Proportional balancing of functional impact magnitude of battery output on peak motor current

Abstract

A surgical system is disclosed that includes a motor, a power source, a voltage sensor, and a control circuit. The motor is operable between an on state in which the motor drives movement at the end effector and an off state in which the motor stops driving the movement at the end effector. The power source is electrically coupled to the motor. The control circuit is configured to transition the motor to the on state for a first period of time, detect a dropped voltage potential of the power source at the end of the first period of time, compare between the dropped voltage potential and a lower threshold of the power source, and transitioning the motor to the off state for a second period of time based on the comparison.

Description

Background Art

[0001] The present disclosure relates to surgical instruments and, in various arrangements, to surgical stapling and cutting instruments configured to staple and cut tissue and staple cartridges for use therewith. Summary of the invention

[0002] The present disclosure provides a control system that implements micro-recovery and / or macro-recovery of a power source so that the power output of the power source can be maintained at a high level during use of a surgical cutting and stapling instrument.

[0003] According to the present disclosure, a surgical system is disclosed, which includes an end effector, a motor, a power source, a voltage sensor and a control circuit. The end effector includes a first jaw and a second jaw, and the second jaw can be rotated from an open position to a closed position relative to the first jaw to capture tissue between the first jaw and the second jaw. The motor can operate between an on state and an off state, in which the motor drives the movement at the end effector, and in which the motor stops driving the movement at the end effector. The power source is electrically connected to the motor. The voltage sensor is configured to sense the voltage potential of the power source. The control circuit is in operable communication with the motor and the voltage sensor. The control circuit is configured to be able to: set a power source lower limit threshold, turn the motor into an on state and continue for a first period of time; detect the falling voltage potential of the power source at the end of the first period of time; perform a first comparison between the falling voltage potential and the power source lower limit threshold; and turn the motor into an off state and continue for a second period of time based on the first comparison.

[0004] According to the present disclosure, a surgical system is disclosed, which includes an end effector, a motor, a power source, a voltage sensor and a control circuit. The end effector includes a first jaw and a second jaw, and the second jaw can be rotated from an open position toward a closed position relative to the first jaw to capture tissue between the first jaw and the second jaw. The power source is configured to be able to power the motor. The voltage sensor is configured to be able to sense the voltage potential of the power source. The control circuit is in operable communication with the motor and the voltage sensor. The control circuit is configured to be able to: set a recovery threshold; receive a first input; control a first movement at the motor-driven end effector based on receiving the first input; monitor the voltage potential of the power source based on the end of the first movement; receive a second input; compare the monitored voltage potential with the recovery threshold based on receiving the second input; and perform an action based on the comparison.

[0005] According to the present disclosure, a surgical system is disclosed, which includes an end effector, a motor, a power source, a timer and a control circuit. The end effector includes a first jaw and a second jaw, and the second jaw can rotate from an open position toward a closed position relative to the first jaw to capture tissue between the first jaw and the second jaw. The power source is configured to be able to power the motor. The timer is configured to be able to measure the elapsed time. The control circuit is operatively communicated with the motor and the voltage sensor. The control circuit is configured to be able to: receive a first input; based on receiving the first input, control the motor to drive a first movement at the end effector; monitor the elapsed time period based on the end of the first movement; receive a second input; based on receiving the second input, compare the elapsed time period with the recovery time period; and perform an action based on the comparison. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] The various features of the embodiments described herein, together with their advantages, may be understood from the following description in conjunction with the following drawings:

[0007] Figure 1 shows a perspective view of a surgical stapling system according to the present disclosure;

[0008] Figure 2 It shows that according to the present disclosure Figure 1 An exploded view of a surgical suturing system;

[0009] Figure 3 shows a block diagram of a surgical stapling system according to the present disclosure;

[0010] Figure 4 shows a block diagram of a surgical stapling system according to the present disclosure;

[0011] Figure 5 A graph illustrating an exemplary firing stroke of a firing drive according to the present disclosure;

[0012] Figure 6 A circuit including a capacitor connected in series with a field effect transistor according to the present disclosure is shown;

[0013] Figure 7 shows a switched capacitor circuit and graphs associated therewith according to the present disclosure;

[0014] FIG. 8A to FIG. 8D shows the voltage drop over time for power sources with different battery materials;

[0015] Fig. 9 A graph illustrating an exemplary firing stroke of a firing drive according to the present disclosure;

[0016] Fig.10 A method for controlling a surgical system according to the present disclosure is shown;

[0017] Fig.11 A battery according to the present disclosure is shown;

[0018] Fig.12 The use of the present disclosure is shown Fig.11 A graph of an exemplary firing stroke of a firing drive of a battery;

[0019] Fig.13 The load curve profile of a 15W power supply is shown;

[0020] Fig.14 A circuit according to the present disclosure is shown;

[0021] Fig.15 shows a graph illustrating button positions, switch positions, and firing states of a motor of a surgical system over time in accordance with the present disclosure;

[0022] Fig.16 A method for controlling a surgical system according to the present disclosure is shown;

[0023] Fig.17 A method for controlling a surgical system according to the present disclosure is shown;

[0024] Corresponding reference characters indicate corresponding parts throughout the several views. DETAILED DESCRIPTION

[0025] The applicant of the present application owns the following U.S. patent applications filed on the same date as the present application and each of which is incorporated herein by reference in its entirety:

[0026] ● U.S. patent application titled “METHOD OF OPERATING A SURGICAL STAPLING INSTRUMENT”; attorney docket number END9484USNP2 / 220491-2M;

[0027] ● U.S. Patent Application Titled “SURGICAL STAPLING SYSTEMS WITH ADAPTIVE STAPLE FIRING ALGORITHMS”; Attorney Docket No. END9484USNP3 / 220491-3;

[0028] ● U.S. Patent Application Titled “LEARNED TRIGGERS FOR ADAPTIVE CONTROL OF SURGICAL STAPLING SYSTEMS”; Attorney Docket No. END9484USNP4 / 220491-4;

[0029] ● U.S. Patent Application Titled “CONTROL CIRCUIT FOR ACTUATING MOTORIZED FUNCTION OF SURGICALSTAPLING INSTRUMENT UTILIZING INERTIAL DRIVE TRAIN PROPERTIES”; Attorney Docket No. END9484USNP5 / 220491-5;

[0030] ● U.S. Patent Application Titled “MOTOR OPTIMIZATION BY MINIMIZATION OF PARASITIC LOSSES AND TUNING MOTOR DRIVE CONFIGURATION”; Attorney Docket No. END9484USNP7 / 220491-7;

[0031] ● U.S. Patent Application Titled “APPARATUS AND METHOD TO REDUCE PARASITIC LOSSES OF THE ELECTRICAL SYSTEM OF A SURGICAL INSTRUMENT”; Attorney Docket No. END9484USNP8 / 220491-8;

[0032] ● U.S. Patent Application Titled “SURGICAL TOOL WITH RELAXED FLEX CIRCUIT ARTICULATION”; Attorney Docket No. END9484USNP9 / 220491-9;

[0033] ● U.S. Patent Application Titled “WIRING HARNESS FOR SMART STAPLER WITH MULTI AXIS ATTICULATION”; Attorney Docket No. END9484USNP10 / 220491-10;

[0034] ● U.S. Patent Application Titled “SURGICAL SYSTEM WITH WIRELESS ARRAY FOR POWER AND DATATRANSFER”; Attorney Docket No. END9484USNP11 / 220491-11; and

[0035] ●U.S. patent application titled “SURGICAL STAPLE CARTRIDGE COMPRISING REPLACEABLE ELECTRONICS PACKAGE”; attorney docket number END9484USNP12 / 220491-12.

[0036] The applicant of the present application owns the following U.S. patent applications filed on the same date as the present application and each of which is incorporated herein by reference in its entirety:

[0037] ● U.S. patent application titled “METHOD OF ASSEMBLING A STAPLE CARTRIDGE”; attorney docket number END9484USNP13 / 220491-13M;

[0038] ● U.S. Patent Application Titled “CONTROL SURFACES ON A STAPLE DRIVER OF A SURGICAL STAPLE CARTRIDGE”; Attorney Docket No. END9484USNP14 / 220491-14;

[0039] ● U.S. Patent Application Titled “INTEGRAL CARTRIDGE STIFFENING FEATURES TO REDUCE CARTRIDGE DEFLECTION”; Attorney Docket No. END9484USNP15 / 220491-15;

[0040] ● U.S. Patent Application Titled “STAPLE CARTRIDGE COMPRISING WALL STRUCTURES TO REDUCE CARTRIDGE DEFLECTION”; Attorney Docket No. END9484USNP16 / 220491-16;

[0041] ● U.S. Patent Application Titled “PAN-LESS STAPLE CARTRIDGE ASSEMBLY COMPRISING RETENTION FEATURES FOR HOLDING STAPLE DRIVERS AND SLED”; Attorney Docket No. END9484USNP17 / 220491-17;

[0042] ● U.S. Patent Application Titled “STAPLE CARTRIDGE COMPRISING A SLED HAVING A DRIVER LIFT CAM”; Attorney Docket No. END9484USNP18 / 220491-18;

[0043] ● U.S. Patent Application Titled “SURGICAL STAPLE CARTRIDGES WITH SLEDS CONFIGURED TO BECOUPLED TO A FIRING DRIVER OF A COMPATIBLE SURGICAL STAPLER”; Attorney Docket No. END9484USNP19 / 220491-19;

[0044] ● U.S. Patent Application Titled “STAPLE CARTRIDGE COMPRISING A COMPOSITE SLED”; Attorney Docket No. END9484USNP20 / 220491-20;

[0045] ● U.S. Patent Application Titled “SURGICAL INSTRUMENTS WITH JAW AND FIRING ACTUATOR LOCKOUTARRANGEMENTS LOCATED PROXIMAL TO A JAW PIVOT LOCATION”; Attorney Docket No. END9484USNP21 / 220491-21;

[0046] ● U.S. Patent Application Titled “SURGICAL INSTRUMENTS WITH LATERALLY ENGAGEABLE LOCKING ARRANGEMENTS FOR LOCKING A FIRING ACTUATOR”; Attorney Docket No. END9484USNP22 / 220491-22;

[0047] ● U.S. Patent Application Titled “DUAL INDEPENDENT KEYED LOCKING MEMBERS ACTING ON THE SAMEDRIVE MEMBER”; Attorney Docket No. END9484USNP23 / 220491-23;

[0048] ● U.S. Patent Application Titled “ADJUNCTS FOR USE WITH SURGICAL STAPLING INSTRUMENTS”; Attorney Docket Number END9484USNP24 / 220491-24;

[0049] ● U.S. Patent Application Titled “ADJUNCTS FOR USE WITH SURGICAL STAPLING INSTRUMENTS”; Attorney Docket Number END9484USNP25 / 220491-25;

[0050] ● U.S. Patent Application Titled “JAW CONTROL SURFACES ON A SURGICAL INSTRUMENT JAW”; Attorney Docket No. END9484USNP26 / 220491-26;

[0051] ● U.S. Patent Application Titled “ZONED ALGORITHM ADAPTIVE CHANGES BASED ON CORRELATION OF COOPERATIVE COMPRESSION CONTRIBUTIONS OF TISSUE”; Attorney Docket No. END9484USNP27 / 220491-27;

[0052] ● U.S. Patent Application Titled “STAPLE CARTRIDGES COMPRISING TRACE RETENTION FEATURES”; Attorney Docket No. END9484USNP29 / 220491-29; and

[0053] ●U.S. patent application titled “STAPLE CARTRIDGES COMPRISING STAPLE RETENTION FEATURES”; attorney docket number END9484USNP30 / 220491-30.

[0054] Numerous specific details are listed herein to provide a thorough understanding of the overall structure, function, manufacture, and use of the embodiments described in the specification and shown in the drawings. Well-known operations, parts, and elements are not described in detail to avoid obscuring the embodiments described in the specification. The reader will understand that the embodiments described and shown are non-limiting examples, so that it can be recognized that the specific structural and functional details disclosed herein can be representative and illustrative. Modifications and changes can be made without departing from the scope of the claims.

[0055] Various exemplary devices and methods are provided for performing laparoscopic and minimally invasive surgical procedures. However, the reader will readily appreciate that the various methods and devices disclosed herein can be used in a variety of surgical procedures and applications, including, for example, in conjunction with open surgical procedures. Continuing to refer to this detailed description, the reader will further appreciate that the various instruments disclosed herein can be inserted into the body in any manner, such as through a natural cavity, through an incision or puncture formed in tissue, etc. The working portion or end effector portion of the instrument can be inserted directly into the patient's body or can be inserted through an access device having a working frame, through which the end effector and elongated shaft of the surgical instrument can be advanced.

[0056] Figure 1 and Figure 2 A surgical stapling system is shown, which includes a shaft assembly 3000 and an end effector 3002 extending from the shaft assembly 3000. The shaft assembly 3000 includes an attachment portion 3001 and a shaft 3003 extending distally from the attachment portion 3001. The attachment portion 3001 is configured to be attachable to, for example, a handle of a surgical instrument and / or an arm of a surgical robot.

[0057] The end effector 3002 includes a first jaw 3004 and a second jaw 3006. The first jaw 3004 includes a staple cartridge 3008 that is insertable into and removable from the first jaw 3004; however, other embodiments are contemplated in which the staple cartridge is not removable from the first jaw 3004, or is at least easily replaceable from the first jaw. The second jaw 3006 includes an anvil that is configured to deform staples ejected from the staple cartridge 3008. The second jaw 3006 is pivotally coupled to the first jaw 3004 such that the second jaw 3006 is pivotable relative to the first jaw 3004 between an open position and a closed position, in which the tip of the second jaw 3006 is spaced apart from the first jaw 3004 (see Figure 1 ), in the closed position, the tip of the second jaw 3006 is adjacent to the first jaw 3004 to capture tissue between the first jaw 3004 and the second jaw 3006; however, other embodiments are envisioned in which the first jaw 3004 is capable of pivoting relative to the second jaw 3006.

[0058] The surgical stapling system also includes an articulation joint 3009 configured to allow the end effector 3002 to rotate or articulate relative to the shaft 3003. The end effector 3002 can rotate around an articulation axis extending through the articulation joint. Some embodiments may omit the articulation joint 3009. The shaft assembly 3000 includes cooperating articulation rods 3010, 3011 that are configured to enable the end effector 3002 to articulate relative to the shaft 3003 around the articulation joint 3009. The shaft assembly 3000 includes an articulation lock bar 3012 configured to prevent the end effector 3002 from rotating, an outer shaft tube 3013 configured to accommodate the internal components of the shaft assembly 3000, and a spine portion 3014 configured to provide structural support to the shaft assembly 3000.

