US 12,064,109 B2
Surgical instrument comprising a feedback control circuit
Frederick E. Shelton, IV, Hillsboro, OH (US); Shane R. Adams, Lebanon, OH (US); Nicholas J. Ross, Franklin, 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. 8, 2020, as Appl. No. 16/895,298.
Claims priority of provisional application 62/955,306, filed on Dec. 30, 2019.
Prior Publication US 2021/0196269 A1, Jul. 1, 2021
Int. Cl. A61B 17/072 (2006.01); A61B 17/00 (2006.01)
CPC A61B 17/072 (2013.01) [A61B 2017/00017 (2013.01); A61B 2017/00039 (2013.01); A61B 2017/00398 (2013.01); A61B 2017/07228 (2013.01); A61B 2017/07257 (2013.01); A61B 2017/07271 (2013.01); A61B 2017/07278 (2013.01); A61B 2017/07285 (2013.01)] 8 Claims
OG exemplary drawing
 
1. A surgical instrument system, comprising:
a surgical instrument assembly, comprising:
a shaft;
an end effector attached to said shaft; and
at least one drive component positioned within said shaft; and
a surgical control circuit comprising a motor control program configured to run a motor configured to drive said at least one drive component positioned within said shaft, wherein said surgical control circuit is configured to:
receive a first sensed measurement of a parameter of said motor from said motor;
receive a second sensed measurement of a parameter of said at least one drive component, wherein said second sensed measurement is sensed locally within said shaft;
compare said first sensed measurement and said second sensed measurement;
determine an actual relationship of said first sensed measurement and said second sensed measurement based on said comparison;
compare said actual relationship to an expected relationship, wherein said expected relationship is based on an expected first measurement of the parameter of said motor from said motor and an expected second measurement of the parameter of said at least one drive component; and
adjust said motor control program based on the comparison of said actual relationship and said expected relationship to align said actual relationship with said expected relationship.