitates the plurality of wheels (205) to be positioned in the grounded position and the ungrounded position of the robotic cart assembly (200).
[00028] According to an embodiment, an auto leveling mechanism is provided in which the robotic cart assembly (200) when placed on an uneven surface automatically adjusts to maintain its position evenly. A sensor (not shown) may be placed anywhere inside the cart which detects whether the ground surface is even or not. When the robotic cart assembly (200) is put on the ungrounded position in which the plurality of wheels (205) may be lifted as the robotic cart assembly (200) are on the base lift assembly (203). When the sensor detects the unevenness of the ground surface, it sends a signal to a control box (not shown) to adjust the position of the base lifting assembly (203) to maintain the evenness of the robotic cart assembly (200) on an uneven surface.
[00029] As illustrated in Figure 2, the column assembly (209) is configured to move in upward and downward direction as per the need of the surgical procedure. The set-up joint assembly (211), the telescopic assembly (213) and the parallelogram arm assembly (215) move in upward and downward direction with movement of the column assembly (209). The telescopic assembly (213) is configured to move in vertical direction so to dock the robotic cart assembly (200) to a desired position during the surgical procedures.
[00030] Figure 3 illustrates a perspective view of the robotic cart assembly (300) without the setup joint assembly (211) in accordance with an embodiment of the disclosure. The robotic cart assembly (300) includes a touch screen (303), a plurality of clutch buttons (305), a base lift assembly (307), a plurality of wheel (309), and a housing (311).
[00031] Figure 4(a) illustrates a rear view of manual drive system (400) integrated with an electro-mechanical braking system (403) in accordance with an embodiment of the disclosure.
[00032] Figure 4(b) illustrates an exploded view of the electro-mechanical braking system (403) in accordance with an embodiment of the disclosure. As illustrated in Figure 4(b), the electro-mechanical braking system (403) is equipped with a pair of drum castor wheels (405) having bidirectional cam lever (407), a solenoid (409), a compressing/decompressing instrument like, a torsion spring (411), a rotating knob (413), a profile (415) for connecting the solenoid (409), the torsion spring (411), and the cam lever (407). The cam lever (407) has a mechanism for applying brakes. The rotating knob (413) is provided in the front-bottom side of the robotic cart assembly (300) and is accessible by opening the housing (311) on the front bottom side of the robotic cart assembly (300).
[00033] The electro-mechanical braking system (403) is applied in following circumstances: to avoid unintended motion, to avoid crashing into other objects during motion, to lock the cart in an idle state, and to perform draping & accurately position of the cart during surgery. The cam lever (407) is an electronic lever designed to engage & disengage for braking. The default state of the robotic cart assembly (300) shall be with brakes engaged. When the touch screen (303) or clutch buttons (305) are enabled, the solenoids shall be energized and pull the cam lever (407) for disengaging the brake to propel the robotic cart assembly (300). In case of failure of the electro-mechanical braking system (403), the tension on the spring will be released by rotating the rotating knob (413). As a result, the brake will be disengaged to propel the robotic cart assembly (300).
[00034] Figure 5(a) illustrates a view of an electro-mechanical braking system (403) of the robotic cart assembly (200) with brakes disengaged, in accordance with an embodiment of the disclosure. Figure 5(b) illustrates a view of an electro-mechanical braking system (403) of the robotic cart assembly (200) with brakes engaged, in accordance with an embodiment of the disclosure. Figure 5(c) illustrates machine drawing of the exemplary electro-mechanical braking system (403) of the robotic cart assembly (200), in accordance with an embodiment of the disclosure.
[00035] Figure 6 illustrates a flowchart of the working of electro-mechanical failsafe braking system in accordance with an embodiment of the disclosure. The working of electro-mechanical failsafe braking system may be segregated into various steps. The default state of the electro-mechanical failsafe braking system (403) is with brake engaged. When the user wants to propel the robotic cart assembly (300), then in step (601), the user will provide input using a pair of clutch buttons (305) located in the base (313) of the robotic cart assembly (300). The input thus received is conveyed to a control circuit like a microcontroller which is connected to the solenoid valve (409). In step (603), based on the received input, the solenoid valve (409) pulls the torsion spring (411). The pressure of the torsion spring (411) is released on the lever (407). In step (605), the lever is configured to provide actuation to the drum castor wheels (405) to disengage the brake. In case of failure of the electro-mechanical failsafe braking system (403), the user can rotate the knob (413) provided in the base (313) to release the tension of the torsion spring (411) on the lever (407) in step (607). This will disengage the brake.
