Granted Patent B2

US 10,881,399 · App. 15/628,175 · Granted Jan 5, 2021

Inventors: Frederick E. Shelton, IV (Hillsboro, OH); David C. Yates (West Chester, OH); Jason L. Harris (Lebanon, OH); Brett E. Swensgard (West Chester, OH)

Assignee: Ethicon LLC

A61B17/0686A61B17/068A61B17/07207A61B17/1114A61B17/1626A61B90/03A61B2017/00017A61B2017/0046A61B2017/00115A61B2017/00398A61B2017/00734A61B2017/07257A61B2017/07278A61B2017/07285A61B2017/2927A61B2017/2933A61B2090/064A61B2090/067

Abstract

Claims (42)

1. A method of controlling motor velocity in a surgical instrument, the surgical instrument comprising a displacement member configured to translate, a 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 measure a position of the displacement member, a timer coupled to the control circuit, the timer configured to measure elapsed time, the method comprising:

receiving, by the control circuit, a first position of the displacement member from the position sensor;

starting, by the control circuit, the timer;

advancing, by the control circuit, the displacement member to a second position by setting the motor velocity to a first velocity;

receiving, by the control circuit, the second position from the position sensor;

stopping, by the control circuit, the timer when the displacement member reaches the second position;

receiving, by the control circuit, the elapsed time from the timer, wherein the elapsed time is time taken by the displacement member to move from the first position to the second position;

controlling, by the control circuit, the motor velocity based on the elapsed time;

determining, by the control circuit, an anticipated second position of the displacement member based on the first velocity;

comparing, by the control circuit, the second position of the displacement member with the anticipated second position of the displacement member;

adjusting, by the control circuit, the motor velocity to a second velocity based on a difference between the second position of the displacement member and the anticipated second position of the displacement member; and

increasing, by the control circuit, the motor velocity when the second position of the displacement member is greater than the anticipated second position of the displacement member.

2. A method of controlling motor velocity in a surgical instrument, the surgical instrument comprising a displacement member configured to translate, a 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 measure a position of the displacement member, a timer coupled to the control circuit, the timer configured to measure elapsed time, the method comprising:

receiving, by the control circuit, a first position of the displacement member from the position sensor;

starting, by the control circuit, the timer;

advancing, by the control circuit, the displacement member to a second position by setting the motor velocity to a first velocity;

receiving, by the control circuit, the second position from the position sensor;

stopping, by the control circuit, the timer when the displacement member reaches the second position;

receiving, by the control circuit, the elapsed time from the timer, wherein the elapsed time is time taken by the displacement member to move from the first position to the second position;

controlling, by the control circuit, the motor velocity based on the elapsed time;

determining, by the control circuit, an anticipated second position of the displacement member based on the first velocity;

comparing, by the control circuit, the second position of the displacement member with the anticipated second position of the displacement member;

adjusting, by the control circuit, the motor velocity to a second velocity based on a difference between the second position of the displacement member and the anticipated second position of the displacement member; and

decreasing, by the control circuit, the motor velocity when the second position of the displacement member is less than the anticipated second position of the displacement member.

3. A method of controlling motor velocity in a surgical instrument, the surgical instrument comprising a displacement member configured to translate, a motor coupled to the displacement member to translate the displacement member, a control circuit coupled to the motor, the method comprising:

determining, by the control circuit of the surgical instrument, that the displacement member is at a first position;

advancing, by the control circuit, the displacement member from the first position to a second position by setting the motor velocity to a first velocity;

determining, by the control circuit, that the displacement member is at the second position;

determining, by the control circuit, an elapsed time taken by the displacement member to move from the first position to the second position;

controlling, by the control circuit, the motor velocity based on the elapsed time;

determining, by the control circuit, an anticipated second position of the displacement member based on the first velocity;

comparing, by the control circuit, the second position of the displacement member with the anticipated second position of the displacement member; and

causing, by the control circuit, a decrease of the motor velocity when the second position of the displacement member is less than the anticipated second position of the displacement member.

4. A method of controlling motor velocity in a surgical instrument, the surgical instrument comprising a displacement member configured to translate, a motor coupled to the displacement member to translate the displacement member, a control circuit coupled to the motor, the method comprising:

determining, by the control circuit of the surgical instrument, that the displacement member is at a first position;

advancing, by the control circuit, the displacement member from the first position to a second position by setting the motor velocity to a first velocity;

determining, by the control circuit, that the displacement member is at the second position;

determining, by the control circuit, an elapsed time taken by the displacement member to move from the first position to the second position;

controlling, by the control circuit, the motor velocity based on the elapsed time;

determining, by the control circuit, an anticipated second position of the displacement member based on the first velocity;

comparing, by the control circuit, the second position of the displacement member with the anticipated second position of the displacement member; and

causing, by the control circuit, an increase of the motor velocity when the actual second position of the displacement member is greater than the anticipated second position of the displacement member.

Assignments (2)

Cited By (8)

US 12,678,184 US 12,697,121 US 12,697,178 US 12,702,409 US 12,702,466 US 12,702,497 US 12,708,427 US 12,712,326