US 12,226,099 B2
Surgical stapler with pulse width modulated driven adjustable speed staple firing stroke
Zhifan F. Huang, Mason, OH (US); Pierre R. Mesnil, Newport, KY (US); Michael J. Stokes, Cincinnati, OH (US); Richard L. Leimbach, Cincinnati, OH (US); and Shane R. Adams, Cincinnati, OH (US)
Assigned to CILAG GMBH INTERNATIONAL, Zug (CH)
Filed by Cilag GmbH International, Zug (CH)
Filed on Mar. 28, 2023, as Appl. No. 18/191,841.
Application 18/191,841 is a continuation of application No. 17/084,193, filed on Oct. 29, 2020, granted, now 11,617,577.
Prior Publication US 2023/0240679 A1, Aug. 3, 2023
Int. Cl. A61B 17/072 (2006.01); A61B 90/00 (2016.01); A61B 17/00 (2006.01)
CPC A61B 17/072 (2013.01) [A61B 90/06 (2016.02); A61B 2017/00022 (2013.01); A61B 2017/00039 (2013.01); A61B 2017/00115 (2013.01); A61B 2017/00367 (2013.01); A61B 2017/00398 (2013.01); A61B 2017/07228 (2013.01); A61B 2017/07257 (2013.01); A61B 2017/07264 (2013.01); A61B 2017/07271 (2013.01); A61B 2017/07285 (2013.01); A61B 2090/064 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A surgical stapler, comprising:
an end effector;
a firing drive electric motor configured to actuate a staple firing stroke of the end effector; and
a control circuit configured to:
provide a pulse width modulated (PWM) electrical signal to the firing drive electric motor,
measure a speed of the staple firing stroke driven by the firing drive electric motor,
compare the measured speed of the staple firing stroke to a target speed,
adjust a duty cycle of the PWM electrical signal based at least in part on the comparison of the measured speed to the target speed, and
adjust the target speed based at least in part on the duty cycle being outside of a predefined range.