[0059] The staple cartridge 3008 includes a cartridge body 3015 including a platform 3018 extending between a proximal end 3016 and a distal end 3017. In use, the staple cartridge 3008 is positioned on a first side of the tissue to be sutured and the anvil 3006 is positioned on a second side of the tissue. The anvil 3006 moves toward the staple cartridge 3008 to compress and clamp the tissue against the platform 3018. Then, the staples 3023 removably stored in the cartridge body 3015 are deployed into the tissue. The cartridge body 3015 includes a plurality of staples removably stored in a plurality of staple cavities 3019 defined in the cartridge body 3015. The staple cavities 3019 are arranged in six longitudinal rows. Three rows of staple cavities are positioned on a first side of the longitudinal slot 3020 and three rows of staple cavities are positioned on a second side of the longitudinal slot 3020. Other arrangements of the staple cavities 3019 and staples are also possible.

[0060] The nail 3023 is supported in the cartridge body 3015 by the nail driver. The nail supported on the nail driver is disclosed in U.S. Patent Application Publication No. 2021 / 0059672, which is incorporated herein by reference in its entirety. The driver can move between a first non-firing position and a second firing position to eject the nail from the nail cartridge 3019. The driver is retained in the cartridge body 3015 by a retainer 3021, which extends around the bottom of the cartridge body 3015 and includes a resilient member 3022 configured to grip the cartridge body 3015 and to hold the retainer 3021 to the cartridge body 3015. The driver can move between its non-firing position and its firing position by a sliding member. The sliding member can move between a proximal position adjacent to the proximal end 3016 and a distal position adjacent to the distal end 3017. The sliding member includes a plurality of ramp surfaces configured to slide under the driver toward the anvil and lift the driver, and the nail is supported on the driver. According to the present disclosure, the nail may not be supported by the nail driver, but instead may include an integral driving surface that is directly engaged by the sliding member to lift the nail, examples of which are described in U.S. Patent Application Publication 2015 / 0173756, the entire text of which is incorporated herein by reference.

[0061] The slider is moved distally by a firing drive illustrated as a firing rod 3024, which is configured to contact the slide and push the slide toward the distal end 3017. A longitudinal slot 3020 defined in the cartridge body 3015 is configured to receive the firing drive 3024. The anvil 3006 also includes a slot configured to receive the firing drive 3024. The firing drive 3024 includes a first cam 3025 engaging the first jaw 3004 and a second cam 3026 engaging the second jaw 3006. When the firing drive 3024 is advanced distally, the first cam 3025 and the second cam 3026 can control the distance or tissue gap between the platform 3018 of the staple cartridge 3008 and the anvil 3006. The firing drive 3024 also includes a knife 3027, which is configured to cut into tissue trapped between the staple cartridge 3008 and the anvil 3006. The knife 3027 is ideally positioned at least partially adjacent to the inclined surface to eject the staples in front of the knife 3027. The shaft assembly 3000 includes a firing rod 3028 attached to the firing drive 3024 and capable of driving the firing drive through the staple cartridge 3008. According to the present disclosure, the firing rod 3028 may include a plurality of laminated strips. Further details of the shaft assembly 3000 are disclosed in U.S. Patent Application No. 15 / 385,887, entitled "METHOD FOR ATTACHING A SHAFT ASSEMBLY TO A SURGICAL INSTRUMENT AND, Optional, TO A SURGICAL ROBOT," the entire contents of which are incorporated herein by reference.

[0062] According to the present disclosure, the anvil 3006 can be moved from the open position to the closed position using a closure system that is controlled separately from the firing drive 3024, wherein the firing drive 3024 is considered to be a part of the firing system that is separate from the closure system and can be operated with the closure system. In addition, according to the present disclosure, the anvil 3006 may include a ramp 3029 on its proximal end, and the closure system may include a closure member, such as an outer shaft tube 3013, which can move distally to engage the ramp 3029 and cam the anvil 3006 to the closed position. In the closed position, the first cam 3025 and the second cam 3026 of the firing drive 3024 translate distally and keep the anvil 3006 in the closed position. In order to convert the anvil 3006 to the open position, the closure member can be retracted proximally, and the anvil 3006 can be biased to the open position by a spring positioned in the end effector 3002. The anvil 3006 may include a protrusion, and the closing member may define a hole at its distal end that engages the protrusion when the closing member moves proximally, thereby actively transitioning the anvil 3006 to the open position. Exemplary closure systems and closure members are disclosed in U.S. Patent Application Publication No. 2021 / 0059672, the entire disclosure of which is incorporated herein by reference.

[0063] According to the present disclosure, the firing drive 3024 can move the anvil 3006 from an open position to a closed position. The anvil 3006 includes a ramp extending from a wall defining a slot in the anvil 3006 and engaged by the firing drive 3024 during a first portion of the stroke of the firing drive 3024 to move the anvil 3006 to a closed position. At the end of the first portion of the stroke, the firing drive 3024 can continue to advance distally through a second portion of the stroke to deploy staples from the staple cartridge 3008 and cut tissue captured by the end effector 3002. An exemplary firing drive for closing anvils and firing staples is disclosed in U.S. Pat. No. 11160551.

[0064] Figure 3 A surgical system 3030 for use with one or more surgical instruments, tools, and / or robotic systems according to the present disclosure is shown. The surgical system 3030 includes a control circuit 3032. The control circuit 3032 includes a microcontroller 3033, which includes a processor 3034 and a storage medium, such as a memory 3035.

[0065] The motor assembly 3036 includes a motor driven by a motor driver. The motor assembly 3036 is operably coupled to the drive assembly 3037 to drive or effectuate movement at the end effector 3038, similar to Figure 1 and Figure 2The end effector 3002 shown in FIG. The drive assembly 3037 may include any number of components suitable for transmitting motion to the end effector 3038, such as one or more links, rods, tubes, and / or cables. According to the present disclosure, the drive assembly 3037 may drive the firing drive and / or the closing member.

[0066] For example, one or more sensors 3039 provide real-time feedback to the processor 3034 regarding operating parameters monitored during a surgical procedure performed by the surgical system 3030. For example, the operating parameters may be associated with a user performing the surgical procedure, the tissue being treated, and / or one or more components of the surgical system 3030. The sensors 3039 may include one or more suitable sensors, such as magnetic sensors, such as Hall effect sensors, strain gauges, pressure sensors, force sensors, inductive sensors, such as eddy current sensors, resistive sensors, capacitive sensors, optical sensors, current sensors, voltage sensors, and / or any other suitable sensors.

[0067] The sensor 3039 may include one or more suitable sensors for detecting one or more conditions at the end effector 3038, including but not limited to a tissue thickness sensor, such as a Hall effect sensor, a reed switch sensor, an optical sensor, a magnetic sensor, a force sensor, a pressure sensor, a piezoresistive film sensor, an ultrasonic sensor, an eddy current sensor, an accelerometer, a pulse oximeter sensor, a temperature sensor, a sensor configured to detect an electrical characteristic of a tissue pathway (such as capacitance or resistance), or any combination thereof. As another example, but not limited to, the sensor 3039 may include a sensor located at or around an articulation joint that is similar to the articulation joint 3009 and extends proximally from the end effector 3038. Such a sensor may include, for example, a potentiometer, a capacitive sensor (slide potentiometer), a piezoresistive film sensor, a pressure sensor, a pressure sensor, or any other suitable sensor type. According to the present disclosure, the sensor 3039 may include multiple sensors located at multiple locations in the end effector 3038.

[0068] According to the present disclosure, system 3030 may include feedback system 3040, which may include a device for providing sensory feedback to the user. Such a device may include, for example, a visual feedback device (e.g., an LCD display, a touch screen, an LED indicator), an audio feedback device (e.g., a speaker, a buzzer), or a tactile feedback device (e.g., a tactile actuator).

[0069] The microcontroller 3033 can be programmed to perform various functions, such as precise control of the speed and position of the tool and drive assembly 3037. According to the present disclosure, the microcontroller 3033 can be any single-core or multi-core processor, such as those known under the trade name ARM Cortex produced by Texas Instruments. In addition, according to the present disclosure, the main microcontroller 1933 can be a LM4F230H5QR ARM Cortex-M4F processor core purchased from, for example, Texas Instruments, including 256KB of single-cycle flash memory or other non-volatile memory (up to 40MHz) on-chip memory, a pre-fetch buffer for improving performance above 40MHz, 32KB of single-cycle SRAM, a Stellaris CPU loaded with Internal ROM for software, 2KB EEPROM, one or more PWM modules, one or more QEI analog and / or one or more 12-bit ADC with 12 analog input channels, details of which can be found in the product datasheet.

[0070] The microcontroller 3033 can be configured to be able to calculate the response in software of the microcontroller 3033. The calculated response is compared to the measured response of the actual system to obtain an "observed" response, which is used for actual feedback decisions. The observed response is a favorable tuning value that balances the smooth continuous nature of the simulated response with the measured response, which can detect external influences on the system.

[0071] The motor assembly 3036 includes one or more electric motors and one or more motor drivers. The electric motor may be a brushed direct current (DC) electric motor with a gearbox and a mechanical connection to the drive assembly 3037. According to the present disclosure, the motor driver may be the A3941 available from Allegro Microsystems.

[0072] In various forms, the motor assembly 3036 comprises a brushed DC drive motor having a maximum rotational speed of about 25,000 RPM. The motor assembly 3036 may include a brushless motor, a cordless motor, a synchronous motor, a stepper motor, or any other suitable electric motor. The motor driver may include, for example, an H-bridge driver including field effect transistors (FETs). Those skilled in the art will appreciate that the amount of power generated by any motor is determined solely by the voltage applied to the motor and the current drawn by the windings of the motor.

[0073] The motor assembly 3036 can be powered by a power source 3041. According to the present disclosure, the power source 3041 can include one or more batteries to power the motor assembly 3036. The battery can include a plurality of battery cells connected in series. The battery cells can be replaceable and / or rechargeable. Additionally or alternatively, the battery cells can be lithium-ion batteries that are coupled to the power assembly and separated from the power assembly.

[0074] The end effector 3038 includes a first jaw 3042 and a second jaw 3043. During the closing movement of the end effector 3038 from the open configuration to the closed configuration, at least one of the first jaw 3042 or the second jaw 3043 may rotate relative to the other. The closing movement may cause the jaws 3042, 3043 to grasp the tissue therebetween. According to the present invention, a sensor, such as, for example, a strain gauge or a micro strain gauge, may be configured to be able to measure a parameter of the end effector 3038, such as, for example, the magnitude of the strain applied to one or both of the jaws 3042, 3043 during the closing movement, which may indicate the closing force applied to the jaws 3043, 3042. For example, the measured strain is converted into a digital signal and provided to the processor 3034. Alternatively or in addition, a sensor (e.g., a load cell) may measure the closing force and / or the firing force applied to the jaws 3042, 3043. According to the present disclosure, the sensor may include a first sensor that measures a first force on the firing drive 3024 during the firing stroke, and a second sensor that measures a second force on a closing member, such as the outer shaft tube 3013, during the closing stroke. The processor 3034 may receive these force measurements and determine a relationship between them, such as a distribution ratio of the forces applied to the firing drive 3024 and the outer shaft tube 3013.

[0075] According to the present disclosure, a current sensor may be employed to measure the current drawn by the motor of the motor assembly 3036. The force required to propel the drive assembly 3037 may correspond to the current drawn by the motor, for example. The measured force is converted into a digital signal and provided to the processor 3034.

[0076] According to the present disclosure, a strain gauge sensor can measure the force applied to tissue by the end effector 3038. A strain gauge sensor can be connected to the end effector 3038 to measure the force on the tissue being processed by the end effector 3048. The strain gauge sensor can measure the magnitude or amount of strain applied to the jaws of the end effector 3038 during the closing movement, which can indicate tissue compression. The measured strain is converted into a digital signal and provided to the processor 3034.

[0077] The microcontroller 3033 can use the measurements of tissue compression, tissue thickness, and / or the force required to close the end effector on the tissue, respectively measured by the sensor 3039, to characterize the selected position and / or corresponding velocity values ​​of one or more components of the drive assembly 3037. In accordance with the present disclosure, the memory 3035 can store instructions, equations, and / or lookup tables that the microcontroller 3033 can employ to estimate the position and velocity on one or more components of the drive assembly 3037.

[0078] The surgical system 3030 may include wired or wireless communication circuitry to communicate with, for example, a surgical hub (e.g., surgical hub 3044), a communication hub, and / or a robotic surgical hub. Additional details regarding appropriate interactions between the surgical system 3030 and the surgical hub 3044 are disclosed in U.S. patent application Ser. No. 16 / 209,423, entitled “METHOD OF COMPRESSING TISSUE WITHIN A STAPLING DEVICE AND SIMULTANEOUSLY DISPLAYING THE TISSUE WITHIN THE JAW,” now U.S. Patent Application Publication No. 2019 / 0200981, the entire disclosure of which is incorporated herein by reference in its entirety.

[0079] The control circuit 3032 may be configured to enable various processes described herein. According to the present disclosure, the control circuit 3032 may include a microcontroller 3033, which includes a processor 3034 (e.g., a microprocessor) coupled to a memory circuit 3035. The memory circuit 3035 stores machine executable instructions, which, when executed by the processor 3034, cause the processor 3034 to execute machine instructions to implement various processes described herein. The processor 3034 may be a single-core processor or a multi-core processor. The memory circuit 3035 may include a volatile storage medium or a non-volatile storage medium. The processor 3034 may include a central processing unit (CPU) and an arithmetic unit. The CPU may be configured to be able to receive instructions from the memory circuit 3035.

[0080] Alternatively, the control circuit 3032 may be a combinatorial logic circuit configured to implement the various processes described herein. The combinatorial logic circuit may include a finite state machine including combinatorial logic configured to receive data, process the data through the combinatorial logic, and provide an output.

[0081] Alternatively, the control circuit 3032 is a sequential logic circuit configured to implement the various processes described herein. The sequential logic circuit may include a finite state machine. The sequential logic circuit may include, for example, a combinational logic component, at least one memory circuit, and a clock. The at least one memory circuit may store the current state of the finite state machine. According to the present disclosure, the sequential logic circuit may be synchronous or asynchronous. The control circuit may include a combination of a processor (e.g., processor 502) and a finite state machine to implement the various methods herein. For example, the finite state machine may include a combination of a combinational logic circuit and a sequential logic circuit.

[0082] Figure 4 is a block diagram of a surgical system 3050 for use with one or more surgical instruments, tools, and / or robotic systems according to the present disclosure. Surgical system 3050 is similar to surgical system 3030 in many respects, which are not repeated here with the same level of detail for the sake of brevity. For example, similar to surgical system 3030, surgical system 3050 includes control circuitry including a microcontroller 3051, a sensor 3054, and a power source 3055, the microcontroller including a processor 3052 and a memory 3053, which are similar to microcontroller 3033, processor 3034, memory 3035, and power source 3041, respectively. In addition, surgical system 3050 includes a plurality of motors and corresponding drive assemblies, which can be activated to perform various functions.

