US 12,239,319 B2
Adjustment of a motor control command signal to adapt to system changes
Frederick E. Shelton, IV, Hillsboro, OH (US); Shane R. Adams, Lebanon, OH (US); Kevin M. Fiebig, Cincinnati, OH (US); Raymond E. Parfett, Loveland, OH (US); Curtis A. Maples, Cincinnati, OH (US); Nicholas J. Ross, Franklin, OH (US); and Taylor W. Aronhalt, Loveland, OH (US)
Assigned to CILAG GMBH INTERNATIONAL, Zug (CH)
Filed by Cilag GmbH International, Zug (CH)
Filed on Sep. 30, 2022, as Appl. No. 17/957,984.
Claims priority of provisional application 63/411,445, filed on Sep. 29, 2022.
Prior Publication US 2024/0108339 A1, Apr. 4, 2024
Int. Cl. A61B 17/072 (2006.01); A61B 17/068 (2006.01); A61B 17/32 (2006.01); A61B 18/14 (2006.01); A61B 34/30 (2016.01); G16H 40/63 (2018.01); H02K 7/116 (2006.01); H02K 7/14 (2006.01); A61B 17/00 (2006.01); A61B 17/29 (2006.01); A61B 18/00 (2006.01); A61B 34/20 (2016.01); A61B 90/00 (2016.01)
CPC A61B 17/07207 (2013.01) [A61B 17/068 (2013.01); A61B 17/0684 (2013.01); A61B 17/072 (2013.01); A61B 17/320092 (2013.01); A61B 18/1445 (2013.01); A61B 34/30 (2016.02); G16H 40/63 (2018.01); H02K 7/116 (2013.01); H02K 7/145 (2013.01); A61B 2017/00017 (2013.01); A61B 2017/00022 (2013.01); A61B 2017/00039 (2013.01); A61B 2017/00075 (2013.01); A61B 2017/00132 (2013.01); A61B 2017/00185 (2013.01); A61B 2017/0019 (2013.01); A61B 2017/00221 (2013.01); A61B 2017/00398 (2013.01); A61B 2017/07257 (2013.01); A61B 2017/07271 (2013.01); A61B 2017/07278 (2013.01); A61B 2017/07285 (2013.01); A61B 2017/2932 (2013.01); A61B 2017/320074 (2017.08); A61B 2018/00642 (2013.01); A61B 2018/0072 (2013.01); A61B 2034/2059 (2016.02); A61B 2090/064 (2016.02)] 9 Claims
OG exemplary drawing
 
1. A method of controlling a motor in a powered surgical stapling system, wherein the powered surgical stapling system comprises an anvil, a tissue cutting blade, an articulation joint, the motor, a motor power supply, a motor gear reducer assembly mechanically coupled to the motor, and a motor controller, the method comprising:
receiving, by the motor controller, a first data indicative of an operation of the motor operating under a first condition, wherein receiving the first data indicative of the operation of the motor comprises receiving first rotational position data from a first rotary motion encoder mechanically associated with a shaft of the motor and first rotational position data from a second rotary motion encoder mechanically associated with an output of the motor gear reducer assembly;
receiving, by the motor controller, a second data indicative of an operation of the motor operating under a second condition, wherein receiving the second data indicative of the operation of the motor comprises receiving second rotational position data from the first rotary motion encoder and second rotational position data from the second rotary motion encoder; and
adjusting, by the motor controller, a motor control signal based on a difference between the first data and the second data.