METHOD AND APPARATUS FOR DETERMINING PARAMETERS OF LINEAR MOTION IN A SURGICAL INSTRUMENT
First Claim
1. A surgical instrument, comprising:
- a housing;
an elongated shaft extending distally from the housing and defining a first longitudinal axis;
a firing rod disposed within the elongated shaft;
a drive mechanism disposed at least partially within the housing, the drive mechanism in mechanical cooperation with the firing rod;
a sensor that senses a parameter of light reflected from the surface of the firing rod; and
a measurement unit that determines a parameter of the motion of the firing rod based on the sensed parameter of the light reflected from the surface of the firing rod.
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Accused Products
Abstract
A surgical instrument and method of controlling the surgical instrument are disclosed. The surgical instrument includes a housing and an elongated shaft that extends distally from the housing and defines a first longitudinal axis. The surgical instrument also includes a firing rod disposed in the elongated shaft and a drive mechanism disposed at least partially within the housing. The drive mechanism mechanically cooperates with the firing rod to move the firing rod. A sensor senses a parameter of light reflected from the surface of the firing rod, which includes markings that change the reflectivity of the firing rod. The measurement unit determines a parameter of the motion of the firing rod, such as the position and speed of the firing rod, based on the sensed parameter of the light reflected from the surface of the firing rod.
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Citations
18 Claims
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1. A surgical instrument, comprising:
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a housing; an elongated shaft extending distally from the housing and defining a first longitudinal axis; a firing rod disposed within the elongated shaft; a drive mechanism disposed at least partially within the housing, the drive mechanism in mechanical cooperation with the firing rod; a sensor that senses a parameter of light reflected from the surface of the firing rod; and a measurement unit that determines a parameter of the motion of the firing rod based on the sensed parameter of the light reflected from the surface of the firing rod. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method of determining a parameter of the motion of a firing rod in a surgical instrument, comprising:
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emitting light on the surface of a firing rod in a surgical instrument; sensing a change in a parameter of the light reflected from the surface of the firing rod; and determining a parameter of the motion of the firing rod based on the sensed change in the parameter of the light reflected from the surface of the firing rod.
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13. A method of operating a surgical instrument, comprising:
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emitting light on the surface of a firing rod in a surgical instrument; sensing a change in a parameter of the light reflected from the surface of the firing rod; determining a parameter of the motion of the firing rod based on the sensed change in the parameter of the light reflected from the surface of the firing rod; and controlling the motion of the firing rod based on the determined parameter of the motion of the firing rod. - View Dependent Claims (14, 15, 16, 17, 18)
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Specification