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Method for closed loop control of motor velocity of a surgical stapling and cutting instrument

  • US 10,307,170 B2
  • Filed: 06/20/2017
  • Issued: 06/04/2019
  • Est. Priority Date: 06/20/2017
  • Status: Active Grant
First Claim
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1. A method of adjusting velocity in a motorized surgical instrument, the motorized surgical instrument comprising a displacement member configured to translate within the motorized surgical instrument over a plurality of predefined zones, a motor coupled to the displacement member to translate the displacement member, a control circuit coupled to the motor, a position sensor coupled to the control circuit, the position sensor configured to measure a position of the displacement member, and a timer circuit coupled to the control circuit, the timer circuit configured to measure elapsed time, the method comprising:

  • determining, by the control circuit, a location of the displacement member within one of the plurality of predefined zones;

    setting, by the control circuit, a directed velocity of the displacement member based on a zone in which the displacement member is located;

    determining, by the control circuit, an actual velocity of the displacement member;

    determining, by the control circuit, an error between the directed velocity of the displacement member and the actual velocity of the displacement member; and

    controlling, by the control circuit, the actual velocity of the displacement member based on a magnitude of the error and the zone in which the displacement member is located, wherein different errors are assigned to different zones;

    wherein the error in at least one of the plurality of predefined zones is based on at least one of a short term error (S), cumulative error (C), rate of change error (R), and number of overshoots error (N).

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