Cleaning of a surgical instrument force sensor
A force transducer is coupled to a distal portion of a shaft of a surgical instrument. The force transducer includes proximal and distal portions, radial ribs, and a plurality of strain gauges. The radial ribs form a plurality of through passages. The surgical instrument further includes a flush manifold that receives a liquid from a proximal portion of the shaft, and that directs the liquid along a first subset of through passages of the plurality of through passages toward the distal portion of the force transducer. A plenum at the distal portion of the force transducer collects the liquid from the first subset of through passages and redirects the liquid back toward the proximal portion of the shaft along a second subset of through passages of the plurality of through passages different from the first subset of through passages.
1. A method of cleaning a force sensing surgical instrument, the method comprising:
flowing a cleaning liquid through a flush manifold at a distal portion of an instrument shaft;
directing the liquid along passages coupled to the flush manifold toward a distal portion of a force transducer;
collecting the liquid from the passages at a plenum; and
redirecting the liquid back toward a proximal portion of the shaft along a plurality of linkages to clean the plurality of linkages.
2. The method of claim 1 , wherein a flow volume of the liquid within the passages is substantially equal.
3. The method of claim 1 , wherein the plenum redirects the liquid to clean the linkages.
4. The method of claim 1 , further comprising flowing the liquid from the plenum back past the flush manifold toward the proximal portion of the instrument shaft.