Partition algorithm adaptive variation based on organization collaborative compression contribution correlation

Abstract

A surgical stapling system is disclosed that includes a closure driver, a firing driver, and a control circuit. The control circuit is used for setting a firing force threshold value; advancing the closing drive; propelling the firing driver; monitoring a firing force while the firing drive is advanced; comparing the firing force with the firing force threshold value; and controlling movement of at least one of the closing drive or the firing drive based on: a result of the comparison; and an area in which the firing driver is positioned.

Description

Background Art

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

[0002] The present disclosure provides a control system that utilizes a closed system to reduce strain on a firing system during surgical cutting and stapling operations using a surgical stapling and cutting instrument.

[0003] A surgical stapling system is disclosed, comprising an end effector, a closing drive, a closing motor, a firing drive, a firing motor, a force sensor, and a control circuit. The end effector comprises a first jaw and a second jaw rotatable relative to the first jaw. The closing drive is movable to rotate the second jaw relative to the first jaw. The closing motor is configured to drive the closing drive. The firing drive is movable from a non-firing position toward a firing position during a firing stroke. The firing motor is configured to apply a firing force to the firing drive. The force sensor is configured to sense the firing force applied by the firing motor. The control circuit is couplable to the closing motor, the firing motor, and the force sensor. The control circuit is configured to: set a firing force threshold; advance the closing drive to a first position; advance the firing drive; monitor the firing force while the firing drive is advanced; compare the firing force to the firing force threshold; and control movement of at least one of the closing drive or the firing drive based on: a result of the comparison; and a region in which the firing drive is positioned.

[0004] A surgical stapling system is disclosed, comprising an end effector, a closure drive, a closure motor, a firing drive, a firing motor, and control circuitry. The end effector includes a first jaw and a second jaw rotatable relative to the first jaw. The second jaw defines a channel. The channel includes an upper wall including a first force sensor and a lower wall including a second force sensor. The closure drive is movable to rotate the second jaw relative to the first jaw. The closure motor is configured to drive the closure drive. The firing drive is configured to move from a non-fired position to a fired position during a firing stroke. The firing drive includes a flange configured to traverse the channel during the firing stroke. The first force sensor is configured to sense a first force applied by the flange to the upper wall. The second force sensor is configured to sense a second force applied by the flange to the lower wall. The firing motor is configured to apply a firing force to the firing drive. A third force sensor is configured to sense the firing force applied by the firing motor. The control circuit can be coupled to the closing motor, the firing motor, the first force sensor, the second force sensor, and the third force sensor. The control circuit is configured to: set a firing force threshold; advance the closing actuator to a first position; advance the firing actuator toward the firing position; monitor the firing force while the firing actuator is advanced; compare the firing force with the firing force threshold; determine a clamping state of the second jaw based on a result of the comparison; and control movement of the closing actuator based on the result of the determination. BRIEF DESCRIPTION OF THE DRAWINGS

[0005] The various features of the embodiments described herein, together with their advantages, may be understood from the following description taken in conjunction with the following drawings:

[0006] Figure 1 shows a perspective view of a surgical stapling system according to the present disclosure;

[0007] Figure 2 Shown according to the present disclosure Figure 1 Exploded view of a surgical suturing system;

[0008] Figure 3 shows a block diagram of a surgical stapling system according to the present disclosure;

[0009] Figure 4 shows a block diagram of a surgical stapling system according to the present disclosure;

[0010] Figure 5 is a graph illustrating firing force versus time for various firing strokes of a firing driver;

[0011] Figure 6 is a graph illustrating exemplary firing strokes of firing drives for various sized staple cartridges and the amount of coordination that exists between the closure system and the firing system during the firing stroke of the firing drive;

[0012] Figure 7 It shows Figure 6 a graph of a firing force threshold value for each of the corresponding exemplary staple cartridges during a firing stroke of the firing driver;

[0013] Figure 7A A method for controlling a surgical stapling instrument according to the present disclosure is shown;

[0014] Figure 8 is a graph illustrating a firing force and a firing force threshold during a firing stroke of a firing drive;

[0015] Figure 9 It is shown in Figure 8 a graph of a closing load applied by a closing actuator during a firing stroke of a firing actuator;

[0016] Figure 10 It is shown in Figure 8 a graph of a velocity of a firing drive during a firing stroke of the firing drive;

[0017] Figure 10A A method for controlling a surgical stapling instrument according to the present disclosure is shown;

[0018] Figure 11 is a graph of an exemplary firing stroke of a firing drive through a staple cartridge;

[0019] Figure 12 is a graph of another exemplary firing stroke of a firing drive through a staple cartridge;

[0020] Figure 12A A method for controlling a surgical stapling instrument according to the present disclosure is shown;

[0021] Figure 13 A firing drive and anvil according to the present disclosure are shown;

[0022] Figure 14 is used for Figure 13 The firing drive passes through Figure 13 A graph of an exemplary firing stroke of an anvil;

[0023] Figure 14A A method for controlling a surgical stapling instrument according to the present disclosure is shown;

[0024] Figure 15 A surgical stapling system according to the present disclosure is shown;

[0025] Figure 16 Shown according to the present disclosure Figure 15 a side view of the firing drive and firing rod; and

[0026] Figure 17 is a graph showing the relationship between firing force and time for various firing strokes of a firing driver for different tissue thicknesses.