[0083] According to the present disclosure, a first motor may be activated to perform a first function, a second motor may be activated to perform a second function, a third motor may be activated to perform a third function, and a fourth motor may be activated to perform a fourth function, etc. In addition, according to the present disclosure, multiple motors may be individually actuated to cause firing, closing, and / or articulation of an end effector (e.g., end effector 3002 or end effector 3038). The firing motion, closing motion, and / or articulation motion may be transmitted to the end effector, for example, via a shaft assembly (such as shaft assembly 3000).

[0084] The surgical system 3050 can include a firing motor 3056 operably coupled to a firing motor drive assembly 3057, which can be configured to transmit a firing motion generated by the motor 3056 to the end effector, the firing motion including, for example, displacement of the firing rod 3028 and the firing driver 3024. The firing motion generated by the motor 3056 can deploy staples from the staple cartridge 3008 into tissue captured by the end effector, and / or advance the firing driver blade 3027 to cut the captured tissue. The firing driver can be retracted by reversing the direction of the motor 3056.

[0085] The surgical system 3050 may include a closing motor 3058, which is operably connected to a closing motor drive assembly 3059, which is configured to be able to transmit the closing motion generated by the motor 3058 to the end effector. Specifically, the closing motion displaces a closing member (such as an outer shaft tube) to close the anvil and compress the tissue between the anvil and the staple cartridge. The closing motion can cause, for example, the end effector to be transformed from an open configuration to an approach or closed configuration to grasp the tissue. The end effector can be transformed to an open position by reversing the direction of the motor 3058.

[0086] The surgical system 3050 may include one or more articulation motors 3060a, 3060b operably coupled to corresponding one or more articulation motor drive assemblies 3061a, 3061b configured to transmit articulation generated by the motors 3060a, 3060b to the end effector. The articulation may cause the end effector to articulate relative to an axis, for example. According to the present disclosure, a first articulation motor 3060a may drive a first articulation rod (such as articulation rod 3010) to rotate the end effector in a first direction, and a second articulation motor 3060b may drive a second articulation rod (such as articulation rod 3011) to rotate the end effector in a second direction opposite to the first direction.

[0087] The surgical system 3050 may include multiple motors that are configured to be able to perform various independent functions. According to the present disclosure, multiple motors of a surgical instrument or tool may be individually or independently activated to perform one or more functions, while other motors remain inactive. The articulation motors 3060a, 3060b may be activated to articulate the end effector, while the firing motor 3056 remains inactive. Alternatively, the firing motor 3056 may be activated to fire multiple nails and / or advance the cutting blade, while the articulation motors 3060a, 3060b remain inactive. The closing motor 3058 may be started simultaneously with the firing motor 3056 to advance the closing member and the firing drive to the distal side simultaneously or in an overlapping manner, as described in more detail below.

[0088] The surgical system 3050 may include a common control module 3062 that can be used with multiple motors of a surgical instrument or tool. The common control module 3062 can adjust one of the multiple motors at a time. For example, the common control module 3062 can be individually coupled to multiple motors of a surgical instrument and can be separated from multiple motors of a surgical instrument. Multiple motors of a surgical instrument or tool can share the common control module 3062. Multiple motors of a surgical instrument or tool can independently and selectively engage the common control module 3062. The common control module 3062 can switch from interfacing with one of the multiple motors of a surgical instrument or tool to interfacing with another of the multiple motors of a surgical instrument or tool.

[0089] The common control module 3062 can selectively switch between operably engaging the articulation motors 3060a, 3060b and operably engaging the firing motor 3056 or the closing motor 3058. In an example, as shown in FIG. Figure 4 As shown in , the switch 3063 can move or change between multiple positions and / or states. In the first position 3064, the switch 3063 can electrically connect the common control module 3062 to the firing motor 3056; in the second position 3065, the switch 3063 can electrically connect the common control module 3062 to the closing motor 3058; in the third position 3066a, the switch 3063 can electrically connect the common control module 3062 to the first joint motion motor 3060a; and in the fourth position 3066b, the switch 3063 can electrically couple the common control module 3062 to, for example, the second joint motion motor 3060b. A separate common control module 3062 can be electrically coupled to the firing motor 3056, the closing motor 3058, and the joint motion motors 3060a, 3060b at the same time. The switch 3063 can be a mechanical switch, an electromechanical switch, a solid-state switch, or any suitable switch.

[0090] Each of the motors 3056, 3058, 3060a, 3060b may include a torque sensor to measure the output torque on the shaft of the motor. The force on the end effector may be sensed in any conventional manner, such as by a force sensor on the outside of the jaws or by a torque sensor of a motor used to actuate the jaws.

[0091] like Figure 4 As shown in FIG. 306 , the common control module 3062 may include a motor driver 3067, which may include one or more H-bridge FETs. The motor driver 3067 may modulate the power transmitted from the power source 3055 to the motor coupled to the common control module 3062, for example, based on input from a microcontroller 3051 (“controller”). According to the present disclosure, when a motor is coupled to the common control module 3062, the microcontroller 3051 may be used, for example, to determine the current consumed by the motor.

[0092] Processor 3052 may control motor driver 3067 to control the position, rotational direction, and / or speed of motors coupled to common controller 3062. Processor 3052 may signal motor driver 3067 to stop and / or deactivate motors coupled to common controller 3062 in accordance with the present disclosure.

[0093] The memory 3053 may include program instructions for controlling each of the motors of the surgical system 3050 that may be coupled to a common controller 3062. For example, the memory 3053 may include program instructions for controlling the firing motor 3056, the closing motor 3058, and the articulation motors 3060a, 3060b so that the processor 3052 controls the firing, closing, and articulation functions based on input from an algorithm or control program of the surgical instrument or tool.

[0094] The mechanism and / or sensor 3054 can be used to alert the processor 3052 of the program instructions that should be used in a particular setting. For example, the sensor 3054 can alert the processor 3052 to use the program instructions associated with the firing, closing, and articulation end effectors. For example, according to the present disclosure, the sensor 3054 may include a position sensor to sense the position of the switch 3063. Thus, the processor 3052 can use the program instructions associated with the I-beam of the firing end effector when, for example, the sensor 3054 detects that the switch 3063 is in the first position 3064; the processor 3052 can use the program instructions associated with the closing anvil when, for example, the sensor 3054 detects that the switch 3063 is in the second position 3065; the processor 3052 can use the program instructions associated with the articulating end effector when, for example, the sensor 3054 detects that the switch 3063 is in the third position 3066a or the fourth position 3066b. According to the present disclosure, the controller 3051 can communicate with a display 3068 similar to the feedback system 3040 to provide feedback to the user. Additionally, the display 3068 may include an input interface so that a user may provide input for controlling the surgical system 3050. The controller 3051 may include a timer 3069 to measure elapsed time.

[0095] Also refer to Figure 1 and 2, the surgical system may include a closing system and a firing system. The closing system includes a closing member, such as an outer shaft tube 3013, which can move from a proximal position toward a distal position during a closing stroke. The closing member is driven between a proximal position and a distal position by a closing motor 3058; however, other embodiments can be envisioned in which the closing member is driven between a proximal position and a distal position by a manual drive system, the manual drive system including a closing trigger that can be manually operated by a clinician. The surgical system includes an end effector 3002, which includes a first jaw 3004 and a second jaw 3006, the second jaw being rotatable between an open position and a closed position relative to the first jaw. In use, the closing member translates toward a distal end position and engages the second jaw, for example, on an inclined surface on its proximal end. The closing member applies a closing force to the second jaw to rotate the second jaw toward the closed position. According to the present disclosure, the surgical system may include power sources 3041, 3055 to provide power to the closing motor.

[0096] The firing system includes a firing drive 3024, which can move from a proximal unfired position toward a distal fired position during a firing stroke to deploy the nails stored in the nail magazine 3008 and cut the tissue captured by the end effector with a knife 3027. The firing drive is driven by a firing motor 3056 between the proximal unfired position and the distal fired position. The firing drive includes a first cam 3025 and a second cam 3026 to engage the first jaw and the second jaw, respectively, during the firing stroke, thereby applying a closing force to the end effector to keep the second jaw in a closed position. According to the present disclosure, the power sources 3041, 3055 can power the firing motor.

[0097] As an example, the surgical system includes a control system 3033 or controller 3051 to actuate the closing motor and the firing motor to drive the closing member and the firing drive through their respective strokes, respectively. The surgical system includes a voltage sensor 3039 to sense the voltage potential of the power source.

[0098] During use, the closing motor and the firing motor draw current from the power source and consume power to drive the closing member and the firing drive through their respective strokes, respectively. When the motor draws current from the power source and consumes power, the voltage potential of the power source is loaded, and the voltage drops or sags, causing the power output of the motor to drop. It is desirable to minimize the power source voltage drop during the closing stroke / firing stroke of the closing member / firing drive, respectively, to increase the power output of the power source to the corresponding motor during its respective stroke. It is desirable to maximize the short inconsistent current drawn by the motor from the power source during its use.

[0099] The voltage drop can be minimized by pulse width modulation and micro-recovery during each "off" period of the pulse. Figure 5, graphs 3100, 3102, 3104 illustrate exemplary firing strokes of a firing drive through a staple cartridge. Graph 3100 illustrates the voltage potential of a power source over time. Graph 3102 illustrates the current from a respective power source over time. Graph 3104 illustrates the duty cycle of each power source over time.

[0100] According to the present disclosure, the control system may implement a firing algorithm that may cause the firing motor 3056 to be at a maximum (or peak) voltage potential V MAX1 The power source draws current and drives the firing drive 3024 through the firing stroke. The algorithm implements a 100% duty cycle 3110 (e.g., where the motor remains in the "on" state), as shown in the graph 3104. Based on the algorithm, the current 3112 drawn by the motor from the power source is I MAX The voltage potential 3114 of the power source is kept constant or substantially constant from the maximum voltage potential V MAX1 The minimum voltage potential at the end of the firing stroke.

[0101] According to the present disclosure, the control system may implement an adaptive ignition algorithm that enables the ignition motor to drive the ignition driver using adaptive pulse width modulation to reduce the power source voltage drop on the firing stroke. In addition, according to the present disclosure, graphs 3100, 3102, and 3104 may illustrate three exemplary firing strokes of the ignition driver using the adaptive ignition algorithm, which uses three different power sources - with a maximum voltage potential V MAX1 A first power source having a voltage potential V MAX2 A second power source having a voltage potential V MAX3 The first power source includes each having a voltage potential V 电池1 The second power source includes batteries each having a voltage potential V 电池2 The third power source includes batteries each having a voltage potential V 电池3 of batteries.

[0102] As shown in graphs 3100, 3102, and 3104, at t 0 At , the control system executes an adaptive firing algorithm, which causes the firing motor to transition from an "off" state to an "on" state for a first time period T1. In the "off" state, the motor does not drive or stops driving the firing drive to prevent it from moving toward the firing position, and in the "on" state, the motor drives the firing drive toward the firing position. During the first time period T1, the current 3120 drawn by the motor from the first power source increases from 0 to a first maximum current I MAX1, and the voltage potential 3126 applied to the motor from the first power source is increased from the maximum voltage potential V MAX1 Similarly, the current 3122 drawn by the motor from the second power source increases from 0 to the first maximum current I MAX2 , and the voltage potential 3128 applied to the motor from the second power source is increased from the maximum voltage potential V MAX2 Similarly, the current 3124 applied to the motor from the third power source increases from 0 to the first maximum current I MAX3 , and the voltage potential 3130 applied to the motor from the third power source is increased from the maximum voltage potential V MAX3 The motor is driven by the actuator and the firing drive is driven by the actuator. The firing drive is driven by the actuator and the ...

[0103] According to the present disclosure, T1 may be a predetermined period of time that may be stored in the memory 10035 and retrieved by the control system. Further, according to the present disclosure, T1 may be based on the duty cycle implemented. Alternatively or in addition, T1 may be a variable period. Alternatively or in addition, T1 may be based on the rate at which the voltage potential drops from a maximum voltage potential. Alternatively or in addition, T1 may be based on a maximum voltage potential that drops by a predetermined amount. Alternatively or in addition, T1 may be based on a maximum voltage potential that drops to a predetermined lower voltage potential.

[0104] At time t 1 , the algorithm automatically transitions the motor to the "off" state for a second period T2, during which the current 3122, 3122, 3124 drawn by the motor from the power source decreases from the first maximum current I MAX1 The current drops to a first lower current, and the voltage potential 3126, 3128, 3130 of the power source recovers from the first lower voltage potential to a first recovery voltage potential that is less than the maximum voltage potential of the corresponding power source.

[0105] In accordance with the present disclosure, T2 may be a predetermined period of time that may be stored in the memory 10035 and may be retrieved by the control system. Alternatively or in addition, T2 may be based on the duty cycle implemented. Alternatively or in addition, T2 may be a variable period. Alternatively or in addition, T2 may be based on T1. Alternatively or in addition, T2 may be based on the magnitude of the voltage potential drop across T1. Alternatively or in addition, T2 may be based on the rate at which the voltage potential drops across T1. Alternatively or additionally, T2 may be based on the time required for the power source to recover a threshold amount of voltage potential from a first dropped voltage potential. Alternatively or in addition, T2 may be based on the rate at which the voltage potential recovers from the first dropped voltage potential. In accordance with the present disclosure, T2 may be different from T1. Alternatively or in addition, T2 may be the same as T1.

[0106] At time t 2 The algorithm automatically causes the motor to transition to the "on" state for a third period T3, during which the current 3122, 3122, 3124 drawn by the motor from the power source increases from a first lower current to a current greater than the first maximum current I MAX1 The second maximum current is supplied, and the voltage potential 3126, 3128, 3130 applied from the power source to the motor drops from the first recovery voltage potential to a second lower voltage potential that is less than the first lower voltage potential.

[0107] According to the present disclosure, T3 can be a period stored in memory 10035 and can be retrievable by the control system. Alternatively or in addition, T3 can be based on the implemented duty cycle. According to the present disclosure, T3 can be a variable period. Alternatively or in addition, T3 can be based on T1 or T2 or a combination thereof. Alternatively or in addition, T3 can be based on the rate at which the voltage potential recovers during T2. Alternatively or in addition, T3 can be based on the magnitude of the voltage potential recovered during T2. Alternatively or in addition, T3 can be based on the rate at which the voltage drops from the first recovery voltage potential. Alternatively or in addition, T3 can be based on a voltage potential that drops a predetermined amount from the first recovery voltage potential. Alternatively or in addition, T3 can be based on a voltage potential that drops from the first recovery voltage potential to a predetermined voltage potential. Alternatively or in addition, T3 can be different from T1 and / or T2. Alternatively or in addition, T3 can be the same as T1 and / or T3.

