US 11,812,961 B2
Surgical instrument including a motor control system
James R. Giordano, Milford, OH (US); and Frederick E. Shelton, IV, Hillsboro, OH (US)
Assigned to Cilag GmbH International, Zug (CH)
Filed by Cilag GmbH International, Zug (CH)
Filed on Sep. 19, 2019, as Appl. No. 16/576,076.
Application 16/576,076 is a continuation of application No. 15/807,836, filed on Nov. 9, 2017, granted, now 11,291,441.
Application 15/807,836 is a continuation of application No. 14/559,251, filed on Dec. 3, 2014, abandoned.
Application 14/559,251 is a continuation of application No. 14/176,671, filed on Feb. 10, 2014, granted, now 10,441,369.
Application 14/176,671 is a continuation of application No. 13/118,259, filed on May 27, 2011, granted, now 8,684,253, issued on Apr. 1, 2014.
Application 13/118,259 is a continuation in part of application No. 11/651,807, filed on Jan. 10, 2007, granted, now 8,459,520, issued on Jun. 11, 2013.
Prior Publication US 2020/0085518 A1, Mar. 19, 2020
Int. Cl. A61B 34/30 (2016.01); A61B 17/295 (2006.01); A61B 17/10 (2006.01); A61B 17/068 (2006.01); A61B 17/32 (2006.01); A61B 17/072 (2006.01); A61B 90/98 (2016.01); A61B 34/00 (2016.01); A61B 17/00 (2006.01); B65B 55/18 (2006.01); B65B 55/16 (2006.01); B65B 5/04 (2006.01); A61B 50/36 (2016.01); A61B 90/00 (2016.01); A61B 17/122 (2006.01); A61B 17/29 (2006.01); A61B 34/20 (2016.01)
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
OG exemplary drawing
 
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.