End stop detection
The present disclosure is directed to systems and methods for operating an electromechanical surgical system. The electromechanical surgical system includes a hand-held surgical instrument including an instrument housing defining a connecting portion for selectively connecting with a shaft assembly. The system also includes an end effector configured to perform at least one function. The shaft assembly is arranged for selectively interconnecting the end effector and the hand-held surgical instrument. The shaft assembly includes a drive member, a flag member configured to translate axially along the drive member, and a sensor disposed about the drive member. The sensor provides a signal indicating that the end effector has reached an end stop when the flag member contacts that sensor.
1. An electromechanical surgical system, comprising:
a hand-held surgical instrument including an instrument housing including a distal end portion and a proximal end portion, the distal end portion defining a connecting portion;
an end effector configured to perform at least one function; and
a shaft assembly supported on the connecting portion at the distal end portion of the instrument housing and arranged for selectively interconnecting the end effector and the instrument housing, the shaft assembly including:
a channel extending longitudinally through the shaft assembly;
a drive member rotatably supported within the channel;
a flag member disposed about the drive member and configured to translate axially along the drive member; and
a sensor disposed about the drive member,
wherein the sensor provides a signal indicating that the end effector has reached an end stop when the flag member contacts the sensor.
2. The electromechanical surgical system according to claim 1 , wherein the flag member includes a post.
3. The electromechanical surgical system according to claim 2 , wherein the channel of the shaft assembly is configured to receive the post of the flag member, the channel configured to prevent rotational movement of the flag member.
4. The electromechanical surgical system according to claim 1 , wherein the channel of the shaft assembly is configured to receive the sensor, the channel configured to prevent axial movement of the sensor.
5. The electromechanical surgical system according to claim 1 , further comprising a controller, wherein the sensor provides the signal to the controller indicating that the end stop of the end effector has been reached.
6. The electromechanical surgical system according to claim 5 , further comprising a motor, wherein the controller stops the motor when the controller receives the signal from the sensor.
7. The electromechanical surgical system according to claim 1 , wherein the sensor comprises a highly poled piezo crystal.
8. The electromechanical surgical system according to claim 1 , wherein the sensor comprises a stack of highly poled piezo crystals.