[0027] Corresponding reference characters indicate corresponding parts throughout the several views. DETAILED DESCRIPTION

[0028] The applicant of this application owns the following U.S. patent applications filed on the same date as this application and each of which is incorporated herein by reference in its entirety:

[0029] U.S. patent application titled “METHOD OF OPERATING A SURGICAL STAPLING INSTRUMENT”; attorney docket number END9484USNP2 / 220491-2M;

[0030] U.S. patent application titled “SURGICAL STAPLING SYSTEMS WITH ADAPTIVESTAPLE FIRING ALGORITHMS”; attorney docket number END9484USNP3 / 220491-3;

[0031] U.S. patent application titled “LEARNED TRIGGERS FOR ADAPTIVE CONTROL OF SURGICAL STAPLING SYSTEMS”; attorney docket number END9484USNP4 / 220491-4;

[0032] U.S. patent application titled “CONTROL CIRCUIT FOR ACTUATING MOTORIZED FUNCTION OF SURGICAL STAPLING INSTRUMENT UTILIZING INERTIAL DRIVE TRAIN PROPERTIES”; attorney docket number END9484USNP5 / 220491-5;

[0033] U.S. patent application titled “PROPORTIONATE BALANCING OF THE FUNCTION IMPACT MAGNITUDE OF BATTERY OUTPUT TO PEAK MOTORCURRENT”; attorney docket number END9484USNP6 / 220491-6;

[0034] U.S. patent application titled “MOTOR OPTIMIZATION BY MINIMIZATION OF PARASITIC LOSSES AND TUNING MOTOR DRIVE CONFIGURATION”; attorney docket number END9484USNP7 / 220491-7;

[0035] U.S. patent application titled “APPARATUS AND METHOD TO REDUCE PARASITICLOSSES OF THE ELECTRICAL SYSTEM OF A SURGICALIN STRUMENT”; attorney docket number END9484USNP8 / 220491-8;

[0036] U.S. patent application titled “SURGICAL TOOL WITH RELAXED FLEX CIRCUITARTICULATION”; attorney docket number END9484USNP9 / 220491-9;

[0037] U.S. patent application titled “WIRING HARNESS FOR SMART STAPLER WITH MULTIAXISARTICULATION”; attorney docket number END9484USNP10 / 220491-10;

[0038] U.S. Patent Application Titled “SURGICAL SYSTEM WITH WIRELESS ARRAY FOR POWER AND DATATRANSFER”; Attorney Docket No. END9484USNP11 / 220491-11; and

[0039] U.S. Patent Application Titled “SURGICAL STAPLE CARTRIDGE COMPRISING REPLACEABLE ELECTRONICS PACKAGE”; Attorney Docket No. END9484USNP12 / 220491-12.

[0040] The applicant of this application is an owner of the following U.S. patent applications filed on the same date as this application and each of which is incorporated herein by reference in its entirety:

[0041] U.S. patent application titled “METHOD OF ASSEMBLING A STAPLE CARTRIDGE”; attorney docket number END9484USNP13 / 220491-13M;

[0042] U.S. patent application titled “CONTROL SURFACES ON A STAPLE DRIVER OF ASURGICAL STAPLECARTRIDGE”; attorney docket number END9484USNP14 / 220491-14;

[0043] U.S. patent application titled “INTEGRAL CARTRIDGE STIFFENING FEATURES TOREDUCE CARTRIDGE DEFLECTION”; attorney docket number END9484USNP15 / 220491-15;

[0044] U.S. patent application titled “STAPLE CARTRIDGE COMPRISING WALLSTRUCTURES TO REDUCE CARTRIDGE DEFLECTION”; attorney docket number END9484USNP16 / 220491-16;

[0045] U.S. Patent Application Titled “PAN-LESS STAPLE CARTRIDGE ASSEMBLY COMPRISING RETENTION FEATURES FOR HOLDING STAPLED RIVERS AND SLED”; Attorney Docket No. END9484USNP17 / 220491-17;

[0046] U.S. Patent Application Titled “STAPLE CARTRIDGE COMPRISING A SLED HAVING ADRIVER LIFT CAM”; Attorney Docket No. END9484USNP18 / 220491-18;

[0047] U.S. Patent Application Titled “SURGICAL STAPLE CARTRIDGES WITH SLEDSCONFIGURED TO BECOUPLED TO A FIRING DRIVER OF A COMPATIBLE SURGICAL STAPLER”; Attorney Docket No. END9484USNP19 / 220491-19;

[0048] U.S. patent application titled “STAPLE CARTRIDGE COMPRISING A COMPOSITE SLED”; attorney docket number END9484USNP20 / 220491-20;

[0049] U.S. Patent Application Titled “SURGICAL INSTRUMENTS WITH JAW AND FIRING ACTUATOR LOCKOUT ARRANGEMENTS LOCATED PROXIMAL TO A JAW PIVOT LOCATION”; Attorney Docket No. END9484USNP21 / 220491-21;

