Absolute rotary encoder
A rotary encoder for measuring absolute rotation around an axis of the rotary encoder, comprising: a magnetised element comprising first and second surfaces at an angle to one another; a first magnetic track provided on the first surface and a second magnetic track provided on the second surface, wherein the first and second magnetic tracks subtend an angle θ around the axis of the rotary encoder, wherein each magnetic track comprises a number of magnetic pole pairs, a magnetic pole pair being formed of two poles defining regions of opposite magnetic polarization, wherein the number of magnetic pole pairs in each track are different and have a greatest common factor of one; and first and second magnetic sensor arrangements, the first magnetic sensor arrangement arranged to detect a magnetic field of the first magnetic track and the second magnetic sensor arrangement arranged to detect a magnetic field of the second magnetic track, wherein the magnetic sensor arrangements are rotatably coupled to the magnetised element around the axis of the rotary encoder.
1. A rotary encoder for measuring absolute rotation around an axis of the rotary encoder, comprising:
a magnetised element comprising first and second surfaces at an angle to one another;
a first magnetic track provided on the first surface and a second magnetic track provided on the second surface, wherein the first and second magnetic tracks subtend an angle Θ around the axis of the rotary encoder, wherein each magnetic track comprises a number of magnetic pole pairs, a magnetic pole pair being formed of two poles defining regions of opposite magnetic polarization, wherein the number of magnetic pole pairs in each track are different and have a greatest common factor of one; and
first and second magnetic sensor arrangements, the first magnetic sensor arrangement arranged to detect a magnetic field of the first magnetic track and the second magnetic sensor arrangement arranged to detect a magnetic field of the second magnetic track, wherein the magnetic sensor arrangements are rotatably coupled to the magnetised element around the axis of the rotary encoder.
2. The rotary encoder of claim 1 , wherein the first and second surfaces of the magnetised element are perpendicular to one another.
3. The rotary encoder of claim 1 , wherein the magnetic sensor arrangements are orientated perpendicular to one another.
4. The rotary encoder of claim 1 , wherein each magnetic track forms a circular arc.
5. The rotary encoder of claim 1 , wherein the magnetised element is a circular ring arranged coaxially around the axis of the rotary encoder.
6. The rotary encoder of claim 1 , wherein the angle Θ is equal to 360 degrees.
7. The rotary encoder of claim 1 , wherein each sensor arrangement comprises a plurality of sensors.
8. The rotary encoder of claim 1 , wherein the sensors in the first sensor arrangement are separated by an angular distance φ around the axis of the rotary encoder which is the same as an angular width of the poles within the first magnetic track.
9. The rotary encoder of claim 1 , wherein the sensors in the second sensor arrangement are separated by an angular distance φ′ around the axis of the rotary encoder which is the same as an angular width of the poles within the second magnetic track.
10. The rotary encoder of claim 1 , wherein the ratio of the distance r of the sensors of the first magnetic sensor arrangement from the axis of the rotary encoder to the number of magnetic pole pairs N in the first magnetic track is equal to the ratio of the distance r′ of the sensors of the second magnetic sensor arrangement from the axis of the rotary encoder to the number of magnetic poles M in the second magnetic track.
11. The rotary encoder of claim 1 , wherein the sensors are hall sensors.
12. A surgical instrument comprising at least one rotary encoder according to claim 1 .