US 12,076,004 B2
Surgical stapler having motor control based on an electrical parameter related to a motor current
Mark D. Overmyer, Cincinnati, OH (US); David C. Yates, Morrow, OH (US); Frederick E. Shelton, IV, Hillsboro, OH (US); Shane R. Adams, Lebanon, OH (US); and Richard L. Leimbach, Cincinnati, OH (US)
Assigned to Cilag GmbH International, Zug (CH)
Filed by Cilag GmbH International, Zug (CH)
Filed on Nov. 7, 2022, as Appl. No. 17/981,584.
Application 17/981,584 is a continuation of application No. 17/023,661, filed on Sep. 17, 2020, granted, now 11,490,889.
Application 17/023,661 is a continuation of application No. 16/146,772, filed on Sep. 28, 2018, granted, now 11,026,678, issued on Jun. 8, 2021.
Application 16/146,772 is a continuation of application No. 14/862,465, filed on Sep. 23, 2015, granted, now 10,238,386, issued on Mar. 26, 2019.
Prior Publication US 2023/0240678 A1, Aug. 3, 2023
Int. Cl. A61B 17/068 (2006.01); A61B 17/00 (2006.01); A61B 17/072 (2006.01); H02P 7/29 (2016.01)
CPC A61B 17/068 (2013.01) [A61B 17/00 (2013.01); A61B 17/07207 (2013.01); H02P 7/29 (2013.01); A61B 2017/00017 (2013.01); A61B 2017/00137 (2013.01); A61B 2017/00398 (2013.01); A61B 2017/0046 (2013.01); A61B 2017/00486 (2013.01); A61B 2017/00734 (2013.01)] 6 Claims
OG exemplary drawing
 
1. A surgical stapler, comprising:
an end effector comprising a first jaw and a second jaw movable relative to the first jaw to clamp tissue therebetween;
a drive system comprising a driver to actuate at least one function of the surgical stapler;
an electric motor mechanically coupled to the drive system;
a sensor;
a battery electrically couplable to the electric motor; and
a control circuit electrically connected to the electric motor, wherein the control circuit comprises a pulse width modulation circuit and is configured to control a force applied to the drive system based on:
a plurality of battery current measurements; and
a plurality of predicted recirculating current values, wherein the control circuit is configured to:
actuate the driver with the electric motor through a closure stroke;
monitor a signal of the sensor during the closure stroke;
interrupt the actuation of the driver during the closure stroke based on the monitored signal of the sensor;
actuate the driver through a staple firing stroke with the electric motor;
monitor a current drawn by the electric motor during the staple firing stroke; and
interrupt the actuation of the driver during the staple firing stroke based on the monitored current being outside of a predetermined range of current.