US 12,201,304 B2
Method for closed loop control of motor velocity of a surgical stapling and cutting instrument
Raymond E. Parfett, Loveland, OH (US); Shane R. Adams, Lebanon, OH (US); Frederick E. Shelton, IV, Hillsboro, OH (US); and Jason L. Harris, Lebanon, OH (US)
Assigned to Cilag GmbH International, Zug (CH)
Filed by Cilag GmbH International, Zug (CH)
Filed on Nov. 10, 2023, as Appl. No. 18/388,677.
Application 18/388,677 is a continuation of application No. 17/548,713, filed on Dec. 13, 2021, granted, now 11,871,939.
Application 17/548,713 is a continuation of application No. 16/752,983, filed on Jan. 27, 2020, granted, now 11,213,302, issued on Jan. 4, 2022.
Application 16/752,983 is a continuation of application No. 16/170,801, filed on Oct. 25, 2018, granted, now 10,595,882, issued on Mar. 24, 2020.
Application 16/170,801 is a continuation of application No. 15/628,045, filed on Jun. 20, 2017, granted, now 10,307,170, issued on Jun. 4, 2019.
Prior Publication US 2024/0081839 A1, Mar. 14, 2024
Int. Cl. G05B 19/04 (2006.01); A61B 17/072 (2006.01); A61B 17/16 (2006.01); A61B 34/00 (2016.01); A61B 17/00 (2006.01); A61B 17/32 (2006.01)
CPC A61B 17/1626 (2013.01) [A61B 17/07207 (2013.01); A61B 34/76 (2016.02); A61B 2017/00017 (2013.01); A61B 2017/00039 (2013.01); A61B 2017/00398 (2013.01); A61B 2017/07278 (2013.01); A61B 2017/07285 (2013.01); A61B 2017/320052 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A surgical system, comprising:
an end effector;
a firing driver movable from a proximal position toward a distal position during a firing stroke;
a motor to drive the firing driver toward the distal position during the firing stroke; and
a control circuit, to:
initiate the firing stroke to drive the firing driver in a first mode, wherein, in the first mode, the motor is to drive the firing driver at a first speed;
detect a first motor stall condition in the first mode;
transition from the first mode to a second mode based on the detected first motor stall condition, wherein, in the second mode, the motor is to drive the firing driver at a second speed less than the first speed;
detect a second motor stall condition in the second mode; and
pause driving the firing driver toward the distal position for a period of time based on the detected second motor stall condition.