US 12,167,849 B2
Techniques for adaptive control of motor velocity of a surgical stapling and cutting instrument
Frederick E. Shelton, IV, Hillsboro, OH (US); David C. Yates, Morrow, OH (US); Jason L. Harris, Lebanon, OH (US); and Brett E. Swensgard, West Chester, OH (US)
Assigned to CILAG GMBH INTERNATIONAL, Zug (CH)
Filed by Cilag GmbH International, Zug (CH)
Filed on Apr. 21, 2023, as Appl. No. 18/137,792.
Application 18/137,792 is a continuation of application No. 17/097,346, filed on Nov. 13, 2020, granted, now 11,672,532.
Application 17/097,346 is a continuation of application No. 15/628,175, filed on Jun. 20, 2017, granted, now 10,881,399, issued on Jan. 5, 2021.
Prior Publication US 2023/0293170 A1, Sep. 21, 2023
Int. Cl. A61B 17/068 (2006.01); A61B 17/072 (2006.01); A61B 17/11 (2006.01); A61B 17/00 (2006.01); A61B 17/16 (2006.01); A61B 17/29 (2006.01); A61B 90/00 (2016.01)
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
OG exemplary drawing
 
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.