Surgical instrument with variable duration trigger arrangement
A motorized surgical instrument is disclosed. The surgical instrument includes a displacement member, a motor coupled to displacement member, a control circuit coupled to the motor, a parameter sensor coupled to the control circuit and a position sensor coupled to the control circuit. The control circuit is configured to receive a parameter output of the parameter sensor indicative of a force applied to translate the displacement member, determine a duration during which the parameter output is maintained at or above a predetermined fault threshold, receive a position output of the position sensor indicative of at least one position of the displacement member during the duration, and effect a motor control action based on the duration and the at least one position.
1. A surgical instrument, comprising:
an end effector comprising a staple cartridge housing a plurality of staples;
a displacement member movable between an unfired position and a fired position, wherein a translation of the displacement member toward the fired position causes the plurality of staples to be deployed from the staple cartridge into tissue grasped by the end effector;
a motor coupled to displacement member, the motor operable to translate the displacement member between the unfired position and the fired position;
a control circuit coupled to the motor;
a parameter sensor coupled to the control circuit; and
a position sensor coupled to the control circuit, wherein the control circuit is configured to:
receive a parameter output of the parameter sensor indicative of a force applied to translate the displacement member;
determine a duration during which the parameter output is maintained at or above a predetermined fault threshold as the displacement member moves toward the fired position;
receive a position output of the position sensor indicative of at least one position of the displacement member during the duration; and
effect a motor control action based on the duration and the at least one position.
2. The surgical instrument of claim 1 , wherein the motor control action comprises a dynamic brake.
3. The surgical instrument of claim 1 , wherein the motor control action comprises retracting the displacement member.
4. The surgical instrument of claim 1 , wherein the motor control action comprises changing velocity of the motor.
5. The surgical instrument of claim 1 , further comprising a timer circuit coupled to the control circuit, wherein the timer circuit is configured to measure the duration.
6. The surgical instrument of claim 1 , wherein the control circuit is configured to effect the motor control action when the duration is equal to or exceeds a predetermined time period.
7. The surgical instrument of claim 6 , wherein the predetermined time period is a first predetermined time period, wherein the control circuit is configured to effect the motor control action when the duration is less than the first predetermined time period but greater than a second predetermined time period, and when the at least one position is in a predetermined zone along a distance.
8. A surgical instrument, comprising:
an end effector configured to effect a tissue treatment, the end effector comprising:
a first jaw; and
a second jaw movable relative to the first jaw from an open position to a closed position to grasp tissue therebetween;
a displacement member movable between a starting position and an ending position, wherein the second jaw is movable toward the closed position based on the displacement member moving toward the ending position;
a motor coupled to displacement member, the motor operable to translate the displacement member between the starting position and the ending position;
a control circuit coupled to the motor;
a parameter sensor coupled to the control circuit; and
a position sensor coupled to the control circuit, wherein the control circuit is configured to:
receive a parameter output of the parameter sensor indicative of a force applied to translate the displacement member;
measure a duration during which the parameter output is maintained at or above a predetermined fault threshold as the displacement member moves toward the ending position;
receive a position output of the position sensor indicative of at least one position of the displacement member during the duration; and
effect a motor control action based on the duration and the at least one position.
9. The surgical instrument of claim 8 , wherein the motor control action comprises a dynamic brake.
10. The surgical instrument of claim 8 , wherein the motor control action comprises retracting the displacement member.
11. The surgical instrument of claim 8 , wherein the motor control action comprises changing velocity of the motor.
12. The surgical instrument of claim 8 , further comprising a timer circuit coupled to the control circuit, wherein the timer circuit is configured to measure the duration.
13. The surgical instrument of claim 8 , wherein the control circuit is configured to effect the motor control action when the duration is equal to or exceeds a predetermined time period.
14. The surgical instrument of claim 13 , wherein the predetermined time period is a first predetermined time period, wherein the control circuit is configured to effect the motor control action when the duration is less than the first predetermined time period but greater than a second predetermined time period, and when the at least one position is in a predetermined zone along a distance.
15. The surgical instrument of claim 8 , wherein the end effector comprises a staple cartridge housing a plurality of staples, and wherein translation of the displacement member causes the staples to be deployed form the staple cartridge.
16. A surgical instrument, comprising:
an end effector configured to effect a tissue treatment, the end effector comprising:
a first jaw; and
a second jaw movable relative to the first jaw between an open position and a closed position to grasp tissue;
a displacement member;
a motor coupled to displacement member, the motor operable to translate the displacement member through a plurality of predetermined zones, wherein the second jaw is movable toward the closed position based on the displacement member moving through the plurality of predetermined zones;
a control circuit coupled to the motor;
a parameter sensor coupled to the control circuit; and
a position sensor coupled to the control circuit, wherein the control circuit is configured to:
receive a parameter output of the parameter sensor indicative of a force applied to translate the displacement member;
determine a duration during which the parameter output is maintained at or above a predetermined fault threshold;
receive a position output of the position sensor indicative of at least one predetermined zone of the plurality of predetermined zones that the displacement member is positioned in during the determined duration; and
effect a motor control action based on the duration and the position output.
17. The surgical instrument of claim 16 , wherein the plurality of predetermined zones comprises six predetermined zones.