US 11,903,581 B2
Methods for stapling tissue using a surgical instrument
Richard L. Leimbach, Cincinnati, OH (US); and Michael J. Stokes, Cincinnati, OH (US)
Assigned to CILAG GMBH INTERNATIONAL, Zug (CH)
Filed by Cilag GMBH International, Zug (CH)
Filed on Apr. 11, 2020, as Appl. No. 16/846,303.
Claims priority of provisional application 62/840,715, filed on Apr. 30, 2019.
Prior Publication US 2020/0345353 A1, Nov. 5, 2020
Int. Cl. A61B 17/072 (2006.01); A61B 18/14 (2006.01); A61B 17/00 (2006.01); A61B 18/00 (2006.01)
CPC A61B 17/07207 (2013.01) [A61B 18/1445 (2013.01); A61B 2017/0019 (2013.01); A61B 2017/00039 (2013.01); A61B 2017/00398 (2013.01); A61B 2017/00734 (2013.01); A61B 2017/07228 (2013.01); A61B 2017/07257 (2013.01); A61B 2017/07271 (2013.01); A61B 2017/07285 (2013.01); A61B 2018/0063 (2013.01)] 21 Claims
OG exemplary drawing
 
1. A method of stapling the tissue of a patient with a stapling instrument, comprising:
clamping the patient tissue with an end effector of the stapling instrument;
deploying staples from a staple cartridge in the end effector with a firing member during a firing stroke;
driving the firing member with an electric motor during the firing stroke;
adjusting, with a pulse width modulation speed controller, a duty cycle of voltage pulses to achieve a target-speed of the electric motor;
comparing the duty cycle to one or more first predetermined thresholds during the firing stroke at a first adjustment point, wherein the first adjustment point is a predetermined distance distally from a proximal unfired starting position of the firing member;
comparing the duty cycle to one or more second predetermined thresholds during the firing stroke at a second adjustment point, wherein the second adjustment point is a predetermined distance distally from the first adjustment point; and
changing the target speed based on the comparison of the duty to the one or more first predetermined thresholds at the first adjustment point and/or based on comparison of the duty cycle to the one or more second predetermined thresholds at the second adjustment point.