Surgical instrument with multiple program responses during a firing motion
A surgical instrument. The surgical instrument includes an elongated channel configured to support a staple cartridge, an anvil pivotably connected to the elongated channel, a knife mechanically coupled to the staple cartridge, an electric motor and a control circuit electrically connected to the electric motor. The control circuit is configured to change a firing motion a first way based on a first value of a projected peak firing force and a second way based on a second value of the projected peak firing force value.
1. A method of assessing an operational status of a surgical instrument for stapling tissue via a staple cartridge, the method comprising:
operating, under the control of a control circuit, an actuation mechanism drivingly coupled with a drive member to attempt to move the drive member from a first position toward a second position;
determining, by the control circuit, a location parameter corresponding to a present location of the drive member during the attempt to move the drive member from the first position to the second position;
determining, by the control circuit, a firing force associated with the drive member during the attempt to move the drive member from the first position to the second position;
determining, by the control circuit, whether the firing force is greater than an output threshold, wherein a magnitude of the output threshold is dependent on the location parameter; and
discontinuing, by the control circuit, movement of the drive member in response to a determination that the firing force is greater than the output threshold.
2. The method of claim 1 , wherein determining the firing force associated with the drive member comprises determining a slope indicative of a change of the firing force over a period of time, and wherein the output threshold is a slope threshold having a magnitude that is dependent on the location parameter.
3. The method of claim 1 , wherein determining the firing force associated with the drive member comprises determining a slope of a line connecting two successive peak values of the firing force over a period of time, and wherein the output threshold is a slope threshold having a magnitude that is dependent on the location parameter.
4. The method of claim 1 , further comprising:
determining, by the control circuit and subsequent to discontinuing movement of the drive member, whether the firing force is less than the output threshold; and
continuing, by the control circuit, movement of the drive member in response to a determination that the firing force is less than the output threshold.
5. The method of claim 1 , wherein discontinuing movement of the drive member comprises discontinuing, by the control circuit, movement of the drive member in response to a determination that the firing force is greater than the output threshold and prior to a firing of a staple form the staple cartridge.
6. The method of claim 1 , further comprising determining, by the control circuit, a spent status of the staple cartridge.
7. A surgical instrument, comprising:
an end effector, comprising:
a staple cartridge
an anvil;
a first jaw; and
a second jaw movable relative to the first jaw to grasp tissue between the anvil and the staple cartridge;
a drive member;
an actuation mechanism operably coupled to a drive member, wherein the actuation mechanism is configured to cause the drive member to effect a motion in the end effector; and
a control circuit configured to:
cause the actuation mechanism to attempt to move the drive member from a first position toward a second position;
determine a location parameter corresponding to a present location of the drive member during the attempt to move the drive member from the first position to the second position;
determine a firing force associated with the drive member during the attempt to move the drive member from the first position to the second position;
determine whether the firing force is greater than an output threshold, wherein a magnitude of the output threshold is dependent on the location parameter; and
discontinue movement of the drive member if in response to a determination that the firing force is greater than the output threshold.
8. The surgical instrument of claim 7 , wherein to determine the firing force associated with the drive member comprises to determine a slope indicative of a change of the firing force over a period of time, and wherein the output threshold is a slope threshold having a magnitude that is dependent on the location parameter.
9. The surgical instrument of claim 7 , wherein to determine the firing force associated with the drive member comprises to determine a slope of a line connecting two successive peak values of the firing force over a period of time, and wherein the output threshold is a slope threshold having a magnitude that is dependent on the location parameter.
10. The surgical instrument of claim 7 , wherein the control circuit is further configured to:
determine, subsequent to discontinuing movement of the drive member, whether the firing force is less than the output threshold; and
continue movement of the drive member in response to a determination that the firing force is less than the output threshold.
11. The surgical instrument of claim 7 , wherein to discontinue movement of the drive member comprises to discontinue movement of the drive member in response to a determination that the firing force is greater than the output threshold and prior to a firing of a staple form the staple cartridge.
12. A surgical instrument, comprising:
an end effector, comprising:
a staple cartridge
an anvil;
a first jaw; and
a second jaw movable relative to the first jaw to grasp tissue between the anvil and the staple cartridge;
a drive member;
an actuation mechanism operably coupled to a drive member, wherein the actuation mechanism is configured to cause the drive member to effect a motion in the end effector;
a first sensor configured to monitor an output indicative of a firing force of the actuation mechanism;
a second sensor configured to monitor a parameter associated with the staple cartridge; and
a control circuit communicably coupled to the first sensor and the second sensor, wherein the control circuit is configured to:
cause the actuation mechanism to move the drive member;
determine a location parameter corresponding to a present location of the drive member while the drive member is being moved;
determine whether the firing force is greater than an output threshold, wherein a magnitude of the output threshold is dependent on the location parameter; and
discontinue movement of the drive member in response to a determination that firing force is greater than the output threshold; and
detect a spent status of the staple cartridge based on the second sensor, wherein the spent status is detected prior to firing a staple from the staple cartridge.
13. The surgical instrument of claim 12 , wherein the firing force comprises a slope indicative of a change of the firing force over a period of time, and wherein the output threshold is a slope threshold having a magnitude that is dependent on the location parameter.
14. The surgical instrument of claim 12 , wherein the firing force comprises a slope of a line connecting two successive peak values of the firing force over a period of time, and wherein the output threshold is a slope threshold having a magnitude that is dependent on the location parameter.
15. The surgical instrument of claim 12 , wherein the control circuit is further configured to:
determine, subsequent to discontinuing movement of the drive member, whether the firing force is less than the output threshold; and
continue movement of the drive member in response to a determination that the firing force is less than the output threshold.
16. The surgical instrument of claim 12 , wherein to discontinue movement of the drive member comprises to discontinue movement of the drive member in response to a determination that the firing force is greater than the output threshold and prior to a firing of a staple form the staple cartridge.