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 end stop detection method for a powered surgical instrument having a hand-held surgical instrument, an end effector and a shaft assembly configured to selectively interconnect the hand-held surgical instrument and the end effector, the shaft assembly including a drive member, a flag member, and a sensor, the method comprising:
controlling a motor within the hand-held surgical instrument to cause the drive member within the shaft assembly to rotate in a first direction thereby causing the flag member within the shaft assembly to translate axially along the drive member toward the sensor within the shaft assembly;
determining when the flag member contacts the sensor; and
stopping the motor when the flag member contacts the sensor to stop an actuation of the end effector.
2. The end stop detection method of claim 1 , further comprising removing the end effector after stopping the motor.
3. The end stop detection method of claim 2 , further comprising determining when a new end effector is needed based on a user input or a predetermined surgical plan.
4. The end stop detection method of claim 3 , further comprising:
identifying a type of end effector to be attached to the shaft assembly as the new end effector; and
controlling the motor within the hand-held surgical instrument to cause the drive member to rotate in a second direction opposite the first direction thereby causing the flag member to translate axially along the drive member away from the sensor,
wherein the drive member is rotated for a predetermined amount of time based on the type of end effector to be attached to the shaft assembly.
5. The end stop detection method of claim 3 , further comprising attaching the new end effector to the shaft assembly.
6. An end stop detection method for a powered surgical instrument, the method comprising:
connecting a shaft assembly including a drive member, a flag member, and a sensor to a handheld surgical instrument including a motor such that the motor is operably coupled to the drive member, wherein the shaft assembly is configured to selectively interconnect the handheld surgical instrument and an end effector;
actuating the motor to drive rotation of the drive member, within the shaft assembly, in a first direction, thereby translating the flag member, within the shaft assembly, axially along the drive member;
determining when the flag member contacts the sensor within the shaft assembly; and
stopping the motor when the flag member contacts the sensor to stop an actuation of the end effector.
7. The end stop detection method of claim 6 , further comprising connecting an end effector to the shaft assembly prior to actuating the motor.
8. The end stop detection method of claim 7 , further comprising removing the end effector after stopping the motor.
9. The end stop detection method of claim 8 , further comprising:
identifying a type of a new end effector to be attached to the shaft assembly; and
actuating the motor to drive rotation of the drive member to rotate in a second direction opposite the first direction, thereby translating the flag member axially along the drive member away from the sensor,
wherein the drive member is rotated a predetermined amount based on the identified type of the new end effector.
10. The end stop detection method according to claim 9 , wherein the predetermined amount is a predetermined amount of time.
11. The end stop detection method of claim 9 , further comprising attaching the new end effector to the shaft assembly.
12. The end stop detection method of claim 6 , further comprising:
identifying a type of an end effector to be attached to the shaft assembly; and
actuating the motor to drive rotation of the drive member to rotate in a second direction opposite the first direction, thereby translating the flag member axially along the drive member away from the sensor,
wherein the drive member is rotated a predetermined amount based on the identified type of the end effector.
13. The end stop detection method according to claim 12 , wherein the predetermined amount is a predetermined amount of time.
14. The end stop detection method of claim 12 , further comprising attaching the end effector to the shaft assembly.