US 12,440,209 B2
Surgical instrument with multiple program responses during a firing motion
Jason L. Harris, Lebanon, OH (US); Frederick E. Shelton, IV, Hillsboro, OH (US); and Mark D. Overmyer, Cincinnati, OH (US)
Assigned to Cilag GmbH International, Zug (CH)
Filed by Cilag GmbH International, Zug (CH)
Filed on May 9, 2023, as Appl. No. 18/195,068.
Application 18/195,068 is a continuation of application No. 17/709,576, filed on Mar. 31, 2022, granted, now 11,642,125, issued on May 9, 2023.
Application 17/709,576 is a continuation of application No. 16/919,319, filed on Jul. 2, 2020, granted, now 12,144,500.
Application 16/919,319 is a continuation of application No. 15/130,566, filed on Apr. 15, 2016, granted, now 10,828,028, issued on Nov. 10, 2020.
Prior Publication US 2023/0363758 A1, Nov. 16, 2023
Int. Cl. A61B 17/068 (2006.01); A61B 17/072 (2006.01); A61B 17/32 (2006.01); G16H 20/40 (2018.01); G16H 40/63 (2018.01); A61B 17/00 (2006.01); A61B 17/29 (2006.01); A61B 90/00 (2016.01); A61B 90/30 (2016.01)
CPC A61B 17/0686 (2013.01) [A61B 17/07207 (2013.01); A61B 17/320068 (2013.01); G16H 20/40 (2018.01); G16H 40/63 (2018.01); A61B 2017/00017 (2013.01); A61B 2017/00022 (2013.01); A61B 2017/00026 (2013.01); A61B 2017/00039 (2013.01); A61B 2017/00075 (2013.01); A61B 2017/00115 (2013.01); A61B 2017/00119 (2013.01); A61B 2017/00123 (2013.01); A61B 2017/00132 (2013.01); A61B 2017/00199 (2013.01); A61B 2017/00398 (2013.01); A61B 2017/0046 (2013.01); A61B 2017/00725 (2013.01); A61B 2017/00734 (2013.01); A61B 2017/07257 (2013.01); A61B 2017/07271 (2013.01); A61B 2017/07285 (2013.01); A61B 2017/2927 (2013.01); A61B 2090/061 (2016.02); A61B 2090/064 (2016.02); A61B 2090/065 (2016.02); A61B 2090/0803 (2016.02); A61B 2090/0807 (2016.02); A61B 2090/0808 (2016.02); A61B 2090/0811 (2016.02); A61B 2090/304 (2016.02); A61B 2090/309 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A surgical instrument, comprising:
an elongated channel configured to support a staple cartridge;
an anvil pivotably connected to the elongated channel;
a closure tube mechanically coupled to the anvil;
an electric motor; and
a control circuit electrically connected to the electric motor, wherein the control circuit is configured to:
determine a firing force of the surgical instrument during a firing motion of the surgical instrument;
determine a projected peak firing force based on the determined firing force;
determine, based on the projected peak firing force, whether to change the firing motion of the surgical instrument;
determine, in response to a determination to change the firing motion of the surgical instrument, a rate of at which the projected peak firing force is approaching a predetermined threshold firing force; and
change the firing motion of the surgical instrument to (i) a first firing motion in response to the rate being equal to a first rate and (ii) a second firing motion, different from the first firing motion, in response to the rate being equal to a second rate different from the first rate.