[0108] At time t 3 , the algorithm automatically causes the motor to transition to the "off" state for a fourth period T4, during which the current 3122, 3122, 3124 drawn by the motor from the power source decreases from the second maximum current I MAX2The current drops to a second lower current that is less than the first lower current, and the voltage potential 3126, 3128, 3130 of the power source recovers from the second lower voltage potential to a second recovery voltage potential that is less than the first recovery voltage potential.

[0109] According to the present disclosure, T4 may be a predetermined period that may be stored in the memory 10035 and may be retrieved by the control system. Alternatively or in addition, T4 may be a variable period. Alternatively or in addition, T4 may be based on T1, T2, or T3, or any combination thereof. Alternatively or in addition, T4 may be based on the magnitude of the voltage potential drop across T1 or T3, or a combination thereof. Alternatively or in addition, T4 may be based on the rate at which the voltage potential drops across T1 or T3, or a combination thereof. Alternatively or additionally, T4 may be based on the time required for the power source to recover the voltage potential of a threshold amount from the second falling voltage potential. Alternatively or in addition, T4 may be based on the rate at which the voltage potential recovers from the second falling voltage potential or the rate at which the voltage potential recovers from the first falling voltage potential, or a combination thereof. Alternatively or in addition, T4 may be different from T1, T2, and / or T3. Alternatively or in addition, T4 may be the same as T1, T2, and / or T3. Alternatively or in addition, T4 may be approximately 10 to 50 times greater than T2. As shown in the graph 3100, during the fourth time period T4, the motor recovers the first power source by the amount of δ within the time period allowing the power source to recover by the amount of δ. Specifically, the motor remains in the "off" state during the fourth time period T4, so that the first power source recovers the first amount of δ. 1 , the second power source recovers the second amount δ 2 , and the third power source recovers the third amount δ 3 .

[0110] At time t 4 , the algorithm automatically transitions the motor to the “on” state for a fifth period T5, during which the current 3122, 3122, 3124 drawn by the motor from the power source increases from the second lower current to the third maximum current I MAX3 , and the voltage potential 3126, 3128, 3130 applied from the power source to the motor drops from the second recovery voltage potential to a third lower voltage potential.

[0111] According to the present disclosure, T5 may be a predetermined period stored in the memory 10035 and retrievable by the control system. In addition, according to the present disclosure, T5 may be based on the implemented duty cycle. Alternatively or in addition, T5 may be a variable period. In addition, according to the present disclosure, T5 may be based on T1, T2, T3 or T4 or any combination thereof. Alternatively or in addition, T5 may be based on the rate at which the voltage potential is restored during T2 or T4 or a combination thereof. Alternatively or in addition, T5 may be based on the magnitude of the voltage potential restored during T2 or T4 or a combination thereof. Alternatively or in addition, T5 may be based on the rate at which the voltage drops from the second recovery voltage potential or the rate at which the first recovery voltage potential drops or a combination thereof. Alternatively or in addition, T5 may be based on a voltage potential that drops a predetermined amount from the second recovery voltage potential. Alternatively or in addition, T5 may be based on a voltage potential that drops from the second recovery voltage potential to a predetermined voltage potential. Alternatively or in addition, T5 may be different from T1, T2, T3 and / or T4. Alternatively or additionally, T5 may be the same as T1, T2, T3 and / or T4.

[0112] At time t 5 The algorithm automatically turns the motor into the off state for a sixth period T6, during which the current 3122, 3122, 3124 applied from the power source to the motor decreases from the third maximum current I MAX3 The current drops to a third lower current, and the voltage potential 3126, 3128, 3130 of the power source recovers from the third lower voltage potential to the third recovery voltage potential.

[0113] According to the present disclosure, T6 can be a predetermined period that can be stored in the memory 10035 and can be retrieved by the control system. Alternatively or in addition, T6 can be based on the implemented duty cycle. Alternatively or in addition, T6 can be a variable period. Alternatively or in addition, T6 can be based on T1, T2 or T3, T4 or T5, or any combination thereof. Alternatively or in addition, T6 can be based on the magnitude of the voltage potential drop on T1, T3 or T5, or any combination thereof. Alternatively or in addition, T6 can be based on the rate at which the voltage potential drops on T1, T3 or T5, or any combination thereof. Alternatively or additionally, T6 can be based on the time required for the power source to recover the voltage potential of the threshold amount from the third dropped voltage potential. Alternatively or in addition, T6 can be based on the rate at which the voltage potential recovers from the third lower voltage potential, the rate at which the voltage potential recovers from the first lower voltage potential, or the rate at which the voltage potential recovers from the second lower voltage potential, or any combination thereof. According to the present disclosure, T6 can be different from T1, T2, T3, T4 and / or T5. Alternatively or additionally, T6 is the same as T1, T2, T3, T4 and / or T5.

[0114] At time t 6, the algorithm automatically transitions the motor to the on state for a seventh time period T7, during which the current 3122, 3122, 3124 applied from the power source to the motor increases from the third lower current, and the voltage potential 3126, 3128, 3130 applied from the power source to the motor decreases from the third recovery voltage potential. During the seventh time period t7, the firing drive reaches the distal firing position of the firing stroke and the firing algorithm stops.

[0115] As shown, the algorithm is adaptive and reacts to changes in the voltage potential over the firing stroke of the firing drive. Based on the adaptability of the algorithm and the "micro-recovery" of the voltage potential during the firing stroke, the overall macro-recovery curve 3132, 3134, 3136 of the voltage potential over time is substantially higher than when the motor remains "on" (100% duty cycle) for the entire firing stroke or the firing algorithm uses a constant pulse width modulation algorithm. In addition, the algorithm implemented by the control system implements a variable length pulse width modulation with a variable on / off time based on the voltage drop and recovers over the firing stroke.

[0116] Having a first maximum voltage potential V MAX1 The first power source has a first maximum voltage potential V less than the first maximum voltage potential V MAX1 The second maximum voltage potential V MAX2 The second power source undergoes less modulation. Similarly, the second power source having a second maximum voltage potential V MAX2 The second power source has a second maximum voltage potential V less than the second maximum voltage potential V MAX2 The third maximum voltage potential V MAX3 According to the present disclosure, referring to graph 3100, during the second recovery time period T4, the first power source recovers δ1, the second power source recovers δ2 which is greater than δ1, and the third power source recovers δ3 which is greater than δ1 and δ3.

[0117] According to the present disclosure, utilizing pulse width modulation can result in a delay in heat generation that would result in a locked rotor condition. In addition, according to the present disclosure, a larger power accumulator with a lower ultimate pulse width modulation limit can be utilized to temporarily unlock a locked motor. The motor can reverse direction to result in rearward movement of the firing drive, and then can reverse direction again to restart forward movement of the firing drive to penetrate a tissue portion requiring mechanical work. Alternatively or in addition, the motor can reverse direction to result in rearward movement of the firing drive, and then reverse direction again to reestablish the dynamic inertia of the firing drive.

[0118] According to the present disclosure, voltage drop can be minimized by accumulating power within the system. In addition, according to the present disclosure, Figure 6The circuit 3140 described in the Figure enables power accumulation within the system, and the circuit includes a capacitor 3142 in series with a field effect transistor 3144 (FET). When the voltage potential of the power source begins to drop, the circuit 3140 with the capacitor in series with the FET 3144 is used to add power to the system. The capacitor can provide a short-term power boost, such as 1-5% of the total drive, to handle overload force conditions. In addition, according to the present disclosure, the capacitor can help cause a spike in force required to fire the firing drive during an influx of tissue or a small calcified area. It should be understood that the circuit 3140 is only one illustrative embodiment with a capacitor in series with the FET 3144, and the present disclosure encompasses various other circuits.

[0119] According to the present disclosure, power accumulation within the system can be achieved by using Figure 7 , which is a discrete time circuit that utilizes charge transfer into and out of capacitors as controlled by switches. The switching activity 3147 is controlled by non-overlapping clocks so that the charge transfer in and out is well defined and determined. The switched capacitor circuit 3146 provides a step-by-step voltage output 3148 to the motor to provide an energy boost during the firing stroke.

[0120] According to the present disclosure, power accumulation within the system can be achieved using a capacitor plus a pulse width modulated signal as an additive. The duty cycle of the motor can be selected so that the capacitor is recharged after various drains, which reduces or eliminates the power source voltage drop. Additionally or alternatively, the duty cycle can be selected between 30-50%. The selected balance between pulse withdrawal activation and capacitor size results in a reduction or elimination of voltage drop from the power source.

[0121] According to the present disclosure, the accumulation of power within the system can be based on the chemical properties of the system. Additionally, or alternatively, the accumulation of power within the system can be based on the duty cycle of the power source, the chemical properties of the power source, or the power source chemical property recovery, or a combination thereof. For example, the material used for the power source can be selected based on the power source voltage drop observed over time under load. Figure 8A-8D The load power source voltage drop over time is shown for several power sources utilizing different battery materials. Fig. 8A A discharge curve over time of a power source utilizing an alkaline battery cell including a maximum voltage potential of -1.6V is shown. Figure 8B A discharge curve over time of a power source utilizing a lithium polymer battery cell including a maximum voltage potential of -4.1V is shown. Figure 8C A discharge curve over time of a power source utilizing a lithium-ion battery cell including a maximum voltage potential of -4V is shown. Fig.8DA discharge curve over time for a power source utilizing a nickel-metal hydride (Ni-MH) battery cell is shown, which includes a maximum voltage potential of -1.35 V. Based on the observed voltage drop over time, a user can select an appropriate power source for the desired surgical outcome.

[0122] According to the present disclosure, power accumulation within the system can be based on motor power consumption, chemical properties of the power source, or recovery of the power source, or a combination thereof. The control system can monitor the voltage potential of the power source during the firing stroke to determine whether the firing stroke should be paused to allow the power source to recover. Fig. 9 The graphs 3150, 3160, 3170 shown illustrate exemplary firing strokes of a firing drive through a staple cartridge. Graph 3150 illustrates the power output from a power source over time. The power source may include a CR123A primary lithium battery. Graph 3160 illustrates the voltage potential of the power source over time. Graph 3170 illustrates the current output of the power source over time. As shown in graph 3160, the power source has a maximum voltage potential V MAX .

[0123] Based on the firing stroke power source, the control system including controllers 3033 and 3051 sets the power source upper limit threshold V U , power source lower threshold V L and the power source recovery threshold V R According to the present disclosure, the control system can query the power source to determine the type of power source. Based on this determination, the control system retrieves the power source upper threshold value V from the memory. U , power source lower limit threshold V L and the power source recovery threshold V R Alternatively, the power source upper limit threshold V U , power source lower limit threshold V L and the power source recovery threshold V R Defined by the user. Alternatively, the power source upper limit threshold V U , power source lower limit threshold V L and the power source recovery threshold V R Based on the maximum voltage potential of the power source. Alternatively, the power source upper limit threshold V U , power source lower limit threshold V L and the power source recovery threshold V R is a predetermined percentage of the maximum voltage potential of the power source. Alternatively, the power source upper limit threshold V U , power source lower limit threshold V L And the power source recovery threshold V R The same regardless of the power source used by the motor.

[0124] At time t 1, the control system initiates the adaptive ignition algorithm based on the user providing input to the control system. According to the present disclosure, the adaptive ignition algorithm can be similar to other adaptive ignition algorithms discussed elsewhere herein. The adaptive ignition algorithm can be stored in the memory 3053 and can be executed by the processor 3052. According to the present disclosure, the user can provide input to the control system via the input interface at the display 3068. Based on the initiation of the adaptive ignition algorithm, the adaptive ignition algorithm applies the first duty cycle to the motor.

[0125] Based on the adaptive ignition algorithm, the start 1 At t , the motor transitions to an on state according to a first duty cycle for a first period of time, causing the motor to draw power from a power source to drive an ignition driver, such as ignition driver 3024, toward its ignition position. During the first period (from t 1 to 2 ), the power source applies a maximum current I to the motor MAX , and the voltage potential of the power source changes from V Max drops to a first lower voltage potential V 1 According to the present disclosure, the control system may detect or measure the applied current and voltage using a current sensor and a voltage sensor, respectively.

[0126] At time t 2 , the control system detects via the voltage sensor that the voltage potential of the power source has dropped to a first drop voltage potential V 1 According to the present disclosure, the control system can 1 The control system sets the first lower voltage potential V 1 With the power source lower limit threshold V L The comparison is made to determine the first lower voltage potential V 1 Is it above or below the power source lower limit threshold V L Based on the control system, the first lower voltage potential V 1 Higher than the power source lower threshold V L The ignition algorithm maintains the first duty cycle. Based on the control system, the first lower voltage potential V 1 The power source lower limit threshold V has been reached L or drops below the power source lower threshold V L , the control system adjusts the ignition algorithm. As shown in the curve diagram 3160, due to the first drop in voltage potential V 1 is determined to be above the power source lower limit threshold V L , so the motor transitions to the "off" state in the second period according to the first duty cycle. During the second period (from t 2 to 3), the voltage potential of the power source is restored to the first recovery voltage potential V 2 .

[0127] At time t 3 , the control system detects through the voltage sensor that the voltage potential of the power source has recovered to the first recovery voltage potential V 2 According to the present disclosure, the control system can set the first recovery voltage potential V 2 Stored in the memory for subsequent evaluation. The control system sets the first recovery voltage potential V 2 The power source upper threshold V U is compared to determine the first recovery voltage potential V 2 Is it above or below the power source upper threshold V U . Based on the control system, the first recovery voltage potential V 2 Higher than the power source upper threshold V U The ignition algorithm maintains the first duty cycle. Based on the control system, the first recovery voltage potential V 2 The power source upper threshold V has been reached U or drops below the power source upper threshold V U , the control system adjusts the ignition algorithm, as will be discussed in more detail below. As shown in graph 3160, due to the first recovery voltage potential V 2 is determined to be above the power source upper limit threshold V U , so the motor is switched to the on state for the third game according to the first duty cycle. During the third period (from t 3 to 4 ), the power source supplies the maximum current I to the motor MAX , and the voltage potential of the power source drops to the second drop voltage potential V 3 .

[0128] According to the present disclosure, the control system can evaluate two data points (eg, the maximum voltage potential V Max and the first recovery voltage potential V 2 ), and the expected recovery voltage potential can be estimated 3162 over time using the first duty cycle. Based on the estimated voltage drop over time, the control system predicts that the recovery voltage potential of the expected power source fails to reach the power source upper threshold V before the motor is later transitioned to the "on" state. U According to the present disclosure, the surgical system may include a display 3068, and the control system may display the predicted time on the display.

[0129] According to the present disclosure, the control system can adjust the duty cycle of the ignition algorithm based on the prediction. In addition, based on the prediction, the control system can adjust the algorithm to change the duty cycle of the motor so as to maintain the recovered voltage potential above the power source recovery threshold V before the motor is subsequently turned on for the remainder of the firing stroke. U . According to the present disclosure, based on the prediction, the control system can adjust the duty cycle to increase the length of the "off" pulse of the duty cycle. Additionally or alternatively, based on the prediction, the control system can adjust the duty cycle to increase the length of the "on" pulse of the duty cycle. Furthermore, according to the present disclosure, based on the prediction, the control system can adjust the duty cycle to increase the length of the "on" pulse and the "off" pulse of the duty cycle.

