Surgical instrument with magnetic sensing

A surgical instrument comprising:

• an instrument shaft;
• a tool drive adapter comprising:
• a housing disposed around a portion of the instrument shaft, wherein the instrument shaft is rotatably coupled to the tool drive adapter such that the instrument shaft is rotatable about a rotation axis relative to the housing;
• and
• an actuator coupled to the housing, wherein actuation of an actuator controls a function of the surgical instrument;
• and
• a sensor array disposed within the instrument shaft, the sensor array comprising:
• a printed circuit board fixedly coupled to an interior of the instrument shaft such that the printed circuit board is configured to rotate with the instrument shaft about the rotation axis and relative to the actuator of the tool drive adapter;
• and
• a plurality of sensors disposed circumferentially about the rotation axis and fixedly coupled to the printed circuit board such that the plurality of sensors is configured to rotate with the printed circuit board about the rotation axis and relative to the actuator of the tool drive adapter, wherein at least one sensor of the plurality of sensors disposed at a selected circumferential position relative to the rotation axis is configured to provide a signal corresponding to actuation of the actuator.

A surgical instrument comprising:

• an instrument shaft;
• a tool drive adapter comprising:
• a housing disposed around a portion of the instrument shaft, wherein the instrument shaft is rotatable about a rotation axis relative to the housing;
• and
• an actuator coupled to the housing, wherein actuation of an actuator controls a function of the surgical instrument;
• and
• a sensor array disposed within the instrument shaft, the sensor array comprising:
• a plurality of elongated printed circuit boards disposed circumferentially about the rotation axis and fixedly coupled to an interior of the instrument shaft such that the plurality of elongated printed circuit boards is configured to rotate with the instrument shaft about the rotation axis and relative to the actuator of the tool drive adapter;
• and
• a plurality of sensors, wherein each sensor of the plurality of sensors is fixedly coupled to a respective elongated printed circuit board of the plurality of elongated printed circuit boards such that the sensor is configured to rotate with the respective elongated printed circuit board about the rotation axis and relative to the actuator of the tool drive adapter, wherein at least one sensor of the plurality of sensors disposed at a selected circumferential position relative to the rotation axis is configured to provide a signal corresponding to actuation of the actuator.