Surgical stapler having motor control based on an electrical parameter related to a motor current
A surgical stapler. The surgical stapler includes a drive system, an electric motor, a battery and a control system. The electric motor is mechanically coupled to the drive system. The battery is electrically couplable to the electric motor. The control system is electrically connected to the electric motor and includes an H-bridge circuit, an electrically resistive element and an electrically inductive element. The H-bridge circuit includes a high side and a low side. The low side of the H-bridge circuit includes first and second switching devices. The electrically resistive element is electrically connected in series with the first switching device. The electrically inductive element is electrically connected to the electrically resistive element. The control system is configured to control a force applied to the drive system based on a current downstream of the electrically resistive element.
1. A surgical stapler, comprising:
an end effector comprising a first jaw and a second jaw movable relative to the first jaw to clamp tissue therebetween;
a drive system comprising a driver to actuate at least one function of the surgical stapler;
an electric motor mechanically coupled to the drive system;
a sensor;
a battery electrically couplable to the electric motor; and
a control circuit electrically connected to the electric motor, wherein the control circuit comprises a pulse width modulation circuit and is configured to control a force applied to the drive system based on:
a plurality of battery current measurements; and
a plurality of predicted recirculating current values, wherein the control circuit is configured to:
actuate the driver with the electric motor through a closure stroke;
monitor a signal of the sensor during the closure stroke;
interrupt the actuation of the driver during the closure stroke based on the monitored signal of the sensor;
actuate the driver through a staple firing stroke with the electric motor;
monitor a current drawn by the electric motor during the staple firing stroke; and
interrupt the actuation of the driver during the staple firing stroke based on the monitored current being outside of a predetermined range of current.
2. The surgical stapler of claim 1 , wherein the first jaw comprises a staple cartridge and the second jaw comprises an anvil.
3. The surgical stapler of claim 1 , wherein the driver comprises a drive shaft configured to actuate a closure driver and a firing driver.
4. A surgical stapling system, comprising:
an end effector, comprising:
a first jaw;
a second jaw movable relative to the first jaw to clamp tissue therebetween; and
a driver;
an electric motor mechanically coupled to the driver to actuate the driver through a drive stroke, wherein the drive stroke comprises a closure drive stroke and a firing drive stroke; and
a control circuit electrically coupled to the motor, wherein the control circuit is configured to:
actuate the driver with the electric motor through the closure drive stroke;
monitor a signal of a sensor during the closure drive stroke;
stop the actuation of the driver during the closure drive stroke based on the monitored signal of the sensor;
actuate the driver through the firing drive stroke with the electric motor;
monitor a current of the electric motor during the firing drive stroke; and
stop the actuation of the driver during the firing drive stroke based on the monitored current being outside of a predetermined range of current.
5. The surgical stapling system of claim 4 , wherein the first jaw comprises a staple cartridge and the second jaw comprises an anvil.
6. The surgical stapling system of claim 4 , wherein the driver comprises a drive shaft configured to actuate a closure driver and a firing driver.