Surgical instrument comprising an adaptive control system
A surgical instrument comprising a motor control system in communication with a closure motor and a drive motor is disclosed. The motor control system is configured to control the operation of the closure motor and the drive motor. The motor control system is configured to increase the clamping pressure applied by a first jaw during a second tissue cutting stroke as compared to the clamping pressure applied by the first jaw during a first tissue cutting stroke.
1 . A surgical instrument, comprising:
a first jaw;
a second jaw, wherein said first jaw is movable toward said second jaw from an unclamped position to a clamped position during a jaw closure stroke;
a closure system, comprising:
a closure motor; and
a closure member drivable by said closure motor, wherein said closure member is movable through said jaw closure stroke by said closure motor to move said first jaw into said clamped position and apply clamping pressure to tissue captured between said first jaw and said second jaw;
a tissue cutting system, comprising:
a drive motor; and
a cutting member drivable by said drive motor, wherein said cutting member is movable through a tissue cutting stroke by said drive motor to cut the tissue captured between said first jaw and said second jaw after said first jaw has been moved into said clamped position;
a sensor circuit comprising a first electrode positioned on said first jaw and a second electrode positioned on said second jaw, wherein said first electrode and said second electrode are configured to contact each other when said first jaw is in said clamped position and an implantable adjunct is not positioned intermediate said first jaw and said second jaw, and wherein said first electrode and said second electrode are separated from each other when said first jaw is in said clamped position and an implantable adjunct is positioned intermediate said first jaw and said second jaw; and
a motor control system in communication with said closure motor, said drive motor, and said sensor circuit, wherein said motor control system is configured to control the operation of said closure motor and said drive motor, and wherein said motor control system is configured to increase the clamping pressure applied by said first jaw during said tissue cutting stroke when said sensor circuit detects the presence of an implantable adjunct intermediate said first jaw and said second jaw.
2 . The surgical instrument of claim 1 , further comprising a staple cartridge positioned in said first jaw, wherein said staple cartridge comprises:
a cartridge body;
staples removably stored in said cartridge body; and
an implantable adjunct removably attached to said cartridge body.
3 . The surgical instrument of claim 1 , further comprising a staple cartridge positioned in said second jaw, wherein said staple cartridge comprises:
a cartridge body;
staples removably stored in said cartridge body; and
an implantable adjunct removably attached to said cartridge body.
4 . The surgical instrument of claim 1 , further comprising an implantable adjunct releasably attached to said first jaw.
5 . The surgical instrument of claim 1 , further comprising an implantable adjunct releasably attached to said second jaw.
6 . The surgical instrument of claim 1 , wherein said motor control system is configured to decrease a speed of said drive motor when said jaw closure stroke is increased.
7 . The surgical instrument of claim 6 , wherein said motor control system comprises a pulse width modulation circuit configured to control the speed of said drive motor.
8 . The surgical instrument of claim 1 , wherein said sensor circuit comprises an electrode configured to contact the implantable adjunct.
9 . The surgical instrument of claim 8 , wherein said electrode is positioned on said first jaw.
10 . The surgical instrument of claim 1 , wherein said sensor circuit comprises an electrode configured to be positioned near the implantable adjunct.
11 . The surgical instrument of claim 10 , wherein said first jaw comprises an anvil including staple forming pockets, and wherein said electrode is positioned in a said staple forming pocket.
12 . A surgical instrument, comprising: a first jaw;
a second jaw, wherein said first jaw is movable toward said second jaw from an unclamped position to a clamped position during a jaw closure stroke;
a closure system, comprising:
a closure motor; and
a closure member drivable by said closure motor, wherein said closure member is movable through said jaw closure stroke by said closure motor to move said first jaw into said clamped position and apply clamping pressure to tissue captured between said first jaw and said second jaw;
a tissue cutting system, comprising:
a drive motor; and
a cutting member drivable by said drive motor, wherein said cutting member is movable through a tissue cutting stroke by said drive motor to cut the tissue captured between said first jaw and said second jaw after said first jaw has been moved into said clamped position;
a sensor circuit comprising a first electrode positioned on said first jaw and a second electrode positioned on said second jaw, wherein said first electrode and said second electrode are configured to contact each other when said first jaw is in said clamped position and an implantable adjunct is not positioned intermediate said first jaw and said second jaw, and wherein said first electrode and said second electrode are separated from each other when said first jaw is in said clamped position and an implantable adjunct is positioned intermediate said first jaw and said second jaw; and
a motor control system in communication with said closure motor, said drive motor, and said sensor circuit, wherein said motor control system is configured to control the operation of said closure motor and said drive motor, and wherein said motor control system is configured to decrease a speed of said drive motor and said tissue cutting stroke when said sensor circuit detects the presence of an implantable adjunct intermediate said first jaw and said second jaw.
13 . The surgical instrument of claim 12 , further comprising a staple cartridge positioned in said first jaw, wherein said staple cartridge comprises:
a cartridge body;
staples removably stored in said cartridge body; and
an implantable adjunct removably attached to said cartridge body.
14 . The surgical instrument of claim 12 , further comprising a staple cartridge positioned in said second jaw, wherein said staple cartridge comprises:
a cartridge body;
staples removably stored in said cartridge body; and
an implantable adjunct removably attached to said cartridge body.
15 . The surgical instrument of claim 12 , further comprising an implantable adjunct releasably attached to said first jaw.
16 . The surgical instrument of claim 12 , further comprising an implantable adjunct releasably attached to said second jaw.
17 . The surgical instrument of claim 12 , wherein said motor control system comprises a pulse width modulation circuit configured to control the speed of said drive motor.
18 . The surgical instrument of claim 12 , wherein said motor control system comprises a frequency modulation circuit configured to control the speed of said drive motor.
19 . The surgical instrument of claim 12 , wherein said sensor circuit comprises an electrode configured to at least one of (i) contact the implantable adjunct or (ii) be positioned near the implantable adjunct.
20 . The surgical instrument of claim 19 , wherein said electrode is positioned on said first jaw.