Surgical instrument with sensor
A surgical instrument includes a housing, a shaft extending distally from the housing, an end effector disposed at a distal end of the shaft, an actuator operably coupled to the housing, an actuation assembly, and a sensor module. The actuation assembly extends through the housing and the shaft and includes a distal end operably coupled to the end effector or a component associated therewith, a proximal end operably coupled to the actuator, and a spring. Actuation of the actuator manipulates the end effector or deploys the component relative thereto. The sensor module is disposed within the housing and configured to sense a property of the spring indicative of an amount the spring has been compressed. The sensor module is further configured, based upon the sensed property, to determine a condition of the end effector or the relative position of the component.
1. A surgical system, comprising:
an end effector configured to apply a force to tissue;
an actuation assembly, including:
an actuator;
a drive rod coupled to the end effector such that translation of the drive rod causes the end effector to apply the force to tissue; and
a force-regulating spring operably coupled between the actuator and the drive rod and configured to regulate the force applied to tissue; and
a sensor module configured to sense a property of the force-regulating spring and to determine the force applied by the end effector to tissue based upon the sensed property.
2. The surgical system according to claim 1 , wherein the sensor module includes at least one spring sensor and a processor, the at least one spring sensor configured to sense the property of the force-regulating spring and relay the sensed property to the processor to determine the force applied by the end effector based upon the sensed property.
3. The surgical system according to claim 2 , wherein the sensor module further includes a storage device configured to store data representing a relationship between the sensed property and the force applied by the end effector, the processor configured to access the data to determine the force applied by the end effector based upon the sensed property.
4. The surgical system according to claim 1 , wherein the sensor module is configured to sense one of:
a change in inductance of the force-regulating spring indicative of an amount the force-regulating spring has been compressed, or
a spacing between rungs of the force-regulating spring indicative of an amount the force-regulating spring has been compressed.
5. The surgical system according to claim 1 , further comprising an output device configured to output an indicator based upon the determined force applied.
6. The surgical system according to claim 5 , wherein the indicator includes at least one of an audible output, a visual output, or a tactile output.
7. The surgical system according to claim 1 , wherein the end effector includes first and second jaw members movable between an open position and a closed position for grasping tissue and applying the force to the grasped tissue.