Stapling assembly including a controller for monitoring a clamping laod
Various examples are directed to systems and methods for operating a surgical instrument comprising a firing member translatable proximally and distally along a longitudinal axis between a stroke begin position to a stroke end position distal of the stroke begin position; a knife coupled to the firing member; and a motor coupled to the firing member to translate the firing member between the stroke begin position and the stroke end position. A control circuit may receive a firing signal and begin a firing member stroke by providing an initial motor setting to the motor. The control circuit may maintain the initial motor setting for an open-loop portion of the firing member stroke. The control circuit may receive firing member motion data describing a motion of the firing member during the open-loop portion of the firing member stroke and may select a firing control program based at least in part on the motion of the firing member during the open-loop portion of the firing member stroke.
1. A stapling assembly configured to clamp and staple tissue, wherein said stapling assembly comprises:
a motor;
a shaft;
a firing member comprising a first jaw-engaging portion and a second jaw-engaging portion, wherein said firing member is movable through a firing stroke, and wherein said firing stroke comprises:
a beginning;
an intermediate stage, wherein said firing member is movable at a predetermined first rate between said beginning and said intermediate stage, and wherein said firing member experiences a clamping load during the movement between said beginning and said intermediate stage;
an end, wherein said firing member is movable at a second rate between said intermediate stage and said end; and
an end effector, comprising:
a first jaw configured to be engaged by said first jaw-engaging portion;
a second jaw moveable relative to said first jaw, wherein said second jaw is configured to be engaged by said second jaw-engaging portion;
a staple cartridge comprising a plurality of staples removably stored therein, wherein said staples are configured to be ejected from said staple cartridge by said firing member; and
an anvil configured to deform said staples; and
a controller configured to monitor said clamping load during said predetermined first rate of said firing member, wherein said controller is configured to set said second rate based on said monitored clamping load to fire said staples at said set second rate, wherein the magnitude of said set second rate depends on the magnitude of said monitored clamping load.
2. The stapling assembly of claim 1 , wherein said controller is configured to monitor the current of said motor during said first rate of said firing member.
3. The stapling assembly of claim 1 , wherein said clamping load comprises a clamping force, and wherein said end effector further comprises a sensor configured to measure said clamping force during said first rate of said firing member.
4. A stapling assembly configured to clamp and staple tissue, wherein said stapling assembly comprises:
a motor;
a shaft;
a firing member comprising a first jaw-engaging portion and a second jaw-engaging portion, wherein said firing member is movable through a firing stroke, and wherein said firing stroke comprises:
a first position;
a second position distal to said first position, wherein said firing member is movable at a predetermined first speed between said first position and said second position, and wherein said firing member experiences a tissue-capturing load during the movement between said first position and said second position; and
a third position distal to said second position, wherein said firing member is movable at a second speed between said second position and said third position;
an end effector, comprising:
a first jaw configured to be engaged by said first jaw-engaging portion;
a second jaw moveable relative to said first jaw, wherein said second jaw is configured to be engaged by said second jaw-engaging portion;
a fastener cartridge comprising a plurality of fasteners removably stored therein, wherein said fasteners are configured to be ejected from said fastener cartridge by said firing member; and
an anvil configured to deform said fasteners; and
a controller configured to monitor said tissue-capturing load during said predetermined first speed of said firing member, wherein said controller is configured to set said second speed based on said monitored tissue-capturing load to fire said fasteners at said set second speed, wherein the magnitude of said set second speed depends on the magnitude of said tissue-capturing load.
5. The stapling assembly of claim 4 , wherein said controller is configured to monitor the current of said motor during said first speed of said firing member.
6. The stapling assembly of claim 4 , wherein said tissue-capturing load comprises a clamping force, and wherein said end effector further comprises a sensor configured to measure said clamping force during said first speed of said firing member.
7. A stapling assembly configured to clamp and staple tissue, wherein said stapling assembly comprises:
a motor;
a shaft;
an actuator comprising a first jaw-engaging portion and a second jaw-engaging portion, wherein said actuator is movable through a firing stroke, and wherein said firing stroke comprises:
an unclamped, unfired position;
a clamped, unfired position, wherein said actuator is movable at a predetermined first rate between said unclamped, unfired position and said clamped, unfired position, and wherein said actuator experiences a jaw-closure load during the movement between said unclamped, unfired position and said clamped, unfired position; and
a fired position, wherein said actuator is movable at a second rate between said clamped, unfired position and said fired position;
an end effector, comprising:
a first jaw configured to be engaged by said first jaw-engaging portion;
a second jaw moveable relative to said first jaw, wherein said second jaw is configured to be engaged by said second jaw-engaging portion;
a fastener cartridge comprising a plurality of fasteners removably stored therein, wherein said fasteners are configured to be ejected from said fastener cartridge by said actuator; and
an anvil configured to deform said fasteners; and
a controller configured to monitor said jaw-closure load during said predetermined first rate of said actuator, wherein said controller is configured to set said second rate based on said monitored jaw-closure load to fire said fasteners at said set second rate, wherein the magnitude of said set second rate depends on the magnitude of said monitored jaw-closure load.
8. The stapling assembly of claim 7 , wherein said controller is configured to monitor the current of said motor during said first rate of said actuator.
9. The stapling assembly of claim 7 , wherein said jaw-closure load comprises a clamping force, and wherein said end effector further comprises a sensor configured to measure said clamping force during said first rate of said actuator.