ROBOTICALLY-CONTROLLED END EFFECTOR
First Claim
Patent Images
1. A surgical instrument comprising:
- a robotics system;
a surgical end effector comprising;
an elongate channel comprising an interior surface, wherein said interior surface comprises a plurality of sensors; and
a firing bar comprising a magnetic element;
wherein said firing bar is configured to translate between positions within said elongate channel in response to drive motions imparted thereto from said robotics system;
a memory device operably interfacing with said plurality of sensors to record the positions of said magnetic element.
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Abstract
The present invention is directed to a surgical instrument with a robotics system, a memory device and an end effector having an elongate channel, knife position sensor(s) and a firing bar coupled to a knife. In response to drive motions initiated by the robotics system, the firing bar may translate within the elongate channel. As the firing bar translates, the sensor(s) transmit a signal to the memory device. The position of the knife may be determined from the output signals and may be communicated to the robotics system or instrument user. The sensors may be Hall Effect sensors.
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Citations
17 Claims
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1. A surgical instrument comprising:
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a robotics system; a surgical end effector comprising; an elongate channel comprising an interior surface, wherein said interior surface comprises a plurality of sensors; and a firing bar comprising a magnetic element;
wherein said firing bar is configured to translate between positions within said elongate channel in response to drive motions imparted thereto from said robotics system;a memory device operably interfacing with said plurality of sensors to record the positions of said magnetic element. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A surgical instrument comprising:
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a robotics system; a surgical end effector comprising; an elongate channel; a firing bar comprising a magnetic element;
wherein said firing bar is configured to translate between positions within said elongate channel in response to drive motions imparted thereto from said robotics system;a coil positioned around a portion of said firing bar; a memory device operably interfacing with said coil to record said positions of said magnetic element. - View Dependent Claims (12, 13, 14, 15, 16, 17)
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Specification