Brake release for surgical robot
A medical robotic system can include a secondary brake release to allow a user to more easily move the arms of the robotic system when the system is in a power-off or fault state. The robotic system can include a joint and a brake mechanism that can limit motion of the joint. The brake mechanism can include a braking material, a first electromagnetic assembly, and a user-commanded release mechanism. The first electromagnetic assembly can disengage the braking material from an engaged configuration to a disengaged configuration. Further, the user-commanded release device can disengage the braking material from the engaged configuration to the disengaged configuration independent of the first electromagnetic assembly.
1 . A release device configured to disengage an electromagnetic brake of a medical robotic system, the release device comprising:
a release device body configured to removably couple to the medical robotic system;
a switch positioned within the release device body;
a power supply for providing power positioned within the release device body; and
an electrical interface electrically connected to the power supply and configured to provide an electrical connection between the power supply and the electromagnetic brake when the release device body is coupled with the medical robotic system,
wherein the electromagnetic brake is configured to be selectively energized by the power supply, independent of a control system of the medical robotic system, and in response to activation of the switch, to disengage the electromagnetic brake and permit articulation of a joint of a robotic arm of the medical robotic system.
2 . The release device of claim 1 , wherein the power supply comprises a battery carried by the body.
3 . The release device of claim 2 , further comprising a charging circuit electrically connected to the power supply and the electrical interface, wherein the charging circuit is configured to selectively charge the battery via the medical robotic system.
4 . The release device of claim 1 , wherein the power supply comprises a capacitor.
5 . The release device of claim 1 , further comprising a thermal protection circuit electrically connected to the power supply, wherein the thermal protection circuit is configured to reduce a power output of the release device in response to a device temperature exceeding a temperature threshold.
6 . The release device of claim 5 , wherein the thermal protection circuit comprises a thermistor or a thermocouple to detect the device temperature.
7 . The release device of claim 5 , wherein the thermal protection circuit comprises a thermal fuse to disable the power supply in response to the device temperature exceeding the temperature threshold.
8 . The release device of claim 1 , further comprising a timing circuit electrically connected to the power supply, wherein the timing circuit is configured to reduce a power output of the release device in response to a device operation period exceeding an operation period threshold.
9 . The release device of claim 1 , wherein the electrical interface comprises an inductive loop.
10 . The release device of claim 1 , wherein the release device is configured to communicate with the control system of the medical robotic system.
11 . The release device of claim 1 , the release device body being configured to removably couple with a mount on a robotic arm of the medical robotic system.
12 . The release device of claim 1 , the electrical interface including a plurality of electrical connectors, the plurality of electrical connectors being exposed relative to the release device body.
13 . A method of operating a medical robotic system, the method comprising:
energizing a coil of an electromagnetic brake of a robotic joint of a robotic arm via power independent of a control system of the medical robotic system, the power being provided by a secondary power source, the secondary power source being contained within one or more of the following:
a body removably coupled with the medical robotic system, the body further including a switch coupled with the secondary power source, or
the robotic arm;
disengaging the electromagnetic brake from the robotic joint in response to energizing the coil of the electromagnetic brake; and
permitting articulation of the robotic joint in response to disengaging the electromagnetic brake from the robotic joint.
14 . The method of claim 13 , further comprising attaching a housing of the body to the medical robotic system.
15 . The method of claim 12 , further comprising actuating the switch to selectively energize the coil.
16 . The method of claim 14 , wherein a power source is carried by a housing of the robotic joint.
17 . A medical robotic system comprising:
a robotic arm including a robotic joint, the robotic arm including a release device mount;
an electromagnetic brake assembly comprising:
a braking member engageable between an engaged configuration and a disengaged configuration, wherein in the engaged configuration the braking member limits an articulation of the robotic joint, and in the disengaged configuration the braking member permits the articulation of the robotic joint; and
a coil coupled to the braking member, wherein the electromagnetic brake assembly is configured to disengage the braking member from the engaged configuration to the disengaged configuration when the coil is energized; and
a release device comprising:
a power supply for providing power;
an interface electrically connected to the power supply and configured to provide an electrical connection between the power supply and the coil, wherein the coil is selectively energized by the power supply independent of a control system of the medical robotic system; and
a body carrying the power supply and the interface, the body being configured to removably couple to the mount.
18 . The medical robotic system of claim 17 , wherein the robotic joint mount comprises a mounting plate configured to receive the body of the release device.
19 . The medical robotic system of claim 16 , further comprising:
a second electromagnetic brake assembly; and
a second release device comprising:
a second power supply for providing power; and
a second interface electrically connected to the power supply and configured to provide an electrical connection between the power supply and the second electromagnetic brake assembly, wherein the second electromagnetic brake assembly is selectively energized by the second power supply independent of the control system of the medical robotic system.
20 . The medical robotic system of claim 17 , the release device being configured to establish an electrical connection with the medical robotic system upon coupling of the body with the mount.