CPC A61B 17/0686 (2013.01) [A61B 17/068 (2013.01); A61B 17/07207 (2013.01); A61B 17/1114 (2013.01); A61B 2017/00017 (2013.01); A61B 2017/00115 (2013.01); A61B 2017/00398 (2013.01); A61B 2017/0046 (2013.01); A61B 2017/00734 (2013.01); A61B 2017/07257 (2013.01); A61B 2017/07278 (2013.01); A61B 2017/07285 (2013.01); A61B 17/1626 (2013.01); A61B 2017/2927 (2013.01); A61B 2017/2933 (2013.01); A61B 90/03 (2016.02); A61B 2090/064 (2016.02); A61B 2090/067 (2016.02)] | 20 Claims |
1. A surgical system, comprising:
an end effector, comprising:
a first jaw; and
a second jaw rotatable relative to the first jaw from an open position toward a closed position to capture tissue therebetween;
a firing beam movable from an unfired position toward a fired position during a firing stroke, wherein the firing beam comprises:
a first cam configured to engage the first jaw; and
a second cam configured to engage the second jaw;
a motor operably coupled to the firing beam, wherein the motor is configured to move the firing beam through the firing stroke;
a current sensor configured to detect a current draw of the motor during the firing stroke;
a position sensor configured to detect a position of the firing beam during the firing stroke; and
a control circuit configured to communicate with the motor, the current sensor, and the position sensor, wherein the control circuit is configured to:
control the motor to move the firing beam toward the fired position;
receive a first sensor signal from the current sensor, wherein the first sensor signal is indicative of the current draw;
receive a second sensor signal from the position sensor, wherein the second sensor signal is indicative of the position of the firing beam;
conduct a first comparison between the current draw and a current threshold; and
pause the motor for a first length of time based on the first comparison, wherein the first length of time is determined based on the position of the firing beam.
|