Method for closed loop control of motor velocity of a surgical stapling and cutting instrument
First Claim
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).
2 Assignments
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Accused Products
Abstract
A method of adjusting velocity in a motorized surgical instrument is provided. The surgical instrument comprises a displacement member configured to translate within the 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 the position of the displacement member and a timer circuit coupled to the control circuit, the timer circuit configured to measure elapsed time. The method includes setting a directed velocity of the displacement member; determining an actual velocity of the displacement member; determining an error between the directed velocity of the displacement member and the actual velocity of the displacement member; and controlling the actual velocity of the displacement member based on the magnitude of the error.
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Citations
10 Claims
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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:
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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). - View Dependent Claims (2, 3, 4, 5)
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6. 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:
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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), or number of overshoots error (N) and any combination thereof. - View Dependent Claims (7, 8, 9, 10)
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Specification