Surgical instrument, effector for a surgical instrument, and robotic device

Abstract

This disclosure relates to surgical instruments, actuators for surgical instruments, and robotic devices. The surgical instrument includes: an instrument body comprising a drive mechanism and a control mechanism; the drive mechanism comprising a drive component and a power unit connected thereto; an actuator detachably connected to the instrument body and comprising a motion component; the drive component, after being driven by power provided by the power unit, is drivably connected to the motion component to drive the latter along a motion path; the actuator is provided with a free travel structure configured to implement a portion of the motion path as a free travel, the drive mechanism having a first state when passing through the free travel; the motion path also includes an effective travel adjacent to the free travel at the distal end of the free travel, the drive mechanism having a second state when passing through the effective travel; the drive mechanism generates a first signal and a second signal in the first and second states, respectively; the control mechanism is configured to identify actuator type information based on the first and second signals.

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