[0130] At time t 4 , the control system detects through the voltage sensor that the voltage potential of the power source drops to a second lower voltage potential V 3 The control system can set the second lower voltage potential V 3 The control system sets the second lower voltage potential V 3 With the power source lower limit threshold V L The comparison is made to determine the second lower voltage potential V 3 Is it higher than the power source lower limit threshold V L Based on the control system, the second lower voltage potential V 3 Higher than the power source lower threshold V L The ignition algorithm maintains the first duty cycle. Based on the control system, the second lower voltage potential V 3 The power source lower limit threshold V has been reached L or drops below the power source lower threshold V L , the control system adjusts the ignition algorithm. Due to the second lower voltage potential V 3 is determined to be above the power source lower limit threshold V L , so the motor is switched to the “off” state according to the first duty cycle for a fourth period of time, as shown in graph 3160. During the fourth period (t 4 ~t 5 ), the potential of the power source is restored to the second recovery potential V 4 .

[0131] According to the present disclosure, the control system can evaluate two data points, a first lower voltage potential V 1 and a second lower voltage potential V 3 , and the expected voltage potential drop over time can be predicted 3164 using the first duty cycle. Based on the predicted voltage drop over time, the control system predicts that the voltage potential of the power source is expected to drop below the power source lower limit threshold V during the subsequent "on" state of the motor. LAccording to the present disclosure, the control system may display the predicted time on the display. Additionally or alternatively, the control system may display two predicted times (the power source will not be able to recover to the power source upper limit threshold V U The predicted time and power source will drop below the power source lower threshold V L predicted time) to inform the user which event is expected to occur first.

[0132] According to the present disclosure, the control system can adjust the duty cycle of the ignition algorithm based on the prediction. In addition, according to the present disclosure, based on the prediction, the control system can adjust the algorithm to control the duty cycle of the motor so as to maintain the lower voltage potential above the power source lower limit threshold V for the remaining part of the firing stroke. L . In addition, according to the present disclosure, based on the prediction, the control system can adjust the duty cycle to increase the length of the "off" pulse of the duty cycle. In addition, according to the present disclosure, based on the prediction, the control system can adjust the duty cycle to increase the length of the "on" pulse of the duty cycle. In addition, according to the present disclosure, based on the prediction, the control system can adjust the duty cycle to increase the length of the "on" pulse and the "off" pulse of the duty cycle.

[0133] As shown in graph 3160, from time t 4 to 6 , the control system maintains the first working cycle to turn the motor to the "off" state (t 4 to 5 ), "on" state (t 5 to 6 ) and the "off" state (t 6 and t 7 At each time point, the control system compares the detected voltage potential with the corresponding threshold (the power source upper limit threshold V U and the power source lower threshold V L ) to determine whether the first duty cycle should be maintained. At each time point, the control system stores the detected voltage potential in memory and uses the data point to update the corresponding projections 3162, 3164 and predictions.

[0134] As shown in graph 3160, at time t 7 At , the motor transitions to the "on" state for a period of time according to the first duty cycle, which causes the voltage potential to drop to a third lower voltage potential. During the "on" state, as also seen in the graph 3160, the voltage potential of the power source drops below the power source lower limit threshold V L According to the present disclosure, even if the power source drops below the lower limit threshold V L, but the ignition algorithm can keep the motor in the on state according to the first duty cycle to allow the motor to complete the "on" pulse. In addition, according to the present disclosure, when the voltage potential is detected to drop below the power source lower limit threshold V L When the motor is in an "off" state, the control system can transition the motor to an "off" state, cutting off the "on" pulses to allow the power source to recover during the recovery period.

[0135] In the ignition algorithm, the control system compares the third lower voltage potential with the power source lower limit threshold V L A comparison is made to determine whether the third lower voltage potential is above or below the power source lower limit threshold V L Since the third lower voltage potential is determined by the control circuit to have dropped below the power source lower limit threshold V L , so the control system turns the motor to the "off" state and keeps the motor in the "off" state for a recovery period. According to the present disclosure, the recovery period may correspond to the voltage potential of the power source recovering from the third lower voltage potential to the power source recovery threshold V R In addition, according to the present disclosure, the recovery period can be longer than the "off" pulse of the first working cycle. As shown in the graph 3160, at time t 9 At the control system, the voltage potential of the power source is detected to have reached the power source recovery threshold V R , the control system turns the motor to the on state and continues to apply the ignition algorithm at the first duty cycle. According to the present disclosure, based on the control system detecting that the voltage potential of the power source has reached the power source recovery threshold V R , the control system may transition the motor to an on state and may apply a second duty cycle that is different from the first duty cycle.

[0136] Although Fig. 9 shows that during the on pulse the voltage potential drops below the power source lower threshold V L However, it should be understood that when the voltage potential fails to reach the power source upper limit threshold V during the cut-off pulse U According to the present disclosure, based on the voltage potential failing to reach the power source upper limit threshold V during the off pulse, the control system operates in a similar manner. U , the control system may maintain the motor in the “off” state for a recovery period to allow the voltage potential of the power source to reach the power source recovery threshold V before re-implementing the first duty cycle. R Based on the control system detecting that the voltage potential of the power source has reached the power source recovery threshold V R , the control system turns the motor to the "on" state and resumes applying the ignition algorithm with the first duty cycle. According to the present disclosure, based on the control system detecting that the voltage potential of the power source has reached the power source recovery threshold V R, the control system can transition the motor to an “on” state and apply a second duty cycle that is different from the first duty cycle.

[0137] After re-implementing the first duty cycle, the control system continues to compare the detected voltage potential to the corresponding threshold value at each on and off pulse to determine whether the first duty cycle should be maintained for the remainder of the firing stroke. 10 At , the firing stroke of the firing drive ends before reaching or falling below the threshold, so no additional recovery period is required. However, it should be understood that if the respective thresholds are reached or fall below the respective thresholds, the control system will operate in a similar manner as described above, with the motor maintained in the off state during the recovery period to allow the voltage potential of the power source to recover to the power source recovery threshold V R .

[0138] Fig.10 3180 for controlling a surgical system according to the present disclosure is shown. The method 3180 includes setting 3182 a power source lower limit threshold and a power source upper limit threshold. According to the present disclosure, a control system including controllers 3033, 3051 may set the power source lower limit threshold V L and the power source upper threshold V U Method 3180 may include setting a power source recovery threshold, such as a power source recovery threshold V R Furthermore, in accordance with the present disclosure, the control system may set the threshold by retrieving the threshold from a memory.

[0139] The method 3180 includes transitioning 3184 the motor to an "on" state for a first period of time. According to the present disclosure, the control system can implement a first duty cycle according to which the motor is turned on for the first period of time. The motor can include a firing motor 3056 that drives the firing drive 3024 toward a firing position to deploy the nail 3023 from the nail magazine 3008 when the motor is in the "on" state.

[0140] The method 3180 includes detecting 3186 a decreased voltage potential of the power source at the end of the first period. The control system can interrogate the voltage sensor 3039 to determine the voltage potential of the power source 3041, 3055 that powers the motor. During the "on" state of the motor, the voltage potential of the power source decreases from a maximum or recovery voltage potential to a lower voltage potential.

[0141] Method 3180 includes performing a first comparison between the lower "drooped" voltage potential and the power source lower limit threshold at 3188. In accordance with the present disclosure, the control system may compare the lower "drooped" voltage potential to the power source lower limit threshold to determine whether the lower "drooped" voltage potential is above or below the power source lower limit threshold.

[0142] The method 3180 includes transitioning 3190 the motor to an "off" state for a second period of time based on the first comparison. According to the present disclosure, based on the lower "falling" voltage potential being above the power source lower threshold, the control system can maintain the current duty cycle of the motor and allow the motor to remain "off" for a period of time according to the duty cycle. Additionally, according to the present disclosure, based on the falling voltage potential reaching the power source lower threshold or falling below the power source lower threshold, the control system can transition the motor to an "off" state for a recovery period, which can be longer than the current duty cycle time. The recovery period can correspond to the time required for the voltage potential of the power source to recover to the power source recovery threshold.

[0143] Method 3180 includes detecting 3192 a restored voltage potential of the power source at the end of the second period. In accordance with the present disclosure, once the second period has elapsed, the control system can interrogate the voltage sensor to determine the voltage potential of the power source. As described elsewhere herein, during the "off" state of the motor, the voltage potential of the motor rises or recovers from a lower "falling" voltage potential.

[0144] Method 3180 includes performing a second comparison between the recovered voltage potential and the power source upper threshold at 3194. The control system may compare the recovered voltage potential to the power source upper threshold to determine if the lower "dropped" voltage potential has reached or fallen below the power source upper threshold.

[0145] The method 3180 includes controlling 3196 the motor based on the second comparison. According to the present disclosure, based on the restored voltage potential reaching the power source upper threshold, the control system can allow the motor to maintain the current duty cycle of the motor, and thus can turn the motor back to the "on" state after the second time period has passed. Alternatively, based on the restored voltage potential failing to reach the power source upper threshold, the control system can maintain the motor in the "off" state to allow additional recovery of the motor. In addition, according to the present disclosure, the control system can maintain the motor in the "off" state after the second time period and continue the recovery period, which recovery period can correspond to the time required for the voltage potential of the power source to recover to the power source recovery threshold.

[0146] Fig.11 A battery 3200 according to the present disclosure is shown. The battery 3200 includes a circuit having a voltage potential V Max A voltage source 3202, a resistor 3204, a resistor-capacitor (RC) circuit 3206 connected in series with the voltage source 3202 and the resistor 3204, and a voltage output V connected in series with the battery 3200. 0 3208. Fig.11Graphs 3210, 3220, 3230 of exemplary firing strokes of a firing drive are shown, wherein a battery 3200 provides power to a firing motor that drives the firing drive.

[0147] At time t 1 , the control system including controllers 3033, 3051 applies a firing algorithm that causes the firing motor to transition to an "on" state and draw current from the battery 3200 to drive the firing drive toward the distal position. 1 to 2 As shown in graphs 3210, 3220, and 3230, the voltage output 3208 of the battery 3200 changes from V max Drop to V 1 , the current drawn by the motor increases and is maintained at I Max , and the power consumed by the motor increases to P Max and drops to P 1 At time t 2 , the ignition algorithm switches the motor to the "off" state, causing the motor to stop drawing current from the battery 3200. 2 to 3 Based on the chemical composition and circuit of the battery 3200, the voltage potential of the battery first rises sharply and then rises steadily to the first recovery voltage V R . Three thousand two hundred and one

[0148] According to the present disclosure, from t 2 to 3 The period of time may be a variable period. Additionally or optionally, from t 2 to 3 The period may be a predetermined period. Additionally or alternatively, the period may be based on a duty cycle applied to the motor. Additionally or alternatively, from t 2 to 3 The period can be based on t 1 to 2 Additionally or alternatively, optionally, from t 2 to 3 The period can be based on the voltage potential from t 1 Down to t 2 Additionally or alternatively, from t 2 to 3 The cycle can be based on a battery 3200 from V 1 The time required to restore the voltage potential to the threshold value. 2 to 3 The time for V1 to recover may be based on the rate at which the voltage potential recovers from V1.

[0149] At time t 3, the firing algorithm transitions the firing motor to the "on" state again so that the motor draws current from the battery 3200 to resume driving the firing drive toward the firing position.

[0150] Minimizing voltage drop by accumulating power within the system. According to the present disclosure, power accumulation within the system can be achieved by storing energy during the off state of the power source. The "off" state may include an "off" pulse of a pulse width modulated signal. Furthermore, additionally or alternatively, the "off" state may include a state between the firing strokes of the firing drive between the end of a first firing stroke and the beginning of a second firing stroke. According to the present disclosure, capacitors may be used to store energy in the system. The energy stored in the capacitor is given by the classical equation U = 0.5 (C) (V 2 ), where U is the capacitor energy, C is the capacitance of the capacitor, and V is the voltage. Based on this equation, the same capacitor charged to a higher voltage will store exponentially more energy within the system.

[0151] The control system may include a voltage converter to control the voltage applied to the motor from the power source, which reduces the power source voltage drop. A constraint of many voltage converter approaches is the limitation of the load curve. The total output power is fixed for a variable voltage, which affects the current available for supply. Fig.13 The load curve profile for a 15W power source is shown.With a voltage converter, the direct relationship of what the system is able to deliver is known, depending on the setting of the input voltage.

[0152] According to the present disclosure, a storage capacitor can be used to accumulate power in the system. The storage capacitor can be selectively connected to the motor using active or passive components (e.g., via a diode OR) to allow very low impact on the inrush capacity. In addition, according to the present disclosure, reference Fig.14 , the circuit 3250 includes a motor 3252, a power source 3254 that provides power to the motor 3252, and a diode 3253 between the power source 3254 and the motor 3252. The circuit 3250 includes a storage capacitor 3256 that is electrically connected to the motor 3252, a buck converter 3258 that steps down a voltage from the power source 3254 to the storage capacitor 3256, and a diode 3255 between the storage capacitor 3256 and the motor 3252.

[0153] In operation, during the "off" state of the motor 3252, current flows from the power source 3254 to the storage capacitor 3256 via the buck converter 3258 to charge the storage capacitor 3256. When the motor 3252 transitions to the "on" state to drive the firing drive, current flows from the storage capacitor 3256 and the power source 3254 to the motor 3252 to mitigate the inrush current of the motor 3252. After the initial transition to the "on" state, current flows from the power source 3254 to the motor 3252 to drive the firing drive. When the motor 3252 transitions to the "off" state again, current again flows from the power source 3254 to the storage capacitor 3256 via the buck converter 3258 to charge the storage capacitor 3256.

[0154] In accordance with the present disclosure, the storage capacitor 3256 can have a much lower internal resistance when compared to the power source 3254. Therefore, the voltage drop associated with the storage capacitor 3256 will be much smaller than the voltage drop of the power source 3254. The storage capacitor 3256 will help maintain a high voltage potential to the motor 3252, which provides more power for the motor 3252 to complete the firing stroke.

[0155] According to the present disclosure, a variable output DC / DC converter can be placed in series with a switching circuit (e.g., a conventional mechanical switch) or an electronic switch (e.g., a MOSFET). Based on the motor being in the "off" state, the DC / DC converter changes its output to a higher voltage to charge the capacitor and store energy. The diode OR will drop the voltage to an appropriate level.

