US 11,653,914 B2
Systems and methods for controlling motor velocity of a surgical stapling and cutting instrument according to articulation angle of end effector
Frederick E. Shelton, IV, Hillsboro, OH (US); David C. Yates, Morrow, OH (US); and Jason L. Harris, Lebanon, OH (US)
Assigned to Cilag GmbH International, Zug (CH)
Filed by Cilag GmbH International, Zug (CH)
Filed on Jun. 20, 2017, as Appl. No. 15/628,050.
Prior Publication US 2018/0360446 A1, Dec. 20, 2018
Int. Cl. A61B 17/06 (2006.01); A61B 17/068 (2006.01); A61B 17/11 (2006.01); A61B 17/072 (2006.01); A61B 17/16 (2006.01); A61B 90/00 (2016.01); A61B 17/00 (2006.01); A61B 17/29 (2006.01)
CPC A61B 17/0686 (2013.01) [A61B 17/068 (2013.01); A61B 17/07207 (2013.01); A61B 17/1114 (2013.01); A61B 17/1626 (2013.01); A61B 90/03 (2016.02); A61B 2017/00017 (2013.01); A61B 2017/0046 (2013.01); A61B 2017/00075 (2013.01); A61B 2017/00115 (2013.01); A61B 2017/00398 (2013.01); A61B 2017/00734 (2013.01); A61B 2017/07285 (2013.01); A61B 2017/2927 (2013.01); A61B 2090/064 (2016.02); A61B 2090/067 (2016.02)] 13 Claims
OG exemplary drawing
 
1. A surgical instrument, comprising:
a displacement member;
a motor coupled to a proximal end of the displacement member to translate the displacement member in a firing stroke to deploy staples into tissue grasped by an end effector of the surgical instrument;
a control circuit coupled to the motor;
a position sensor coupled to the control circuit, the position sensor configured to measure a position of the displacement member relative to the end effector and configured to measure an articulation angle of the end effector relative to a longitudinally extending shaft;
wherein the control circuit is configured to:
during the firing stroke, detect a change in the articulation angle between the end effector and the longitudinally extending shaft during a translation of the displacement member to deploy staples into the tissue;
during the firing stroke, cause the motor to adjust a velocity of the displacement member during the translation of the displacement member to deploy staples into the tissue, wherein the adjustment of the velocity of the displacement member is based on the change in the articulation angle during the translation of the displacement member to deploy staples into the tissue; and
determine if the displacement member is at the end of the firing stroke.