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

  • US 10,390,841 B2
  • Filed: 06/20/2017
  • Issued: 08/27/2019
  • 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 the proximal position to the distal position, wherein the translation of the articulation member causes an articulation joint to articulate, and wherein the motor comprises an engaged condition, a disengaged condition, and a hold condition;

    a control circuit coupled to the motor;

    a position sensor coupled to the control circuit, wherein the position sensor is 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;

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

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

    determine a control action of the motor, when the motor is in the disengaged condition, in response to a movement of the articulation member that exceeds the predetermined threshold; and

    control the movement of the articulation member, wherein controlling the movement of the articulation member comprises engaging the motor to the hold condition.

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