tamarmole,
If the intention is to reduce friction as much as possible then a Petzl P50 Rescue pulley locked with a toothed ascender is definitely one way to go, or better still a Petzl Minder pulley which is the most efficient pulley in the Petzl range, however, as you have already pointed out, it can be very difficult to release the ascender under load, particularly if the load has snagged and the hauling line has been effectively overloaded. The new Petzl Basic ascenders do not however work as well as the old style Basic as they don't have the double hole attachment at the top. Petzl would recommend the new ProTraxion for this purpose. These are a bit easier to release than the old style ProTraxion.
As I said before, the main reason why rope access and rescue professionals use devices such as the ID for hauling systems is for their ease of turning back into a lowering system. The same technique is used for rigging tensioned lines which can easily be lowered off in a rescue situation. If you carry on reading Dave Merchants excellent book you will find he affirms this.
If you were hauling a casualty up a free hanging shaft with no possibility of getting snagged then a ProTraxion would be an ideal device. Unfortunately not many caves are like that and there is usually always the possibility of snagging the casualty on the way up.
I can assure you that one person can easily lift a 100kg load a meaningful distance using a Petzl ID as the locking device. I say easily, you will get a bit of a sweat on doing it your own, so if you want to make it easier, get somebody to help you. As cavermark will probably attest, offshore rope access supervisors are required to be able to haul a casualty around 30m on most of the worlds offshore installations every day of the week.
Mark