Surgical instrument comprising a control circuit configured to adjust the operation of a motor
A surgical instrument comprising a housing, a shaft, an end-effector, a cutting member, and a control circuit is disclosed. The housing comprises a motor. The end-effector comprises a first jaw, a second jaw movable relative to the first jaw, an anvil, and a staple cartridge comprising staples, driver elements, and a sled configured to eject the staples toward the anvil. The sled is movable between a proximal unfired position and a distal fired position through a firing stroke. The cutting member is configured to be advanced distally into the sled by the motor. The control circuit is configured to detect the location of the cutting member, monitor a parameter indicative of a load experienced by the cutting member, determine a threshold value of the parameter based on a portion of the firing stroke, and adjust operation of the motor if the monitored parameter exceeds the determined threshold value.
1. A surgical instrument, comprising:
a housing comprising a motor;
an elongate shaft;
an end-effector, comprising:
a first jaw;
a second jaw movable relative to said first jaw;
an anvil; and
a staple cartridge, comprising:
a plurality of staples;
a plurality of driver elements; and
a sled configured to eject said staples toward said anvil, wherein said sled is movable between a proximal unfired position and a distal fired position through a firing stroke;
a cutting member, wherein said cutting member is configured to be advanced distally into said sled by said motor; and
a control circuit configured to:
detect the location of said cutting member;
monitor a parameter indicative of a load experienced by said cutting member;
determine a threshold value of the parameter based on a portion of said firing stroke; and
adjust operation of said motor if the monitored parameter exceeds the determined threshold value.
2. The surgical instrument of claim 1 , wherein the parameter indicative of a load experienced by said cutting member comprises current through said motor.
3. The surgical instrument of claim 2 , wherein adjusting operation of said motor comprises stopping said motor.
4. A surgical instrument, comprising:
a housing comprising a motor;
a shaft;
an end-effector, comprising:
a first jaw;
a second jaw movable relative to said first jaw;
an anvil; and
a staple cartridge, comprising:
a plurality of staples;
a plurality of driver elements; and
a sled configured to eject said staples toward said anvil, wherein said sled is movable between a proximal unfired position and a distal fired position through a firing stroke; and
a cutting member, wherein said cutting member is configured to be advanced distally into said sled by said motor; and
a control circuit configured to:
detect the position of said cutting member;
operate said motor to advance said cutting member into said sled;
determine a threshold value of interaction load to be experienced by said cutting member based on a portion of said firing stroke;
measure an actual interaction load experienced by said cutting member between said sled and said cutting member;
compare said actual interaction load and said determined threshold value; and
adjust a motor control program of said motor according to the comparison of said actual interaction load and said threshold value.
5. The surgical instrument of claim 4 , wherein said control circuit is further configured to monitor current flow through said motor.
6. The surgical instrument of claim 5 , wherein adjusting the motor control program comprises stopping said motor.
7. A surgical stapling assembly, comprising:
a motor;
a shaft;
an end-effector attached to said shaft, wherein said end effector comprises:
a first jaw;
a second jaw movable relative to said first jaw;
an anvil; and
a staple cartridge, comprising:
a plurality of staples removably stored within said staple cartridge; and
a sled configured to eject said staples toward said anvil, wherein said sled is movable between a proximal unfired position and a distal fired position during a firing stroke; and
a cutting member, wherein said cutting member is configured to be advanced distally into said sled by said motor; and
a control circuit configured to:
detect the position of said cutting member;
operate said motor to advance said cutting member into said sled;
determine a threshold value of interaction load to be experienced by said cutting member based on a portion of said firing stroke;
sense an actual interaction load experienced by said cutting member between said sled and said cutting member;
compare said actual interaction load and said determined threshold value; and
adjust a motor control program of said motor according to the comparison of said actual interaction load and said threshold value.
8. The surgical stapling assembly of claim 7 , wherein said control circuit is further configured to monitor current flow through said motor.
9. The surgical stapling assembly of claim 8 , wherein adjusting the motor control program comprises stopping said motor.