Method and apparatus for determining parameters of linear motion in a surgical instrument
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 motion sensor senses a change in the electric field (e.g., capacitance, impedance, or admittance) between the firing rod and the elongated shaft. The measurement unit determines a parameter of the motion of the firing rod, such as the position, speed, and direction of the firing rod, based on the sensed change in the electric field. A controller uses the measured parameter of the motion of the firing rod to control the drive mechanism.
1. A surgical instrument, comprising:
an elongated shaft;
a firing rod disposed at least partially within the elongated shaft;
a drive mechanism disposed at least partially within the elongated shaft, the drive mechanism being in mechanical cooperation with the firing rod;
a sensor that senses a change in an electric field between the firing rod and the elongated shaft;
a signal generator that generates a pulse signal that varies with the change in the electric field between the firing rod and the elongated shaft; and
a measurement unit that includes a counter that counts pulses of the pulse signal, and a data processor that computes a pulse signal frequency based on the counted pulses and measures a parameter of a motion of the firing rod based on the pulse signal frequency.
2. The surgical instrument according to claim 1 , wherein the parameter of the motion of the firing rod is a position or velocity of the firing rod.
3. The surgical instrument according to claim 1 , wherein the measurement unit measures that the firing rod moves further within the elongated shaft when the sensor senses that the electric field increases, and
wherein the measurement unit measures that the firing rod moves further out of the elongated shaft when the sensor senses that the electric field decreases.
4. The surgical instrument according to claim 1 , wherein the parameter of the motion of the firing rod is the direction of motion of the firing rod.
5. The surgical instrument according to claim 1 , wherein the drive mechanism is a drive motor, and the surgical instrument further comprises:
a controller that controls the drive motor based on the determined parameter of the motion of the firing rod.
6. The surgical instrument according to claim 1 , further comprising:
a voltage source that applies a voltage to the firing rod.
7. The surgical instrument according to claim 1 , further comprising:
a voltage source that applies a time-varying voltage to the firing rod.
8. A surgical instrument, comprising:
an elongated shaft defining a first longitudinal axis;
a firing rod disposed at least partially within the elongated shaft;
a drive mechanism disposed at least partially within the elongated shaft, the drive mechanism being in mechanical cooperation with the firing rod;
a sensor that senses changes in an electric field between the firing rod and the elongated shaft;
a signal generator that generates a pulse signal including a plurality of pulses, wherein widths of the plurality of pulses vary with the changes in the electric field between the firing rod and the elongated shaft;
a measurement unit that measures the widths of the plurality of pulses; and
a data processor that determines a parameter of motion of the firing rod based on the measured widths of the plurality of pulses.
9. The surgical instrument according to claim 8 , wherein the measurement unit includes a counter that counts a number of the plurality of pulses.
10. The surgical instrument according to claim 8 , wherein the parameter of the motion of the firing rod is a position or velocity of the firing rod.
11. The surgical instrument according to claim 8 , wherein the measurement unit measures that the firing rod moves further within the elongated shaft when the sensor senses that the electric field increases, and
wherein the measurement unit measures that the firing rod moves further out of the elongated shaft when the sensor senses that the electric field decreases.
12. The surgical instrument according to claim 8 , wherein the parameter of the motion of the firing rod is a direction of motion of the firing rod.
13. The surgical instrument according to claim 8 , wherein the drive mechanism is a drive motor, and the surgical instrument further comprises:
a controller that controls the drive motor based on the determined parameter of the motion of the firing rod.
14. The surgical instrument according to claim 8 , further comprising:
a voltage source that applies a voltage to the firing rod.
15. The surgical instrument according to claim 8 , further comprising:
a voltage source that applies a time-varying voltage to the firing rod.