Surgical instrument comprising a sensing system
A surgical instrument comprising a sensing system is disclosed.
1. A surgical instrument assembly, comprising:
a shaft; and
an end effector extending from said shaft, wherein said end effector comprises:
a first jaw;
a second jaw movable relative to said first jaw;
an anvil;
a staple cartridge channel comprising a channel sidewall;
a replaceable staple cartridge removably positioned within said staple cartridge channel, wherein said replaceable staple cartridge comprises:
a cartridge body;
staple cavities defined in said cartridge body;
staples removably stored within said staple cavities;
staple drivers positioned within said staple cavities configured to progressively eject said staples from said staple cavities; and
a longitudinal slot; and
a firing member configured to be advanced distally through said replaceable staple cartridge to engage said staple drivers during a staple firing stroke;
a plurality of pressure sensors positioned between said replaceable staple cartridge and said staple cartridge channel configured to detect clamping pressure within said end effector; and
a flex circuit coupled to said plurality of pressure sensors, wherein said flex circuit is positioned on at least a portion of said channel sidewall.
2. The surgical instrument assembly of claim 1 , wherein said end effector comprises a first side and a second side defined by a firing stroke path of said staple firing stroke, and wherein said plurality of pressure sensors are positioned on both said first side and said second side.
3. The surgical instrument assembly of claim 1 , wherein said plurality of pressure sensors are distributed longitudinally along a firing stroke path of said staple firing stroke.
4. The surgical instrument assembly of claim 1 , wherein each said pressure sensor is configured to be directly contacted by said cartridge body.
5. A surgical instrument assembly, comprising:
a shaft;
a drive member movable within said shaft, wherein said drive member comprises a discontinuity portion; and
a flex circuit positioned within said shaft and coupled to a surgical control circuit, wherein said flex circuit comprises an integrated strain gauge mounted on said drive member within said discontinuity portion, wherein said surgical control circuit is configured to determine a load experienced by said drive member by way of said integrated strain gauge.
6. The surgical instrument assembly of claim 5 , wherein said discontinuity portion comprises a necked-down portion.
7. The surgical instrument assembly of claim 5 , wherein said drive member comprises a channel spine comprising a channel positioned on a distal end of said drive member, wherein said channel is configured to receive a staple cartridge therein.
8. The surgical instrument assembly of claim 5 , wherein said drive member comprises a first drive member, wherein said surgical instrument assembly further comprises a second drive member movable within said shaft, wherein said integrated strain gauge comprises a first integrated strain gauge, and wherein said flex circuit further comprises a second integrated strain gauge mounted on said second drive member.
9. The surgical instrument assembly of claim 5 , wherein said flex circuit comprises a flexible portion and a non-flexible portion.
10. The surgical instrument assembly of claim 5 , wherein said drive member further comprises a primary body portion, and wherein said discontinuity portion is configured to experience more strain than said primary body portion.
11. A surgical instrument, comprising:
a shaft comprising a frame, wherein said frame comprises a discontinuity portion;
a drive member movable within said shaft; and
a flex circuit positioned within said shaft and coupled to a control circuit, wherein said flex circuit comprises an integrated strain gauge mounted on said frame within said discontinuity portion, wherein said control circuit is configured to determine a load experienced by said shaft by way of said integrated strain gauge.
12. The surgical instrument of claim 11 , wherein said discontinuity portion comprises a notch, wherein said notch comprises a depth, wherein said integrated strain gauge comprises a thickness, and wherein said thickness does not exceed said depth.
13. The surgical instrument of claim 11 , wherein said flex circuit comprises a longitudinal portion and said integrated strain gauge comprises a tab extending laterally from said longitudinal portion.
14. The surgical instrument of claim 13 , wherein said longitudinal portion is flexible and said tab is rigid.
15. The surgical instrument of claim 14 , wherein said longitudinal portion is not mounted to said frame.
16. The surgical instrument of claim 14 , wherein said tab is mounted to said frame by at least one adhesive.
17. The surgical instrument of claim 11 , wherein said discontinuity portion comprises a necked-down portion comprising a smaller cross-section than a distal frame portion positioned distally with respect to said necked-down portion and a proximal frame portion positioned proximally with respect to said necked-down portion.
18. The surgical instrument of claim 11 , wherein said discontinuity portion comprises a fin extending outwardly therefrom, and wherein said integrated strain gauge is mounted to said fin.
19. A surgical instrument assembly, comprising:
an end effector, comprising:
a first jaw;
a second jaw comprising a channel, wherein said channel comprises a channel sidewall;
a replaceable staple cartridge removably positioned within said channel, wherein said replaceable staple cartridge comprises:
a cartridge body;
staple cavities defined in said cartridge body;
staples removably stored within said staple cavities; and
a longitudinal slot; and
a firing member configured to be advanced distally through said replaceable staple cartridge to deploy said staples during a staple firing stroke;
a plurality of pressure sensors positioned between said replaceable staple cartridge and said channel configured to detect clamping pressure within said end effector; and
a flex circuit coupled to said plurality of pressure sensors, wherein said flex circuit is positioned on at least a portion of said channel sidewall.
20. The surgical instrument assembly of claim 19 , wherein said end effector comprises a first side and a second side defined by a firing stroke path of said staple firing stroke, and wherein said plurality of pressure sensors are positioned on both said first side and said second side.
21. The surgical instrument assembly of claim 19 , wherein said plurality of pressure sensors are distributed longitudinally along a firing stroke path of said staple firing stroke.
22. The surgical instrument assembly of claim 19 , wherein each said pressure sensor is configured to be directly contacted by said cartridge body.