CPC A61B 17/07207 (2013.01) [A61B 2017/00022 (2013.01); A61B 2017/00398 (2013.01); A61B 2090/064 (2016.02)] | 20 Claims |
1. A surgical stapling system, comprising:
an end effector, comprising:
a first jaw; and
a second jaw rotatable relative to the first jaw;
a closure driver movable to rotate the second jaw relative to the first jaw;
a closure motor to drive the closure driver;
a firing driver movable from an unfired position toward a fired position during a firing stroke;
a firing motor to apply a firing force to the firing driver;
a force sensor to sense the firing force applied by the firing motor; and
a control circuit coupleable with the closure motor, the firing motor, and the force sensor, wherein the control circuit is to:
set a firing force threshold;
advance the closure driver to a first position;
advance the firing driver;
monitor the firing force as the firing driver is advanced;
compare the firing force to the firing force threshold; and
control movement of at least one of the closure driver or the firing driver based on:
results of the compare; and
a zone in which the firing driver is positioned.
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