Apparatus and method for differentiating between tissue and mechanical obstruction in a surgical instrument
A surgical instrument is provided. The surgical instrument includes: a handle assembly; a jaw assembly comprising a staple cartridge containing a plurality of staples and an anvil to form the plurality of staples upon firing; a drive assembly at least partially located within the handle and connected to the jaw assembly and the lockout mechanism; a motor disposed within the handle assembly and operatively coupled to the drive assembly; and a controller operatively coupled to the motor, the controller configured to control supply of electrical current to the motor and to monitor a current draw of the motor, wherein the controller is further configured to terminate the supply of electrical current to the motor in response to a rate of change of the current draw indicative of a mechanical limit of at least one of the jaw assembly, the drive assembly, or the motor.
1. A method for controlling a surgical instrument comprising:
monitoring a current draw of a motor coupled to a drive assembly for actuating a jaw assembly of the surgical instrument;
calculating a plurality of rate of change values based on a plurality of samples of the current draw; and
continuously determining whether the motor has reached a mechanical limit based on whether the plurality of rate of change values are within a first range and whether the current draw of the motor is stable based on the plurality of rate of change values being within a second range,
wherein the first range corresponds to the motor reaching the mechanical limit and the second range corresponds to stable operation of the motor.
2. The method according to claim 1 , further comprising: determining whether the current draw of the motor is unstable based on the plurality of rate of change values being within a third range.
3. The method according to claim 2 , further comprising:
storing a stability counter of rate of change values calculated as being within the second range; and
determining whether operation of the motor is stable when the stability counter is above a predetermined stability threshold.
4. The method according to claim 3 , wherein the first range is within the second range and the third range is higher than the second range.
5. The method according to claim 3 , further comprising:
storing an event counter of rate of change values within the third range; and
determining whether the motor is unstable when the event counter is above a predetermined event threshold.
6. The method according to claim 1 , further comprising: controlling the current draw of the motor for actuating the jaw assembly of the surgical instrument.
7. The method according to claim 6 , wherein controlling includes reducing the current draw of the motor based on a determination that the motor has reached a mechanical limit.