Control of motor velocity of a surgical stapling and cutting instrument based on angle of articulation

  • US 10,327,767 B2
  • Filed: 06/20/2017
  • Issued: 06/25/2019
  • Est. Priority Date: 06/20/2017
  • Status: Active Grant
First Claim
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1. A surgical instrument, comprising:

  • a motor operable to translate an articulation member along a distance from a proximal position to a distal position, wherein the articulation member is translatable relative to an end effector the distance from a proximal position to a distal position, wherein the translation of the articulation member causes an articulation joint to articulate, and wherein the motor comprises an energized condition and a de-energized condition;

    a control circuit coupled to the motor;

    a position sensor coupled to the control circuit, the position sensor configured to detect a position of the articulation member along at least a portion of the distance; and

    wherein the control circuit is configured to;

    identify a predetermined desired position corresponding to the position of the articulation member;

    receive position input from the position sensor indicative of a current position of the articulation member;

    identify the current position corresponding to the position of the articulation member;

    determine a control action of the motor in response to the current position of the articulation member that does not correspond to the predetermined desired position; and

    control the movement of the articulation member when the current position corresponds to the predetermined desired position, wherein controlling the movement of the articulation member comprises placing the motor in the de-energized condition.

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