Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on system conditions
US10813639B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 20, 2017 |
| Grant date | Oct 27, 2020 |
| Priority date | — |
| Expiry date | Nov 27, 2037 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61B2017/2927
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A motorized surgical instrument is disclosed. The surgical instrument includes a displacement member, an energy source, a motor, a control circuit, and a position sensor. The control circuit is configured to initiate firing the displacement member at a predetermined electrical load on the energy source, wherein the predetermined electrical load is applied to the motor to actuate the displacement member, monitor the position of the displacement member via the position sensor, continually sample a voltage of the energy source during a first interval of travel of the displacement member, compare the sampled voltage to a threshold voltage, and continue firing the displacement at the first velocity when the sampled voltage is greater than or equal to the threshold voltage or adjust the first velocity when the sampled voltage is less than the threshold voltage. Techniques for handling motor stall conditions and transitions between velocities also are disclosed.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.