[0156] Reference now Fig.15 , a graph 3260 is provided which shows the button position, switch position, and firing state of the motor of the surgical system over time. 0 , the user actuates a button of the surgical system at the input interface at the display 3068. Based on the actuation, the switch transitions from an open state to a closed state to electrically couple the storage capacitor to the motor, which causes the capacitor to apply a voltage to the motor. At time t 0 , an international delay is introduced using the aforementioned switching circuit, which provides a slight delay before the motor draws current from the power source to power the motor and begin driving the firing drive. According to the present disclosure, the slight delay can provide inrush current mitigation. After the intentional delay, at time t 1 , the motor changes to the "on" state to drive the motor. At time t 2 , the power source stops providing power to the motor so that the motor transitions to the "off" state, the switch transitions back to the "off" state, and the button returns to the unactuated state. Based on these changes, the power source restores the voltage potential and the capacitor is refilled to prepare for the subsequent ignition cycle.

[0157] According to the present disclosure, power accumulation within the system can be achieved by managing the power accumulation available within the power source. For example, due to the motor inrush current, the current drawn by the motor from the power source at the beginning of any firing stroke will be large. This places significant restrictions on the energy storage capacity for subsequent ignition of the motor. Utilizing the start-consistent operating parameters allows the power source to "recover" and accumulate energy between firing strokes to provide more consistent firing results over multiple firing strokes of the firing drive. Therefore, it is expected that the user of the system will be aware of the power accumulation of the power source before initiating subsequent firing strokes in order to understand that unless a sufficient amount of power has been recovered / reaccumulated, the device may not perform properly.

[0158] According to the present disclosure, the control system including the controllers 3033, 3051 can monitor the amount of energy accumulated in the power source 3055 after the firing stroke of the firing drive 3024 is completed. For example, the user can provide a first firing input to the control system at the input interface of the display 3068. Based on receiving the first firing input, the control system controls the firing motor 3056 to drive the firing drive from the proximal unfired position to the distal fired position through the first firing stroke.

[0159] Based on the conclusion of the first firing stroke, the control system queries the sensor to monitor the amount of power re-accumulated in the power source over time. According to the present disclosure, the sensor may include a voltage sensor 3054, and the control system may use the voltage sensor to monitor the voltage potential of the power source over time. The control system displays the monitored amount of electricity on the display 3068 to inform the user of the amount of electricity in the power source. According to the present disclosure, the control system may display the maximum power of the power source on the display. Based on the visual prompt, the user can determine whether to proceed with the second firing stroke of the firing drive, or wait for an additional period of time before the second firing stroke begins to allow additional power to accumulate in the power source.

[0160] In accordance with the present disclosure, a control system may set a recovery threshold for a power source. The recovery threshold may correspond to a threshold amount of energy required for the power source to complete a subsequent firing stroke. Alternatively, the recovery threshold may correspond to a threshold amount of energy required to allow the firing drive to operate in the same manner as in the first firing stroke. Alternatively, the recovery threshold may be stored in a memory and may be retrieved by the control system. Alternatively, the recovery threshold may be user defined. Alternatively, the recovery threshold may be a predetermined percentage of a maximum voltage potential of the power source. Alternatively, the recovery threshold may include a recovery voltage potential of the power source.

[0161] According to the present disclosure, the control system can display the recovery threshold on the display to enable the user to visually compare the amount of power of the monitored power source to the recovery threshold. Based on the visual comparison, the user can choose to wait until the power has reached the recovery threshold before actuating the second firing stroke of the firing drive. The user can also choose to actuate the second firing stroke of the firing drive before the monitored power reaches the recovery threshold; however, the displayed power will indicate to the user that the system will perform below normal because the power source is not allowed to build up again to the recovery threshold.

[0162] According to the present disclosure, the control system may include a firing lock to prevent the user from performing another firing stroke until a sufficient amount of energy has been re-accumulated in the power source. In addition, according to the present disclosure, the control system may compare the monitored power with the recovery threshold based on the user providing a second firing input to the input interface. Based on the monitored power being less than the recovery threshold, the control system ignores the second firing input and prevents the motor from driving the firing drive through the firing stroke because a sufficient amount of energy has not yet been re-accumulated in the power source. The control system issues a notification on the display 3068 indicating that a sufficient amount of energy has not yet been re-accumulated and that additional time is required until the subsequent firing stroke can be initiated. Based on the monitored power reaching or exceeding the recovery threshold, the control system allows the firing stroke to begin and controls the motor to drive the firing drive through the subsequent firing stroke. According to the present disclosure, the control system may display a notification on the display to notify the user that the firing system can be used for actuation based on the monitored energy reaching the recovery threshold.

[0163] According to the present disclosure, the control system may include a firing lock to prevent the user from performing another firing stroke until a threshold period of time has passed since the end of the previous firing stroke. The threshold period of time may be fixed. In addition, according to the present disclosure, the power source may include an RC circuit, and the RC time constant specifies the threshold period of time. Based on the RC time constant, the control system prevents the user from initiating a subsequent firing stroke within a fixed time period to ensure that the capacitor has sufficient time to recharge within a time period equal to the RC time constant. The threshold period of time may be variable. In addition, according to the present disclosure, based on system characteristics and a known RC time constant recharge rate, the firing lock may lock the user from actuating the firing system within a variable period of time based on a calculation of the predicted energy storage in the power source. Based on the depleted threshold period of time, the control system displays a notification on the display to notify the user that the firing system is available for actuation and allows the user to initiate a subsequent firing stroke.

[0164] The control system can monitor the time, intensity and / or duration of power drawn from the power source during its use. Based on the monitored parameters, the control system controls when and how much subsequent power drawing is allowed or enabled. This control allows electrolyte recovery in the power source, as well as heat dissipation of the battery of the power source, which improves the output capacity of the power source for the next power use, such as during a subsequent firing stroke of the ignition drive.

[0165] Fig.16 A method 3270 for controlling a surgical system according to the present disclosure is shown. The method 3270 includes setting 3272 a recovery threshold. According to the present disclosure, the control system includes a controller 3033, and the controller 3051 can set the recovery threshold, for example, by retrieving the recovery threshold from a memory, as described elsewhere herein. The recovery threshold can include a voltage potential threshold associated with the power source 3055.

[0166] The method 3270 includes receiving 3274 a first firing input. The user provides a first firing input at an input interface of the display 3068 to a control system including controllers 3033, 3051 to execute a first firing stroke of the firing drive.

[0167] The method 3270 includes controlling 3276 the motor to drive the firing drive through a first firing stroke based on receiving a first firing input. Based on receiving the first firing input, the control system may control the firing motor 3056 to drive the firing drive 3024 through a first firing stroke from a proximal unfired position to a distal fired position.

[0168] The method 3270 includes monitoring 3278 the power source voltage potential at the end of a first firing stroke. The motor draws current from the power source 3055 to drive the firing drive through the firing stroke, and the voltage sensor 3039 senses the voltage potential of the power source over time. After the firing stroke ends, the control system interrogates the voltage sensor to determine the dropped voltage potential of the power source and monitors the voltage recovery of the power source over time. According to the present disclosure, the method may include displaying the monitored voltage potential on the display 3068 to enable a user to visually track the voltage recovery of the power source over time.

[0169] The method 3270 includes receiving 3280 a second firing input. According to the present disclosure, a user may provide a second firing input at an input interface to a control system including controllers 3033, 3051 to execute a second firing stroke of the firing drive.

[0170] The method 3270 includes, based on receiving the second firing input, comparing the monitored voltage potential to a restoration threshold value 3282. In accordance with the present disclosure, based on a user attempting to initiate a second firing stroke of the firing drive by providing the second firing input to the input interface, the control system may compare the monitored voltage potential to the restoration threshold value to determine whether the firing drive should be allowed to advance through the second firing stroke.

[0171] The method 3270 includes abandoning 3284 controlling the motor to drive the firing drive through the second firing stroke based on the monitored voltage potential being less than the recovery threshold. According to the present disclosure, based on the control system determining that the monitored voltage has not reached the recovery threshold, the control system can ignore the second firing input and can avoid advancing the firing drive through the second firing stroke via the motor. The method 3270 includes issuing 3286 a notification on a display. According to the present disclosure, the control system can send a signal to the display to display a notification informing the user that the power source has not reached the recovery threshold and therefore the second firing stroke cannot be completed at this time.

[0172] The method 3270 includes controlling 3288 the motor to drive the firing drive through a second firing stroke based on the monitored voltage potential reaching or exceeding the recovery threshold. According to the present disclosure, based on the monitored voltage potential reaching or exceeding the recovery threshold, the control system may control the motor to drive the firing drive through the second firing stroke. The method may include issuing a notification on a display based on the monitored voltage potential reaching the recovery threshold. Thus, the user is notified that the power source has recovered a sufficient amount of energy and the second firing stroke can now be completed.

[0173] In accordance with the present disclosure, method 3270 may optionally also include monitoring the elapsed time period based on the end of the first firing stroke, comparing the elapsed time period with the recovery period based on receiving the second firing input, and performing actions based on the comparison, such as abandoning the drive motor or controlling the motor to drive the firing drive through the second firing stroke.

[0174] Fig.17 A method 3300 for controlling a surgical system according to the present disclosure is shown. The method 3300 includes receiving 3302 a first firing input. A user provides a first firing input at an input interface of the display 3068 to a control system including controllers 3033, 3051 to initiate a first firing stroke of a firing drive.

[0175] The method 3300 includes controlling 3304 the motor to drive the firing drive through a first firing stroke based on receiving a first firing input. Based on receiving the first firing input, the control system may control the firing motor 3056 to drive the firing drive 3024 through a first firing stroke from a proximal unfired position to a distal fired position.

[0176] Method 3300 includes monitoring 3306 the elapsed time period based on the end of the first firing stroke. According to the present disclosure, based on the firing drive reaching the distal firing position, the control system can start a timer, such as timer 3069, to measure the elapsed time period from the end of the firing stroke. As described elsewhere herein, after the firing stroke ends, the power source (e.g., power source 3055) that powers the motor begins to reaccumulate energy in preparation for the subsequent firing stroke.

[0177] The method 3300 includes receiving 3308 a second firing input. According to the present disclosure, a user may provide a second firing input at an input interface to a control system, such as controller 3033 or controller 3051, to execute a second firing stroke of the firing drive.

[0178] The method 3300 includes comparing 3310 the elapsed time period with the recovery time period based on receiving a second firing input. According to the present disclosure, based on the user attempting to initiate a second firing stroke of the firing drive by providing the second firing input to the input interface, the control system may compare the elapsed time period with the recovery time period to determine whether the firing drive should be allowed to advance through the second firing stroke. By comparing the elapsed time period with the recovery threshold, the control system determines whether a sufficient amount of energy has been re-accumulated by the power source to complete the second firing stroke. According to the present disclosure, the recovery period may be a predetermined period stored in the memory. Alternatively or in addition, the recovery period may be a predetermined period input by the user at the input interface. Alternatively or in addition, the recovery period may be based on an RC time constant of the power source. Alternatively or in addition, the recovery period may be a variable period. According to the present disclosure, based on a known RC time constant recharge rate of the power source, the control system may predict the time required before a subsequent firing stroke can be completed, and the recovery period includes the predicted period. Further, according to the present disclosure, the recovery period may be a variable period based on the recharge rate of the power source.

[0179] The method 3300 includes abandoning 3312 controlling the motor to drive the firing drive through the second firing stroke based on the elapsed time period being less than the recovery time period. Based on the control system determining that the elapsed time period has not yet reached the recovery time period, the control system may ignore the second firing input and refrain from advancing the firing drive through the second firing stroke with the motor. The method 3300 includes issuing 3314 a notification on a display. According to the present disclosure, the control system may send a signal to the display to display a notification notifying the user that the recovery time period has not yet elapsed and therefore the second firing stroke cannot be completed at this time. The control system may display a countdown to inform the user how long a subsequent firing stroke may be performed.

[0180] The method 3300 includes controlling 3316 the motor to drive the firing drive through a second firing stroke based on the time elapsed reaching or exceeding the recovery time period. According to the present disclosure, based on the elapsed time period reaching or exceeding the recovery time period, the control system may control the motor to drive the firing drive through the second firing stroke. In addition, according to the present disclosure, the method may include issuing a notification on a display based on the elapsed time period reaching the recovery time period. Thus, the user is notified that the power source has been restored to a sufficient amount and the second firing stroke can now be completed.

[0181] According to the present disclosure, method 3300 may optionally also include: monitoring the power source voltage potential at the end of the first firing stroke; comparing the monitored voltage potential with a recovery threshold based on receiving a second firing input; and performing an action based on the comparison, such as abandoning the drive motor or controlling the motor to drive the firing drive through the second firing stroke.

[0182] According to the present disclosure, voltage drop can be minimized by adjusting the configuration of battery cells in a power source. Adjusting the configuration of battery cells can include adjusting the number and / or configuration of cells within the battery to minimize voltage drop.

[0183] The battery cells of the balanced battery affect the battery output performance. The number of currents affects the battery output performance. According to the present disclosure, the voltage drop can be minimized by selectively placing some or all batteries in parallel with each other. Alternatively, the voltage drop can be minimized by selectively placing some or all batteries in series with each other. Alternatively, the voltage drop can be minimized by selectively placing some batteries in series and some batteries in parallel with each other. Parallel batteries increase the capacity of the power source output. Placing the batteries in series increases the output voltage because the series-connected batteries have an added internal resistance. Therefore, the user can selectively place the battery cells in series and / or in parallel based on the desired results. Alternatively, the combination of battery cell chemistries can enhance the overall performance of the battery pack. For example, a secondary battery can be used in combination with a primary battery, where the secondary battery is used to handle circuit inrush current. According to the present disclosure, the control circuit can selectively switch between the main battery and the auxiliary battery based on which battery is more suitable for the desired needs.

[0184] According to the present disclosure, the control system can actively control the number of cells used during the firing stroke and make adjustments "on the fly". The control system can set a voltage drop threshold and can monitor the battery voltage drop during the firing stroke. Based on the voltage potential reaching the voltage drop threshold or falling below the voltage drop threshold, the control system changes the state of the battery to actively switch additional batteries into the circuit to add additional power. According to the present disclosure, the control system can utilize a first number of cells during the initial portion of the firing stroke. Based on the voltage potential reaching the voltage drop threshold or falling below the voltage drop threshold, the control circuit changes the state of the power source so that a second number of cells greater than the first number of cells is utilized. Depending on the desired needs, the control system can use a switching circuit to place additional batteries in series and / or in parallel with the first number of batteries to complete the conversion. In addition, according to the present disclosure, based on the rate of change of the voltage drop, the control system can determine whether to switch from a main power source configured to be able to provide a first voltage potential to a second power source configured to be able to provide a second voltage potential different from the first voltage potential.

[0185] According to the present disclosure, a surgical system may include an auxiliary battery pack, and if the voltage potential of the main power source drops below a threshold level, the control system switches to the auxiliary battery pack. In addition, according to the present disclosure, the control system may couple the auxiliary battery pack to the main battery pack to enhance the power output of the system to a level higher than previously available. For example, the control system may query the force sensor to determine whether more power is needed to complete the firing stroke. Based on this determination, the control circuit couples the auxiliary battery pack to the main battery pack to provide the power required to complete the firing stroke.

