Surgical instrument comprising a feedback control circuit
A surgical instrument comprising a shaft, an end effector, a drive component positioned with the shaft, and a surgical control circuit comprising a motor control program configured to run a motor configured to drive the drive component is disclosed. The control circuit is configured to receive a first measurement of a parameter of the motor, receive a second measurement of a parameter of the drive component, compare the first measurement and the second measurement, determine an actual relationship of the first measurement and the second measurement based on the comparison, compare the actual relationship to an expected relationship, and adjust the motor control program based on the comparison of the actual relationship and the expected relationship to align the actual relationship with the expected relationship.
1. A surgical instrument system, comprising:
a surgical instrument assembly, comprising:
a shaft;
an end effector attached to said shaft; and
at least one drive component positioned within said shaft; and
a surgical control circuit comprising a motor control program configured to run a motor configured to drive said at least one drive component positioned within said shaft, wherein said surgical control circuit is configured to:
receive a first sensed measurement of a parameter of said motor from said motor;
receive a second sensed measurement of a parameter of said at least one drive component, wherein said second sensed measurement is sensed locally within said shaft;
compare said first sensed measurement and said second sensed measurement;
determine an actual relationship of said first sensed measurement and said second sensed measurement based on said comparison;
compare said actual relationship to an expected relationship, wherein said expected relationship is based on an expected first measurement of the parameter of said motor from said motor and an expected second measurement of the parameter of said at least one drive component; and
adjust said motor control program based on the comparison of said actual relationship and said expected relationship to align said actual relationship with said expected relationship.
2. The surgical instrument system of claim 1 , wherein said parameter of said motor comprises a parameter of an output shaft attached to said motor.
3. The surgical instrument system of claim 1 , wherein said expected relationship is learned by said surgical control circuit through said surgical instrument assembly.
4. The surgical instrument system of claim 1 , wherein said second sensed measurement is provided by a linear motion-detecting sensor.
5. The surgical instrument system of claim 1 , wherein said first sensed measurement is provided by a rotary motion-detecting sensor.
6. The surgical instrument system of claim 1 , wherein said parameter of said motor comprises dynamic braking of said motor during an intermediate phase of a firing stroke.
7. The surgical instrument system of claim 1 , wherein said parameter of said motor comprises dynamic acceleration of said motor during an initial phase of a firing stroke.
8. The surgical instrument system of claim 1 , wherein the adjustment of said motor control program comprises recalibrating said motor control program based on said actual relationship.