Pre-Fill
The pre-fill pump transfers water from the pre-fill tank to the small canister after the user has
activated the empty tank function. (Only the small canister receives a prefill after a tank dump) The pre-
fill tank holds 1200 ml of clean water, which allows for at least 3 pre-fills after a tank dump. To ensure
that the prefill tank is full, the pre-fill is directed through the inlet fluid coupling during each docking
cycle. The large canister is pre-filled directly from the fresh water system during docking. (The large
canister does not use the prefill tank, but a separate water connection)
Smoke Evacuator
A smoke evacuator system provides removal and diffusion of smoke caused by cauterizing and
other procedures. The surgical plume is filtered through the ULPA filter. The smoke blower is activated
and speed controlled through the user interface. The smoke evacuator can also be operated in auto
mode which, once activated, will engage automatically when surgical plume is detected.
Docking Mechanism
The docker coupling mechanism is comprised of hose couplings, a stepper motor and
electronics. Two hose couplings are provided for liquid transfer of both the fresh water input (to the pre-
fill tank or large canister), and output of waste fluid from the large canister. A stepper motor is used to
control the fresh water and waste fluid couplings. Magnets are used to keep the rover stationary while
connected to the docker. While the rover is docked, data transfer between the rover and docker is
accomplished through an IR link.
When the rover is docked it receives power through the docker power coupler and does not
need to be plugged into the wall outlet. All docking functions including off-load, pre-fill, and washing are
automatically activated when docked. The rover will not dock if the rover is plugged in and turned on.
The rover power switch must be off or the rover must be unplugged to successfully dock. A hall sensor
in the docker is used to determine when the rover is present.
Docking Functions
The docker functions are activated automatically when the rover is connected to the docking
station. There are three different docking modes selected by the user: quick drain, normal wash, and
extended wash. (Extended wash will be released in the near future) If no wash cycle is selected then
the default cycle, normal wash, will be initiated. The docking station is responsible for emptying waste
fluid from the rover, rinsing the canister with fresh water and detergent, and filling each canister with a
fluid prefill.
IV Pole
A motor-powered IV pole is provided on the rover. It has four hooks and each is capable of
holding a 3L IV bag for a total of 12 liters. The IV Pole can be adjusted between 5’9” and 8’6” through
the user interface. The IV pole will automatically descend to 5’9” upon loss of power to the Rover.
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