US 11,896,222 B2
Methods of operating surgical end effectors
Frederick E. Shelton, IV, Hillsboro, OH (US); Daniel J. Mumaw, Liberty Township, OH (US); Jason L. Harris, Lebanon, OH (US); and Jerome R. Morgan, Cincinnati, OH (US)
Assigned to Cilag GmbH International, Zug (CH)
Filed by Cilag GmbH International, Zug (CH)
Filed on Sep. 4, 2020, as Appl. No. 17/012,241.
Application 17/012,241 is a continuation of application No. 15/843,704, filed on Dec. 15, 2017, granted, now 10,779,826.
Prior Publication US 2021/0045742 A1, Feb. 18, 2021
Int. Cl. A61B 17/072 (2006.01); A61B 90/00 (2016.01); H01M 10/42 (2006.01); A61B 17/00 (2006.01); A61B 17/29 (2006.01); H01M 50/213 (2021.01)
CPC A61B 17/07207 (2013.01) [A61B 90/06 (2016.02); A61B 2017/00017 (2013.01); A61B 2017/0023 (2013.01); A61B 2017/0046 (2013.01); A61B 2017/00398 (2013.01); A61B 2017/00407 (2013.01); A61B 2017/00473 (2013.01); A61B 2017/00477 (2013.01); A61B 2017/00734 (2013.01); A61B 2017/07257 (2013.01); A61B 2017/07271 (2013.01); A61B 2017/07278 (2013.01); A61B 2017/07285 (2013.01); A61B 2017/2927 (2013.01); A61B 2017/2933 (2013.01); A61B 2017/2948 (2013.01); A61B 2090/034 (2016.02); A61B 2090/061 (2016.02); A61B 2090/064 (2016.02); A61B 2090/067 (2016.02); A61B 2090/0808 (2016.02); A61B 2090/0811 (2016.02); A61B 2090/0813 (2016.02); A61B 2090/0814 (2016.02); H01M 10/425 (2013.01); H01M 50/213 (2021.01); H01M 2220/30 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A surgical system, comprising:
an end effector, comprising:
a first jaw; and
a second jaw moveable relative to the first jaw between an open position and a closed position;
a firing member movable between a starting position and an ending position;
a motor configured to advance the firing member toward the ending position;
a current sensor configured to sense a current draw of the motor; and
a control system comprising a processor and a memory, wherein the control system is configured to:
set, by the control system, a target firing speed range of the firing member based on a current draw of the motor sensed by the current sensor at a closure end position, wherein the closure end position corresponds to the second jaw being placed in the closed position, and wherein the target firing speed range is between a first non-zero speed value and a second non-zero speed value;
set, by the control system, a threshold current draw range corresponding to the target firing speed range of the firing member, wherein the threshold current draw range is between a first non-zero current value and a second non-zero current value;
advance, by the motor, the firing member toward the ending position at a firing speed within the target firing speed range;
monitor, by the current sensor, a current draw of the motor as the firing member is driven toward the ending position at the firing speed within the target firing speed range;
compare, by the control system, the monitored current draw to the threshold current draw range; and
adjust, by the control system, the firing speed of the firing member based on the monitored current draw crossing below the first non-zero current value corresponding to the threshold current draw range or above the second non-zero current value corresponding to the threshold current draw range.