Surgical instrument with sensor
A surgical instrument includes a housing, a shaft extending distally from the housing, an end effector disposed at a distal end of the shaft, an actuator operably coupled to the housing, an actuation assembly, and a sensor module. The actuation assembly extends through the housing and the shaft and includes a distal end operably coupled to the end effector or a component associated therewith, a proximal end operably coupled to the actuator, and a spring. Actuation of the actuator manipulates the end effector or deploys the component relative thereto. The sensor module is disposed within the housing and configured to sense a property of the spring indicative of an amount the spring has been compressed. The sensor module is further configured, based upon the sensed property, to determine a condition of the end effector or the relative position of the component.
1. A surgical instrument, comprising:
a housing;
an elongated shaft extending distally from the housing;
an end effector disposed at a distal end of the elongated shaft;
an actuator operably coupled to the housing;
an actuation assembly extending through the housing and the elongated shaft, the actuation assembly including a force-regulating spring, a distal end operably coupled to the end effector assembly, and a proximal end operably coupled to the actuator such that actuation of the actuator manipulates the end effector to apply pressure that is regulated by the spring; and
a sensor module disposed within the housing and configured to sense a property of the spring indicative of an amount the spring has been compressed, the sensor module further configured, based upon the sensed property, to determine the pressure applied by the end effector.
2. The surgical instrument according to claim 1 , wherein the end effector includes first and second jaw members movable between an open position and a closed position for grasping and applying the pressure, as a clamping pressure, to tissue disposed therebetween, and wherein the condition the sensor module is configured to determine is the clamping pressure.
3. The surgical instrument according to claim 2 , wherein the actuation assembly includes a jaw drive rod extending through the housing and the elongated shaft, and operably coupled to the first and second jaw members at a distal end of the jaw drive rod, and wherein the actuator is operably coupled to a proximal end of the jaw drive rod via a force regulation mechanism including the spring.
4. The surgical instrument according to claim 2 , wherein the first and second jaw members are configured to supply electrosurgical energy to tissue grasped therebetween to treat tissue.
5. The surgical instrument according to claim 1 , further comprising a knife blade deployable relative to the end effector from a retracted to an extended position.
6. The surgical instrument according to claim 1 , wherein the sensor module includes at least one spring sensor and a processor, the at least one spring sensor configured to sense the property of spring indicative of the amount the spring has been compressed and relay the sensed property to the processor to determine the force applied by the end effector based upon the sensed property.
7. The surgical instrument according to claim 6 , wherein the at least one spring sensor is configured to sense a change in inductance of the spring indicative of the amount the spring has been compressed.
8. The surgical instrument according to claim 6 , wherein the at least one spring sensor is configured to sense a spacing between rungs of the spring indicative of the amount the spring has been compressed.
9. The surgical instrument according to claim 6 , wherein the sensor module further includes a storage device configured to store data representing a relationship between the property of the spring indicative of the amount the spring has been compressed and the pressure applied by of the end effector, the processor configured to access the data to determine the pressure applied by the end effector based upon the sensed property.
10. The surgical instrument according to claim 9 , wherein the data is stored in the storage device as a look-up table.
11. The surgical instrument according to claim 6 , wherein the sensor module includes an output device configured to output an indicator based upon the pressure applied by the end effector determined by the processor.
12. The surgical instrument according to claim 11 , wherein the indicator includes at least one of an audible output, a visual output, or a tactile output.
13. A surgical instrument, comprising:
a movable handle movable from an initial position to a compressed position;
an end effector remote from the movable handle, the end effector movable from an open configuration to a closed configuration for grasping tissue;
an actuation assembly including a distal end operably coupled to the end effector and a proximal end;
a force regulating mechanism including a spring, the force regulating mechanism operably coupling the movable handle with the proximal end of the actuation assembly such that movement of the movable handle from the initial position to the compressed position moves the end effector from the open configuration to the closed configuration, the force regulating mechanism configured to regulate a clamping pressure applied to tissue grasped by the end effector; and
a sensor module configured to sense a property of the spring of the force regulating mechanism indicative of an amount the spring has been compressed and, based upon the sensed property, determine the clamping pressure applied to tissue.
14. The surgical instrument according to claim 13 , wherein the sensor module includes at least one spring sensor and a processor, the at least one spring sensor configured to sense the property of the spring indicative of the amount the spring has been compressed and relay the sensed property to the processor to determine the clamping pressure applied to tissue based upon the sensed property.
15. The surgical instrument according to claim 14 , wherein the at least one spring sensor is configured to sense a change in inductance of the spring indicative of the amount the spring has been compressed.
16. The surgical instrument according to claim 14 , wherein the at least one spring sensor is configured to sense a spacing between rungs of the spring indicative of the amount the spring has been compressed.
17. The surgical instrument according to claim 14 , wherein the sensor module further includes a storage device configured to store data representing a relationship between the property of the spring indicative of the amount the spring has been compressed and the clamping pressure applied to tissue, the processor configured to access the data to determine the clamping pressure applied to tissue based upon the sensed property.
18. The surgical instrument according to claim 17 , wherein the data is stored in the storage device as a look-up table.
19. The surgical instrument according to claim 14 , wherein the sensor module includes an output device configured to output an indicator based upon the clamping pressure applied to tissue determined by the processor.