Sensor straightened end effector during removal through trocar

摘要

In various forms, a sensor-straightened end effector is disclosed. The sensor-straightened end effector may comprise an end effector coupled to a shaft at an articulation point. The end effector may be articulable at an angle with respect to the shaft. A sensor may be disposed on the sensor-straightened end effector, such as on the shaft or on the end effector. The sensor is configured to detect a gross proximal movement. When detecting a gross proximal movement, the sensor may generate a signal to control a motor to begin a straightening process to straighten the end effector with respect to the shaft.

主权项

1. A surgical instrument comprising:
an end effector; a shaft coupled to and extending proximally from the end effector; a motor to control an angle of articulation of the end effector with respect to the shaft; and a first sensor in electrical communication with the motor, wherein one of the end effector or the shaft comprises the first sensor, and wherein the first sensor is configured to detect the surgical instrument being moved proximally and, in response to the detection, to activate the motor to straighten any angle of articulation of the end effector with respect to the shaft.