Apparatus and method for differentiating between tissue and mechanical obstruction in a surgical instrument
First Claim
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.
1 Assignment
0 Petitions
Accused Products
Abstract
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.
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Citations
7 Claims
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1. A method for controlling a surgical instrument comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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Specification