[0186] According to the present disclosure, the power source may include a battery including a battery cell composed of lithium ions. Alternatively, the battery may include a lithium cobalt battery (NCA). Alternatively, the battery may include a lithium nickel manganese cobalt battery (NMC). Alternatively, the battery may include a lithium nickel cobalt aluminum battery (NCA). Alternatively, the battery may include a lithium iron phosphate battery (LFP). Alternatively, the battery may include a lithium manganese spinel battery (LMO). Alternatively, the battery may include a lithium titanate battery (LTO). Alternatively, the battery may include a lithium cobalt oxide battery (LCO).

[0187] Many of the surgical instrument systems described herein are actuated by electric motors; however, the surgical instrument systems described herein may be actuated in any suitable manner. According to the present disclosure, for example, the surgical instrument systems described herein may be actuated by a manually operated trigger. According to the present disclosure, the motor disclosed herein may include a portion or portions of a robotic control system. In addition, any end effector and / or tool assembly disclosed herein may be used with a robotic surgical instrument system. For example, U.S. patent application serial number 13 / 118,241 (now U.S. Patent No. 9,072,535), entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENTARRANGEMENTS," discloses several examples of robotic surgical instrument systems in more detail.

[0188] Although various devices have been described herein in conjunction with certain embodiments, many modifications and variations of these embodiments may also be implemented. In one or more embodiments, specific features, structures, or characteristics may be combined in any suitable manner. Therefore, without limitation, specific features, structures, or characteristics shown or described in conjunction with one embodiment may be combined in whole or in part with features, structures, or characteristics of one or more other embodiments. In addition, where materials for certain components are disclosed, other materials may also be used. According to various embodiments, a single component may be replaced with multiple components, and multiple components may also be replaced with a single component to perform a given one or more functions. The above-described specific embodiments and the following claims are intended to cover all such modifications and variations.

[0189] Various aspects of the subject matter described herein are set forth in the following numbered examples:

[0190] Example 1 - A surgical system (3030, 3050) comprising an end effector (3002, 3038), a motor (3056), a power source (3041) configured to power the motor, a voltage sensor (3039) configured to sense a voltage potential of the power source, and a control circuit (3033, 3051) in operable communication with the motor and the voltage sensor. The end effector comprises a first jaw (3004, 3042) and a second jaw (3006, 3043), the second jaw being rotatable relative to the first jaw from an open position toward a closed position to capture tissue between the first jaw and the second jaw. The motor is operable between an on state and an off state, wherein the motor drives movement at the end effector, and wherein the motor stops the movement at the end effector. The control circuit is configured to be able to: set a power source lower limit threshold, change the motor to the on state and last for a first period of time; detect a dropped voltage potential of the power source at the end of the first period of time; make a first comparison between the dropped voltage potential and the power source lower limit threshold; and change the motor to the off state and last for a second period of time based on the first comparison.

[0191] Example 2 - A surgical system according to Example 1, wherein the control circuit is configured to be able to set a power source recovery threshold, wherein the second time period includes a recovery period based on the decreased voltage potential reaching the power source lower threshold or dropping below the power source lower threshold, and wherein the recovery period corresponds to the time required for the voltage potential of the power source to recover to the power source recovery threshold.

[0192] Example 3 - A surgical system according to Example 1 or 2, wherein the second time period is the same as the first time period based on the dropped voltage potential being greater than the power source lower limit threshold.

[0193] Example 4 - A surgical system according to Example 1, wherein the control circuit is configured to be capable of: detecting a first decreased voltage potential of the power source at a first time based on the motor transitioning to the on state; detecting a second decreased voltage potential of the power source at a second time after the first time based on the motor transitioning to the on state; and predicting a time when the voltage potential of the power source is expected to reach a lower threshold of the power source during a subsequent on state of the motor.

[0194] Example 5 - The surgical system according to Example 4 also includes a display (3068) operably connected to the control circuit, wherein the control circuit is configured to be able to display the predicted time on the display.

[0195] Example 6 - A surgical system according to Example 4 or 5, wherein the control circuit is configured to be able to control the motor based on the prediction.

[0196] Example 7 - A surgical system according to Example 1 or 2, wherein the control circuit is configured to be able to: set a power source upper limit threshold; detect a restored voltage potential of the power source at the end of the second time period; perform a second comparison between the restored voltage potential and the power source upper limit threshold; and control the motor based on the second comparison.

[0197] Example 8 - A surgical system according to Example 7, wherein the control circuit is configured to be able to set a power source recovery threshold, wherein the control circuit is configured to be able to maintain the motor in the off state for a recovery period based on the failure of the recovered voltage potential to reach the power source upper limit threshold, and wherein the recovery period corresponds to the time required for the voltage potential of the power source to recover to the power source recovery threshold.

[0198] Example 9 - A surgical system according to Example 7, wherein the control circuit is configured to be able to transition the motor to the on state based on the decreased voltage potential being greater than the power source lower threshold.

[0199] Example 10 - A surgical system according to any one of Examples 1, 2, 4 or 5, wherein the control circuit is further configured to be capable of: setting a power source upper limit threshold; at a first time, detecting a first restored voltage potential of the power source based on the motor transitioning to the off state; at a second time after the first time, detecting a second restored voltage potential of the power source based on the motor transitioning to the off state; and predicting the time when the voltage potential of the power source is expected to reach the power source upper limit threshold during a subsequent off state on the motor.

[0200] Example 11 - A surgical system (3030, 3050) comprising an end effector (3002, 3038), a motor (3056), a power source (3041) configured to power the motor, a timer (3069) configured to measure elapsed time, and a control circuit (3033, 3051) capable of operably communicating with the motor and the timer. The end effector comprises a first jaw (3004, 3042) and a second jaw (3006, 3043), the second jaw being capable of rotating relative to the first jaw from an open position toward a closed position to capture tissue between the first jaw and the second jaw. The control circuit is configured to: receive a first input; based on receiving the first input, control the motor to drive a first motion at the end effector; based on the end of the first motion, monitor an elapsed time period; receive a second input; based on receiving the second input, compare the elapsed time period to a recovery time period; and perform an action based on the comparison.

[0201] Example 12 - A surgical system according to Example 11, wherein the action includes relinquishing control of the motor to drive a second motion at the end actuator based on the elapsed time period being less than the recovery time period.

[0202] Example 13 - The surgical system according to Example 12 also includes a display (3068), wherein the action also includes issuing a notification on the display based on the elapsed time period being less than the recovery time period.

[0203] Example 14 - A surgical system according to any one of Examples 11 to 13, wherein the action includes controlling the motor to drive a second movement at the end actuator based on the elapsed time period reaching or exceeding the recovery time period.

[0204] Example 15 - The surgical system according to Example 14 also includes a display (3068), wherein the control circuit is further configured to be able to issue a notification on the display based on the elapsed time period reaching the recovery time period.

[0205] Example 16 - The surgical system of Example 11 further comprises a voltage sensor (3039) configured to sense the voltage potential of the power source. The control circuit is further configured to: set a recovery threshold; monitor the voltage potential of the power source based on the end of the first movement; compare the monitored voltage potential with the recovery threshold based on receiving the second input; and perform the action further based on the comparison of the monitored voltage potential with the recovery threshold.

[0206] Example 17 - A surgical system according to Example 16, wherein the action includes relinquishing control of the motor to drive a second movement at the end actuator based on the monitored voltage potential being less than the recovery threshold.

[0207] Example 18 - The surgical system according to Example 17 also includes a display (3068), wherein the action also includes issuing a notification on the display based on the monitored voltage potential being less than the recovery threshold.

[0208] Example 19 - A surgical system according to any one of Examples 16 to 18, wherein the action includes controlling the motor to drive a second movement at the end actuator based on the monitored voltage potential reaching or exceeding the recovery threshold.

[0209] Example 20 - The surgical system according to Example 19 also includes a display (3068), wherein the control circuit is further configured to be able to issue a notification on the display based on the monitored voltage potential reaching the recovery threshold.

[0210] Example 21 - A surgical system comprising an end effector, a motor, a power source configured to power the motor, a voltage sensor configured to sense a voltage potential of the power source, and a control circuit in operable communication with the motor and the voltage sensor. The end effector comprises a first jaw and a second jaw, the second jaw being rotatable relative to the first jaw from an open position toward a closed position to capture tissue between the first jaw and the second jaw. The motor is operable between an on state, in which the motor drives movement at the end effector, and an off state, in which the motor stops the movement at the end effector. The control circuit is configured to: set a power source lower threshold, transition the motor to the on state for a first period of time; detect a decreased voltage potential of the power source at the end of the first period of time; perform a first comparison between the decreased voltage potential and the power source lower threshold; and transition the motor to the off state for a second period of time based on the first comparison.

[0211] Example 22 - A surgical system according to Example 21, wherein the control circuit is configured to be able to set a power source recovery threshold, wherein the second period includes a recovery period based on the decreased voltage potential reaching the power source lower threshold or falling below the power source lower threshold, and wherein the recovery period corresponds to the time required for the voltage potential of the power source to recover to the power source recovery threshold.

[0212] Example 23 - A surgical system according to Example 21, wherein the second time period is the same as the first time period based on the dropped voltage potential being greater than the power source lower limit threshold.

[0213] Example 24 - A surgical system according to Example 21, wherein the control circuit is configured to be capable of: at a first time, detecting a first decreased voltage potential of the power source based on the motor transitioning to the on state; at a second time after the first time, detecting a second decreased voltage potential of the power source based on the motor transitioning to the on state; and predicting the time when the voltage potential of the power source is expected to reach the power source lower threshold during a subsequent on state of the motor.

[0214] Example 25 - The surgical system according to Example 24 also includes a display operably connected to the control circuit, wherein the control circuit is configured to be able to display the predicted time on the display.

[0215] Example 26 - A surgical system according to Example 24, wherein the control circuit is configured to be able to control the motor based on the prediction.

[0216] Example 27 - A surgical system according to Example 21, wherein the control circuit is configured to be able to: set a power source upper limit threshold; detect a restored voltage potential of the power source at the end of the second time period; perform a second comparison between the restored voltage potential and the power source upper limit threshold; and control the motor based on the second comparison.

[0217] Example 28 - A surgical system according to Example 27, wherein the control circuit is configured to be able to set a power source recovery threshold, wherein the control circuit is configured to be able to maintain the motor in the off state for a recovery period based on the failure of the recovered voltage potential to reach the power source upper limit threshold, and wherein the recovery period corresponds to the time required for the voltage potential of the power source to recover to the power source recovery threshold.

[0218] Example 29 - A surgical system according to Example 27, wherein the control circuit is configured to be able to transition the motor to the on state based on the decreased voltage potential being greater than the power source lower threshold.

[0219] Example 30 - A surgical system according to Example 21, wherein the control circuit is further configured to be capable of: setting a power source upper limit threshold; at a first time, detecting a first restored voltage potential of the power source based on the motor transitioning to the off state; at a second time after the first time, detecting a second restored voltage potential of the power source based on the motor transitioning to the off state; and predicting the time when the voltage potential of the power source is expected to reach the power source upper limit threshold during a subsequent off state on the motor.

[0220] Example 31 - A surgical system comprising an end effector, a motor, a power source configured to power the motor, a voltage sensor configured to sense a voltage potential of the power source, and a control circuit in operable communication with the motor and the voltage sensor. The end effector comprises a first jaw and a second jaw, the second jaw being rotatable relative to the first jaw from an open position toward a closed position to capture tissue between the first jaw and the second jaw. The control circuit is configured to: set a recovery threshold; receive a first input; control the motor to drive a first motion at the end effector based on receiving the first input; monitor the voltage potential of the power source based on the end of the first motion; receive a second input; compare the monitored voltage potential to a recovery threshold based on receiving the second input; and perform an action based on the comparison.

[0221] Example 32 - A surgical system according to Example 31, wherein the action includes relinquishing control of the motor to drive a second movement at the end actuator based on the monitored voltage potential being less than the recovery threshold.

[0222] Example 33 - A surgical system according to Example 32, further comprising a display, wherein the action further comprises issuing a notification on the display based on the monitored voltage potential being less than the recovery threshold.

[0223] Example 34 - A surgical system according to Example 31, wherein the action includes controlling the motor to drive a second movement at the end actuator based on the monitored voltage potential reaching or exceeding the recovery threshold.

[0224] Example 35 - The surgical system according to Example 31 also includes a display, wherein the control circuit is further configured to be able to issue a notification on the display based on the monitored voltage potential reaching the recovery threshold.

[0225] Example 36 - A surgical system comprising an end effector, a motor, a power source configured to power the motor, a timer configured to measure elapsed time, and a control circuit capable of operably communicating with the motor and the timer. The end effector comprises a first jaw and a second jaw, the second jaw being capable of rotating relative to the first jaw from an open position toward a closed position to capture tissue between the first jaw and the second jaw. The control circuit is configured to: receive a first input; based on receiving the first input, control the motor to drive a first motion at the end effector; based on the end of the first motion, monitor an elapsed time period; receive a second input; based on receiving the second input, compare the elapsed time period to a recovery time period; and perform an action based on the comparison.

[0226] Example 37 - A surgical system according to Example 36, wherein the action includes relinquishing control of the motor to drive a second movement at the end actuator based on the elapsed time period being less than the recovery time period.

[0227] Example 38 - The surgical system according to Example 37 also includes a display, wherein the action also includes issuing a notification on the display based on the elapsed time period being less than the recovery time period.

[0228] Example 39 - A surgical system according to Example 36, wherein the action includes controlling the motor to drive a second movement at the end actuator based on the elapsed time period reaching or exceeding the recovery time period.

[0229] Example 40 - The surgical system according to Example 36 also includes a display, wherein the control circuit is further configured to be able to issue a notification on the display based on the elapsed time period reaching the recovery time period.

[0230] While several configurations have been described, further modifications are within the scope of this disclosure, which is intended to cover any variations, uses, or adaptations of the disclosed configurations using its general principles.

[0231] The above specific embodiments have been described in various forms of devices and / or methods using block diagrams, flow charts and / or examples. As long as such block diagrams, flow charts and / or examples contain one or more functions and / or operations, those skilled in the art will understand that each function and / or operation in such block diagrams, flow charts and / or examples can be implemented individually and / or collectively by a variety of hardware, software, firmware or any combination thereof. Those skilled in the art will recognize that some aspects of the forms disclosed herein can be implemented equivalently in integrated circuits as one or more computer programs running on one or more computers (e.g., as one or more programs running on one or more computer systems), as one or more programs running on one or more processors (e.g., as one or more programs running on one or more microprocessors), as firmware, or as any combination thereof in whole or in part, and according to the present disclosure, designing circuits and / or writing software and / or hardware codes will be within the technical scope of those skilled in the art. In addition, those skilled in the art will recognize that the mechanisms of the subject matter described herein can be distributed as one or more program products in a variety of forms, and that the illustrative forms of the subject matter described herein are applicable regardless of the specific type of signal-bearing medium used to actually carry out the distribution.

