Robotically-controlled end effector

Abstract

The present invention is directed to a surgical instrument with a robotics system, a memory device and an end effector having an elongate channel, knife position sensor(s) and a firing bar coupled to a knife. In response to drive motions initiated by the robotics system, the firing bar may translate within the elongate channel. As the firing bar translates, the sensor(s) transmit a signal to the memory device. The position of the knife may be determined from the output signals and may be communicated to the robotics system or instrument user. The sensors may be Hall Effect sensors.

1 . A surgical instrument comprising:
 a robotics system;   a surgical end effector comprising:
 an elongate channel comprising an interior surface, wherein said interior surface comprises a plurality of sensors; and 
 a firing bar comprising a magnetic element; wherein said firing bar is configured to translate between positions within said elongate channel in response to drive motions imparted thereto from said robotics system; 
   a memory device operably interfacing with said plurality of sensors to record the positions of said magnetic element.   
     
     
         2 . The surgical instrument of  claim 1 , wherein said interior surface comprises a slot and wherein said magnetic element translates along said slot within said elongate channel. 
     
     
         3 . The surgical instrument of  claim 2 , wherein said plurality of sensors comprises a first sensor proximate to said translating magnetic element and a second sensor distal to said translating magnetic element. 
     
     
         4 . The surgical instrument of  claim 1 , wherein said plurality of sensors are Hall Effect Sensors. 
     
     
         5 . The surgical instrument of  claim 1 , wherein said end effector further comprises a staple cartridge. 
     
     
         6 . The surgical instrument of  claim 1  further comprising a means for indicating said positions recorded by said memory device. 
     
     
         7 . The surgical instrument of  claim 6 , wherein said means for indicating comprises a visual indication device. 
     
     
         8 . The surgical instrument of  claim 6 , wherein said means for indicating comprises a haptic indication arrangement. 
     
     
         9 . The surgical instrument of  claim 1 , wherein said memory device communicates said positions of said magnetic element to said robotics system. 
     
     
         10 . The surgical instrument of  claim 1 , wherein said memory device wirelessly interfaces with said plurality of sensors. 
     
     
         11 . A surgical instrument comprising:
 a robotics system;   a surgical end effector comprising:
 an elongate channel; 
 a firing bar comprising a magnetic element; wherein said firing bar is configured to translate between positions within said elongate channel in response to drive motions imparted thereto from said robotics system; 
 a coil positioned around a portion of said firing bar; 
   a memory device operably interfacing with said coil to record said positions of said magnetic element.   
     
     
         12 . The surgical instrument of  claim 11 , wherein said end effector further comprises a staple cartridge. 
     
     
         13 . The surgical instrument of  claim 11 , further comprising a means for indicating said positions recorded by said memory device. 
     
     
         14 . The surgical instrument of  claim 13 , wherein said means for indicating comprises a visual indication device. 
     
     
         15 . The surgical instrument of  claim 13 , wherein said means for indicating comprises a haptic indication arrangement. 
     
     
         16 . The surgical instrument of  claim 11 , wherein said memory device communicates said positions of said magnetic element to said robotics system. 
     
     
         17 . The surgical instrument of  claim 11 , wherein said memory device wirelessly interfaces with said plurality of sensors.