Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured time over a specified number of shaft rotations
A motorized surgical instrument is disclosed. The surgical instrument includes a displacement member configured to translate over a plurality of predefined zones. A motor comprising a shaft is coupled to the displacement member. A control circuit is coupled to the motor. A position sensor is coupled to the control circuit to monitor the rotation of the shaft. A timer circuit is coupled to the control circuit. The control circuit is configured to receive rotations of the shaft in a current zone defined by a set rotation interval, measure time at a set position of the rotation interval, wherein the measured time is defined as the time taken by the displacement member to traverse the rotation interval based on a predetermined number of shaft rotations, and set a command velocity of the displacement member for a subsequent zone based on the measured time in the current predefined zone.
1. A surgical instrument, comprising:
a displacement member configured to translate within the surgical instrument over a plurality of predefined zones;
a motor comprising a shaft, the motor coupled to the displacement member to translate the displacement member;
a control circuit coupled to the motor;
a position sensor coupled to the control circuit, the position sensor configured to monitor rotation of the shaft;
a timer/counter circuit coupled to the control circuit, the timer/counter circuit configured to measure elapsed time;
wherein the control circuit is configured to:
receive, from the position sensor, rotations of the shaft in a current zone defined by a set rotation interval;
measure time at a set position of the set rotation interval, wherein the measured time is defined as the time taken by the displacement member to traverse the set rotation interval based on a predetermined number of shaft rotations;
set a command velocity of the displacement member for a subsequent zone based on the measured time in the current zone; and
without stopping the displacement member, cause the motor to drive the displacement member at the command velocity as the displacement member enters the subsequent zone.
2. The surgical instrument of claim 1 , wherein the control circuit is configured to:
determine the set rotation interval in which the displacement member is located, wherein the set rotation interval is defined by a number of rotations of the shaft that result in a linear translation of the displacement member from a beginning position to an ending position; and
measure the time when the displacement member reaches the ending position.
3. The surgical instrument of claim 1 , wherein the control circuit is configured to:
compare the measured time to a predetermined time stored in a memory coupled to the control circuit; and
determine whether to adjust or maintain the command velocity based on the comparison.
4. The surgical instrument of claim 3 , wherein the control circuit is configured to maintain the command velocity for the subsequent zone the samc as the command velocity of the current zone when the measured time is within a range of predetermined times.
5. The surgical instrument of claim 3 , wherein the control circuit is configured to adjust the command velocity for the subsequent zone different from the command velocity of the current zone when the measured time is outside a range of predetermined times.
6. The surgical instrument of claim 5 , wherein the control circuit is configured to skip a time measurement for a second subsequent zone when the command velocity is adjusted.
7. The surgical instrument of claim 1 , wherein multiple zones are defined for a staple cartridge configured to operate with the surgical instrument.
8. The surgical instrument of claim 7 , wherein at least two zones have a different length.
9. The surgical instrument of claim 1 , further comprising a screw drive system coupled to the shaft of the motor, the screw drive system comprising a lead screw coupled to a nut, wherein the nut is coupled to the displacement member.
10. A surgical instrument, comprising:
a displacement member configured to translate within the surgical instrument over a plurality of predefined zones;
a motor comprising a shaft, the motor coupled to the displacement member to translate the displacement member;
a control circuit coupled to the motor;
a position sensor coupled to the control circuit, the position sensor configured to monitor rotation of the shaft;
a timer/counter circuit coupled to the control circuit, the timer/counter circuit configured to measure elapsed time;
wherein the control circuit is configured to:
receive, from the position sensor, rotations of the shaft in an initial zone defined by a predetermined rotation interval;
measure time as the displacement member moves from a parked position to a target position based on a predetermined number of shaft rotations;
set a command velocity of the displacement member for a first dynamic zone based on the measured time; and
without stopping the displacement member, cause the motor to drive the displacement member at the command velocity as the displacement member enters the first dynamic zone.
11. The surgical instrument of claim 10 , wherein the control circuit is configured to compare the measured time to a predetermined time stored in a memory coupled to the control circuit.
12. The surgical instrument of claim 11 , wherein the control circuit is configured to set the command velocity for the first dynamic zone to a first velocity when the measured time is within a first range of times and set the command velocity for the first dynamic zone to a second velocity when the measured time is within a second range of times.
13. The surgical instrument of claim 10 , wherein the control circuit is configured to determine a lockout condition and stop the motor.
14. The surgical instrument of claim 10 , further comprising a screw drive system coupled to the shaft of the motor, the screw drive system comprising a lead screw coupled to a nut, wherein the nut is coupled to the displacement member.
15. A method of controlling motor velocity in a surgical instrument, the surgical instrument comprising a displacement member configured to translate within the surgical instrument over a plurality of predefined zones, a motor comprising a shaft, the motor coupled to the displacement member to translate the displacement member, a control circuit coupled to the motor, a position sensor coupled to the control circuit, the position sensor configured to monitor rotation of the shaft, a timer/counter circuit coupled to the control circuit, the timer/counter circuit configured to measure elapsed time, the method comprising:
receiving, from the position sensor, rotations of the shaft in a current zone defined by a set rotation interval;
measuring, by the timer/counter circuit, a time at a set position of the set rotation interval, wherein the measured time is defined by the time taken by the displacement member to traverse the set rotation interval based on a predetermined number of shaft rotations;
setting, by the control circuit, a command velocity of the displacement member for a subsequent zone based on the measured time in the current zone; and
without stopping the displacement member, causing the motor to drive the displacement member at the command velocity as the displacement member enters the subsequent zone.
16. The method of claim 15 , further comprising:
determining, by the control circuit and the timer/counter circuit, the set rotation interval in which the displacement member is located, wherein the set rotation interval is defined by a number of rotations of the shaft that result in a linear translation of the displacement member from a beginning position to an ending position; and
measuring, by the control circuit, the time when the displacement member reaches the ending position of the set rotation interval.
17. The method of claim 15 , further comprising:
comparing, by the control circuit, the measured time to a predetermined time stored in a memory coupled to the control circuit; and
determining, by the control circuit, whether to adjust or maintain the command velocity based on the comparison.
18. The method of claim 17 , further comprising maintaining, by the control circuit, the command velocity for the subsequent zone the same as the command velocity of the current zone when the measured time is within a range of predetermined times.
19. The method of claim 17 , further comprising adjusting, by the control circuit, the command velocity for the subsequent zone different from the command velocity of the current zone when the measured time is outside a range of predetermined times.
20. The method of claim 19 , further comprising skipping, by the control circuit, a time measurement for a subsequent zone when the command velocity is adjusted.
21. The method of claim 15 , further comprising defining, by the control circuit, multiple zones for a staple cartridge configured to operate with the surgical instrument.
22. The method of claim 21 , further comprising defining, by the control circuit, at least two zones having a different length.