CPC A61B 17/07207 (2013.01) [A61B 17/00234 (2013.01); A61B 17/068 (2013.01); A61B 17/295 (2013.01); A61B 17/32 (2013.01); A61B 17/320092 (2013.01); A61B 17/072 (2013.01); A61B 17/105 (2013.01); A61B 17/1222 (2013.01); A61B 34/30 (2016.02); A61B 34/71 (2016.02); A61B 50/36 (2016.02); A61B 90/98 (2016.02); A61B 2017/00022 (2013.01); A61B 2017/00039 (2013.01); A61B 2017/00212 (2013.01); A61B 2017/00221 (2013.01); A61B 2017/00362 (2013.01); A61B 2017/00398 (2013.01); A61B 2017/00473 (2013.01); A61B 2017/00477 (2013.01); A61B 2017/00685 (2013.01); A61B 2017/00734 (2013.01); A61B 2017/07214 (2013.01); A61B 2017/07271 (2013.01); A61B 2017/07278 (2013.01); A61B 2017/07285 (2013.01); A61B 2017/2927 (2013.01); A61B 2017/2943 (2013.01); A61B 2017/320093 (2017.08); A61B 2017/320094 (2017.08); A61B 2017/320095 (2017.08); A61B 2017/320097 (2017.08); A61B 2034/2053 (2016.02); A61B 2034/2059 (2016.02); A61B 2034/2072 (2016.02); A61B 2034/302 (2016.02); A61B 2090/065 (2016.02); A61B 2090/0811 (2016.02); A61B 2090/0814 (2016.02); A61B 2562/028 (2013.01); B65B 5/04 (2013.01); B65B 55/16 (2013.01); B65B 55/18 (2013.01)] | 20 Claims |
1. A surgical instrument, comprising:
an end effector including a replaceable unspent staple cartridge comprising staples removably stored therein;
a staple firing drive, comprising:
an electric motor circuit including an electric motor; and
a firing member movable through a firing stroke by said electric motor, wherein said firing stroke comprises a first stroke portion and a second stroke portion, wherein said firing member comprises a tissue cutting knife, and wherein said staples are deployable from said replaceable unspent staple cartridge based on movement of said firing member through said firing stroke;
a motor control system, comprising:
a current sensor configured to detect the current through said electric motor, wherein said motor control system is configured to change the operation of said electric motor based on an input from said current sensor, and wherein the input from said current sensor is indicative of an obstruction impeding distal movement of said firing member when the input from said current sensor exceeds a threshold; and
a position sensor configured to detect the position of said firing member, wherein said motor control system is configured to change the operation of said electric motor based on an input from said position sensor.
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