[00036] The foregoing descriptions of exemplary embodiments of the present disclosure have been presented for purposes of illustration and description. They are not intended to be exhaustive or to limit the disclosure to the precise forms disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiment was chosen and described in order to best explain the principles of the disclosure and its practical application, to thereby enable others skilled in the art to best utilize the disclosure and various embodiments with various modifications as are suited to the particular use contemplated. It is understood that various omissions, substitutions of equivalents are contemplated as circumstance may suggest or render expedient but is intended to cover the application or implementation without departing from the spirit or scope of the claims of the present disclosure.
[00037] Benefits, other advantages, and solutions to problems have been described above with regard to specific embodiments. However, the benefits, advantages, solutions to problems, and any component(s) that may cause any benefit, advantage, or solution to occur or become more pronounced are not to be construed as a critical, required, or essential feature or component of any or all the claims.
[00038] While specific language has been used to describe the disclosure, any limitations arising on account of the same are not intended. As would be apparent to a person in the art, various working modifications may be made to the apparatus in order to implement the inventive concept as taught herein. ,CLAIMS:
1. An electro-mechanical failsafe braking system (403) for disengaging a brake of a robotic cart assembly (300) comprising:
a pair of drum castor wheels (405) connected to a base (313) of the robotic cart assembly (300);
a lever (407) connected to the pair of drum castor wheels (405);
a solenoid valve (409) having a shaft (417) connected to a profile (415), the profile (415) configured to connect the shaft (417) of the solenoid valve (409) to the lever (407);
a torsion spring (411) connected to the shaft (417) of the solenoid valve (409) through the profile (415); and
a knob (413) provided in the base (313) of the robotic cart assembly (300), the knob (413) connected to the torsion spring (411);
wherein the solenoid valve (409) is configured to:
receive an input from a user through a pair of clutch buttons (305); and
release a tension of the torsion spring (411) on the lever (407) upon receiving the input from the user,
wherein the lever (407) is configured to provide an actuation to the drum castor wheels (405) based on the tension released by the torsion spring (411) to disengage the brake,
wherein in case of failure of the electro-mechanical braking system (403), the tension on the torsion spring (411) will be released on the lever (407) by rotating the knob (413) by the user.
2. The electro-mechanical failsafe braking system (403) as claimed in claim 1, wherein the lever (407) can be a bidirectional cam lever.
3. The electro-mechanical failsafe braking system (403) as claimed in claim 1, wherein a default state of the robotic cart assembly (300) shall have the electro-mechanical braking system (403) engaged.
4. The electro-mechanical failsafe braking system (403) as claimed in claim 1, wherein the solenoid valve (409) can be energized to pull the lever (407) for disengaging the electro-mechanical braking system (403) to propel the robotic cart assembly (300).
5. The electro-mechanical failsafe braking system (403) as claimed in claim 1, wherein a microcontroller may be utilised to energize the solenoid valve (409).
6. The electro-mechanical failsafe braking system (403) as claimed in claim 1, wherein the lever (407) is an electronic lever designed to engage & disengage the electro-mechanical braking system (403).
7. The electro-mechanical failsafe braking system (403) as claimed in claim 1, wherein the knob (413) is accessible by opening a housing (311) on the front bottom side of the robotic cart assembly (300).
8. A method for disengaging a brake in an electro-mechanical failsafe braking system (403) of a robotic cart assembly (300) comprising:
receiving, using a pair of clutch buttons (305), an input from a user;
releasing, by using a solenoid valve (409) having a shaft (417) connected to a profile (415), the profile (415) configured to connect the shaft (417) of the solenoid valve (409) to a lever (407), a tension of the torsion spring (411) on the lever (407) upon receiving the input from the user;
providing, by using the lever (407) connected to a pair of drum castor wheels (405) in a base (313) of the robotic cart assembly (300), an actuation to the pair of drum castor wheels (405), based on the tension released by the torsion spring (411) to disengage the brake; and
releasing, by rotating a knob (413) connected to the torsion spring (411) and provided in the base (313) of the robotic cart assembly (300), the tension on the torsion spring (411) on the lever (407) by rotating the knob (413) by the user, in case of failure of the electro-mechanical braking system (403).