[0232] Instructions for programming logic to perform various disclosed aspects may be stored in a memory in the system, such as a dynamic random access memory (DRAM), a cache, a flash memory, or other memory. These instructions may be distributed via a network or through other computer-readable media. Therefore, a machine-readable medium may include any mechanism for storing or transmitting information in a machine (e.g., computer) readable form, but is not limited to a floppy disk, an optical disk, a compact disk read-only memory (CD-ROM), and a magneto-optical disk, a read-only memory (ROM), a random access memory (RAM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic card or an optical card, a flash memory, or a tangible, machine-readable storage device used when transmitting information on the Internet via an electrical signal, an optical signal, an acoustic signal, or other form of propagation signal (e.g., a carrier wave, an infrared signal, a digital signal, etc.). Therefore, a non-transitory computer-readable medium includes any type of tangible machine-readable medium suitable for storing or transmitting electronic instructions or information in a machine (e.g., computer) readable form.

[0233] As used in any aspect of this document, the term "control circuitry" or "control system" may refer to, for example, hard-wired circuitry, programmable circuitry (e.g., a computer processor including one or more separate instruction processing cores, a processing unit, a processor, a microcontroller, a microcontroller unit, a controller, a digital signal processor (DSP), a programmable logic device (PLD), a programmable logic array (PLA), a field programmable gate array (FPGA)), a state machine circuitry, firmware that stores instructions executed by the programmable circuitry, and any combination thereof. The control circuitry may be implemented collectively or individually as circuitry that forms part of a larger system, such as an integrated circuit (IC), an application specific integrated circuit (ASIC), a system on a chip (SoC), a desktop computer, a laptop computer, a tablet computer, a server, a smart phone, etc. Thus, as used herein, "control circuitry" includes, but is not limited to, electronic circuitry having at least one discrete circuit, electronic circuitry having at least one integrated circuit, electronic circuitry having at least one application specific integrated circuit, electronic circuitry forming a general purpose computing device configured by a computer program (e.g., a general purpose computer configured by a computer program to at least partially implement the methods and / or devices described herein, or a microprocessor configured by a computer program to at least partially implement the methods and / or devices described herein), electronic circuitry forming a memory device (e.g., forming a random access memory), and / or electronic circuitry forming a communication device (e.g., a modem, a communication switch, or an optoelectronic device). Those skilled in the art will recognize that the subject matter described herein may be implemented in analog or digital form, or some combination thereof.

[0234] As used in any aspect of this document, the term "logic" may refer to an application, software, firmware, and / or circuitry configured to perform any of the foregoing operations. Software may be embodied as a software package, code, instructions, instruction sets, and / or data recorded on a non-transitory computer-readable storage medium. Firmware may be embodied as code, instructions, instruction sets, and / or data hard-coded (e.g., non-volatile) in a memory device.

[0235] As used in any aspect of this document, the terms "component," "system," "module" and the like may refer to a computer-related entity, hardware, a combination of hardware and software, software, or software in execution.

[0236] As used in any aspect herein, an "algorithm" refers to a self-consistent sequence of steps leading to a desired result, wherein the "steps" refer to manipulations of physical quantities and / or logical states which may (but need not) take the form of electrical or magnetic signals capable of being stored, transferred, combined, compared, and otherwise manipulated. References to such signals are often made to bits, values, elements, symbols, characters, terms, numbers, and the like. These and similar terms may be associated with the appropriate physical quantities and are merely convenient labels applied to such quantities and / or states.

[0237] Unless otherwise expressly indicated in the above disclosure, it is understood that discussions using terms such as "processing," "computing," "calculating," "determining," and "displaying" in the above disclosure refer to the actions and processes of a computer system or similar electronic computing device that manipulates data represented as physical (electronic) quantities within the computer system's registers and memories and transforms it into other data similarly represented as physical quantities within the computer system's memories or registers or other such information storage, transmission, or display devices.

[0238] One or more components may be referred to herein as being "configured to be able to", "configurable to be able to", "operable / operably", "suitable / adaptable to", "able to", "conformable / conformable to", etc. Those skilled in the art will recognize that, unless the context indicates otherwise, "configured to be able to" may generally cover components in an active state and / or components in an inactive state and / or components in a standby state.

[0239] Those skilled in the art will recognize that, in general, the terms used herein, and in particular in the appended claims (e.g., the body of the appended claims), are generally intended to be "open" terms (e.g., the term "including" should be interpreted as "including but not limited to", the term "having" should be interpreted as "having at least", the term "comprising" should be interpreted as "including but not limited to", etc.). Those skilled in the art will also understand that if a specific number of an introduced claim recitation is intended, such intent will be explicitly stated in the claim, and in the absence of such recitation, no such intent is present. For example, to aid understanding, the following appended claims may contain use of the introductory phrases "at least one" and "one or more" to introduce claims. However, the use of such phrases should not be construed as implying that the introduction of a claim recitation by the indefinite article "a" or "an" limits any particular claim containing such introduced claim recitation to claims containing only one such recitation, even when the same claim includes the introductory phrases "one or more" or "at least one" and an indefinite article such as "a" or "an" (e.g., "a" and / or "an" should generally be interpreted as meaning "at least one" or "one or more"); this also applies to the use of definite articles used to introduce claim recitations.

[0240] In addition, even if a specific number of claim recitations is explicitly recited, those skilled in the art will recognize that such a recitation should generally be interpreted to mean at least the recited number (e.g., a bare recitation of "two recitations" without other modifiers generally means at least two recitations, or two or more recitations). Where a convention similar to "at least one of A, B, and C, etc." is used, generally such a syntactic structure means the convention in the sense of those skilled in the art (e.g., "a system having at least one of A, B, or C" would include but is not limited to systems having only A, only B, only C, both A and B, both A and C, both B and C, and / or both A, B, and C, etc.). In those cases where a convention similar to "at least one of A, B, or C, etc." is used, generally, such construction is intended to have the meaning that one skilled in the art would understand the convention to mean (e.g., "a system having at least one of A, B, or C" should include, but is not limited to, systems having only A, only B, only C, A and B together, A and C together, B and C together, and / or A, B, and C together, etc.). One skilled in the art should also understand that, generally, transitional words and / or phrases presenting two or more alternative terms in the detailed description, claims, or drawings should be understood to encompass the possibility of including one of the terms, any one of the terms, or both of the terms, unless the context indicates otherwise. For example, the phrase "A or B" will generally be understood to include the possibility of "A" or "B" or "A and B."

[0241] For the appended claims, those skilled in the art will appreciate that the operations described therein may generally be performed in any order. In addition, although various operational flow charts are presented in one or more sequences, it should be understood that the various operations may be performed in other orders than the order shown, or the various operations may be performed simultaneously. Unless the context otherwise dictates, examples of such alternative orderings may include overlapping, interleaved, interrupted, reordered, incremental, preparatory, supplementary, simultaneous, reverse, or other altered orderings. In addition, unless the context otherwise dictates, terms such as "responsive to," "related to," or other past tense adjectives are generally not intended to exclude such variants.

[0242] It is worth mentioning that any reference to "one aspect", "an aspect", "an example", or "an example" means that the specific features, structures, or characteristics described in conjunction with the aspect are included in at least one aspect. Therefore, the phrases "in one aspect", "in an aspect", "in an example", or "in an example" appearing in various places throughout the specification do not necessarily refer to the same aspect. In addition, specific features, structures, or characteristics may be combined in any suitable manner in one or more aspects.

[0243] It is noted that any reference signs included in the appended claims are used to reference exemplary embodiments / elements described in the present disclosure. Therefore, any such reference signs are not meant to limit the scope of the subject matter recited in the appended claims.

[0244] Any patent application, patent, non-patent publication or other public material referred to in this specification and / or listed in any Application Data Sheet is incorporated herein by reference to the extent that the incorporated material is inconsistent herewith. Therefore, and to the extent necessary, the disclosure explicitly set forth herein supersedes any conflicting material incorporated herein by reference. Any material or portion thereof that is allegedly incorporated herein by reference but conflicts with existing definitions, statements or other public material set forth herein will be incorporated only to the extent that there is no conflict between the incorporated material and the existing public material.

[0245] The terms "proximal" and "distal" are used herein relative to a clinician manipulating the handle portion of a surgical instrument. The term "proximal" refers to the portion closest to the clinician, and the term "distal" refers to the portion positioned away from the clinician. It should also be understood that for brevity and clarity, spatial terms such as "vertical," "horizontal," "upper," and "lower" may be used herein in conjunction with the accompanying drawings. However, surgical instruments are used in many orientations and positions, and these terms are not intended to be limiting and / or absolute.

[0246] In summary, many of the benefits resulting from the use of the concepts described herein have been described. For purposes of illustration and description, one or more of the above specific embodiments have been provided. These specific embodiments are not intended to be exhaustive or limited to the precise forms disclosed by the invention. The invention may be modified or varied in accordance with the above teachings. The one or more forms selected and described are intended to illustrate the principles and practical applications so that one of ordinary skill in the art can utilize various forms and various modifications suitable for the intended specific use. The claims submitted herewith are intended to define the full scope.

Claims

1. A surgical system (3030, 3050), comprising: An end effector (3002, 3038), the end effector comprising: first jaw (3004, 3042); and a second jaw (3006, 3043) rotatable relative to the first jaw from an open position toward a closed position to capture tissue between the first jaw and the second jaw; A motor (3056) operable between the following states: an on state in which the motor drives movement at the end effector; and an off state in which the motor stops the movement at the end effector; a power source (3041), the power source being configured to supply power to the motor; a voltage sensor (3039) configured to sense a voltage potential of the power source; and a control circuit (3033, 3051) in operable communication with the motor and the voltage sensor, wherein the control circuit is configured to: Set the power source lower threshold; switching the motor to the on state for a first period of time; detecting a dropped voltage potential of the power source at the end of the first period; performing a first comparison between the dropped voltage potential and the power source lower threshold; and The motor is transitioned to the off state for a second period of time based on the first comparison.

2. The surgical system of claim 1, wherein: The control circuit is configured to be able to set a power source recovery threshold, wherein the second time period includes a recovery period based on the decreased voltage potential reaching the power source lower threshold or dropping below the power source lower threshold, and wherein the recovery period corresponds to the time required for the voltage potential of the power source to recover to the power source recovery threshold.

3. The surgical system according to claim 1 or 2, wherein: Based on the fact that the dropped voltage potential is greater than the power source lower limit threshold, the second period is the same as the first period.

4. The surgical system of claim 1, wherein: The control circuit is configured to: detecting, at a first time, a first decreased voltage potential of the power source based on the motor transitioning to the on state; detecting, at a second time after the first time, a second decreased voltage potential of the power source based on the motor transitioning to the on state; as well as The voltage potential of the power source is predicted to reach a time at which the power source lower threshold is anticipated during a subsequent on-state of the motor.

5. The surgical system of claim 4, further comprising a display (3068) operably coupled to the control circuit, wherein: The control circuit is configured to be able to display the predicted time on the display.

6. The surgical system according to claim 4 or 5, wherein: The control circuit is configured to control the motor based on the prediction.

7. The surgical system according to claim 1 or 2, wherein: The control circuit is configured to: Set the upper threshold of the power source; detecting a restored voltage potential of the power source at the end of the second period; performing a second comparison between the restored voltage potential and the power source upper threshold; and The motor is controlled based on the second comparison.

8. The surgical system of claim 7, wherein: The control circuit is configured to be able to set a power source recovery threshold, wherein the control circuit is configured to be able to maintain the motor in the off state for a recovery period based on the failure of the recovered voltage potential to reach the power source upper limit threshold, and wherein the recovery period corresponds to the time required for the voltage potential of the power source to recover to the power source recovery threshold.

9. The surgical system of claim 7, wherein: The control circuit is configured to transition the motor to the on state based on the reduced voltage potential being greater than the power source lower threshold.

10. The surgical system of any one of claims 1, 2, 4 or 5, wherein: The control circuit is further configured to: Set the upper threshold of the power source; detecting, at a first time, a first restored voltage potential of the power source based on the motor transitioning to the off state; detecting, at a second time after the first time, a second restored voltage potential of the power source based on the motor transitioning to the off state; as well as The voltage potential of the power source is predicted to reach the power source upper threshold value during a subsequent off state on the motor.

11. A surgical system (3030, 3050), comprising: An end effector (3002, 3038), the end effector comprising: first jaw (3004, 3042); and a second jaw (3006, 3043) rotatable relative to the first jaw from an open position toward a closed position to capture tissue between the first jaw and the second jaw; Motor(3056); a power source (3041), the power source being configured to supply power to the motor; a timer (3069) configured to measure elapsed time; and a control circuit (3033, 3051) in operable communication with the motor and the timer, wherein the control circuit is configured to: receiving a first input; based on receiving the first input, controlling the motor to drive a first motion at the end effector; monitoring an elapsed time period based on the completion of the first movement; receiving a second input; based on receiving the second input, comparing the elapsed time period to a recovery time period; and An action is performed based on the comparison.

12. The surgical system of claim 11, wherein: The action includes relinquishing control of the motor to drive a second motion at the end effector based on the elapsed time period being less than the recovery time period.

13. The surgical system of claim 12, further comprising a display (3068), wherein: The actions also include issuing a notification on the display based on the elapsed time period being less than the recovery time period.

14. The surgical system according to any one of claims 11 to 13, wherein: The action includes controlling the motor to drive a second motion at the end effector based on the elapsed time period reaching or exceeding the recovery time period.

15. The surgical system of claim 14, further comprising a display (3068), wherein: The control circuit is further configured to enable issuing a notification on the display based on the elapsed time period reaching the recovery time period.

16. The surgical system of claim 11, further comprising a voltage sensor (3039) configured to sense the voltage potential of the power source, wherein: The control circuit is further configured to: Set recovery thresholds; monitoring a voltage potential of the power source based on the completion of the first movement; based on receiving the second input, comparing the monitored voltage potential to the restoration threshold; as well as The action is performed further based on the comparison of the monitored voltage potential to the restoration threshold.

17. The surgical system of claim 16, wherein: The action includes relinquishing control of the motor to drive a second motion at the end effector based on the monitored voltage potential being less than the restoration threshold.

18. The surgical system of claim 17, further comprising a display (3068), wherein: The actions also include issuing a notification on the display based on the monitored voltage potential being less than the restoration threshold.

19. The surgical system of any one of claims 16 to 18, wherein: The action includes controlling the motor to drive a second motion at the end effector based on the monitored voltage potential reaching or exceeding the restoration threshold.

20. The surgical system of claim 19, further comprising a display (3068), wherein: The control circuit is further configured to enable issuing a notification on the display based on the monitored voltage potential reaching the restoration threshold.

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