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 surgical instrument comprising:
an instrument shaft including a first end oriented in a first direction and a second end oriented in a second direction opposite the first direction;
a flush manifold in the instrument shaft, the flush manifold being configured to receive a liquid;
a passage through the instrument shaft, the passage including a first end oriented in the first direction and a second end oriented in the second direction, the first end of the passage being coupled to the flush manifold to receive the liquid from the flush manifold;
a plenum coupled to the second end of the passage, the plenum being configured to receive the liquid from the passage and to redirect the received liquid toward the first end of the instrument shaft;
multiple strain gauges spaced in a ring at intervals around a circumference of the instrument shaft; and
one or more elongate elements passing through the passage through the instrument shaft.
2. The surgical instrument of claim 1 , wherein the passage comprises a through passage formed by a plurality of radial ribs.
3. The surgical instrument of claim 2 , wherein the passage is included in a plurality of passages coupled to the flush manifold, and wherein the flush manifold is configured to direct substantially equal flow volumes of the liquid to each passage of the plurality of passages.
4. The surgical instrument of claim 1 , further comprising: a housing coupled to the first end of the instrument shaft.
5. The surgical instrument of claim 4 , wherein the housing comprises a flushing block configured to admit an optical fiber into the instrument shaft, and wherein the flushing block comprises a first port coupled to the instrument shaft and is configured to direct the liquid to the flush manifold.
6. The surgical instrument of claim 5 , wherein the flushing block comprises a second port configured to direct the liquid to an interior of the housing.
7. The surgical instrument of claim 4 further comprising: a tube within the instrument shaft, the tube being coupled to the flush manifold to supply the liquid to the flush manifold, and the tube being configured to permit passage of the liquid and an optical fiber through the tube.
8. The surgical instrument of claim 1 , wherein the flush manifold is configured to separate an optical fiber from the liquid.
9. The surgical instrument of claim 1 , wherein the flush manifold includes at least an aperture configured to receive the liquid redirected from the plenum.
10. The surgical instrument of claim 1 , further comprising:
a wrist mechanism coupled to the second end the instrument shaft; and
an end effector coupled to the wrist mechanism.
11. The surgical instrument of claim 10 , wherein the wrist mechanism is coupled to a first actuating mechanism by a first one of the one or more elongate elements, and wherein the end effector is coupled to a second actuating mechanism by a second one of the one or more elongate elements.
12. The surgical instrument of claim 1 , wherein the passage is a central through passage of the instrument shaft.
13. The surgical instrument of claim 1 , further comprising:
a liquid supply port coupled to the flush manifold.
14. The surgical instrument of claim 1 , further comprising: an end effector coupled to the second end of the instrument shaft.
15. The surgical instrument of claim 1 , wherein the passage is included in a plurality of passages coupled to the flush manifold, and wherein the flush manifold is configured to direct substantially equal flow volumes of the liquid to each passage of the plurality of passages.
16. The surgical instrument of claim 1 , wherein the plenum is configured to redirect the received liquid toward the first end of the instrument shaft along the one or more elongate elements.
17. The surgical instrument of claim 1 , wherein the elongate elements include one or more of a wire, cable, rod, and a tube.