[0050] U.S. patent application titled “SURGICAL INSTRUMENTS WITH LATERALLY ENGAGEABLE LOCKING ARRANGEMENTS FOR LOCKING AFIRING ACTUATOR”; attorney docket number END9484USNP22 / 220491-22;

[0051] U.S. patent application titled “DUAL INDEPENDENT KEYED LOCKING MEMBERSACTING ON THE SAMEDRIVE MEMBER”; attorney docket number END9484USNP23 / 220491-23;

[0052] U.S. patent application titled “ADJUNCTS FOR USE WITH SURGICAL STAPLING INSTRUMENTS”; attorney docket number END9484USNP24 / 220491-24;

[0053] U.S. patent application titled “ADJUNCTS FOR USE WITH SURGICAL STAPLING INSTRUMENTS”; attorney docket number END9484USNP25 / 220491-25;

[0054] U.S. patent application titled “JAW CONTROL SURFACES ON A SURGICALINSTRUMENT JAW”; attorney docket number END9484USNP26 / 220491-26;

[0055] U.S. Patent Application Titled “STAPLE CARTRIDGES COMPRISING TRACERETENTION FEATURES”; Attorney Docket No. END9484USNP29 / 220491-29; and

[0056] U.S. Patent Application Titled “STAPLE CARTRIDGES COMPRISING STAPLERETENTION FEATURES”; Attorney Docket No. END9484USNP30 / 220491-30.

[0057] Numerous specific details are set forth herein to provide a thorough understanding of the overall structure, function, manufacture, and use of the embodiments described in the specification and illustrated in the accompanying drawings. Well-known operations, components, 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 illustrated herein are non-limiting examples, and thus will recognize that the specific structural and functional details disclosed herein are representative and illustrative. Modifications and changes may be made to these embodiments without departing from the scope of the claims.

[0058] 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.

[0059] 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. As the reader continues to review 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 orifice, through an incision or puncture formed in tissue, and the like. 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.

[0060] A surgical stapling system may include a shaft and an end effector extending from the shaft. The end effector includes a first jaw and a second jaw. The first jaw includes a staple cartridge. The staple cartridge is insertable into and removable from the first jaw; however, the staple cartridge may not be removable from the first jaw or at least not easily replaceable from the first jaw. The second jaw includes an anvil configured to deform staples ejected from the staple cartridge. The second jaw is pivotable relative to the first jaw about a closing axis; however, the first jaw may be pivotable relative to the second jaw. The surgical stapling system also includes an articulation joint configured to allow the end effector to rotate or articulate relative to the shaft. The end effector is rotatable about an articulation axis extending through the articulation joint. However, the surgical stapling system may not include an articulation joint.

[0061] The staple cartridge includes a cartridge body. The cartridge body includes a proximal end, a distal end, and a platform extending between the proximal and distal ends. In use, the staple cartridge is positioned on a first side of the tissue to be sutured, and the anvil is positioned on a second side of the tissue. The anvil moves toward the staple cartridge to compress the tissue and clamp it against the platform. The staples removably stored in the cartridge body can then be deployed into the tissue. The cartridge body includes staple cavities defined therein, wherein the staples are removably stored in the staple cavities. The staple cavities are arranged in six longitudinal rows. Three rows of staple cavities are positioned on a first side of the longitudinal slot and three rows of staple cavities are positioned on a second side of the longitudinal slot. Other arrangements of staple cavities and staples are also possible.

[0062] The nail is supported by a nail driver in the magazine body. The driver can move between a first or unfired position and a second or fired position to eject the nail from the nail cavity. The driver is retained in the magazine body by a retainer that extends around the bottom of the magazine body and includes a resilient member configured to grip the magazine body and retain the retainer to the magazine body. The driver can move between its unfired position and its fired position by a slider. The slider can move between a proximal position adjacent to the proximal end and a distal position adjacent to the distal end. The slider includes a plurality of ramped surfaces that are configured to slide under the driver toward the anvil and lift the driver, and the nail is supported on the driver.

[0063] In addition to the above, the slider can also be moved distally by the firing drive. The firing drive is configured to contact the slider and push the slider toward the distal end. The longitudinal slot defined in the magazine body is configured to receive the firing drive. The anvil also includes a slot configured to receive the firing drive. The firing drive also includes a first cam engaging the first jaw and a second cam engaging the second jaw. As the firing drive advances distally, the first cam and the second cam can control the distance or tissue gap between the platform of the nail magazine and the anvil. The firing drive also includes a knife configured to cut into the tissue captured between the nail magazine and the anvil. It is desired that the knife is positioned at least partially close to the ramp surface so that the nail is ejected before the knife.

[0064] refer to Figure 1 and Figure 2 , provides a surgical stapling system comprising a shaft assembly 10000 and an end effector 10002 extending from the shaft assembly 10000. The shaft assembly 10000 comprises an attachment portion 10001 and a shaft 10003 extending distally from the attachment portion 10001. The attachment portion 10001 is configured to be attachable to, for example, a handle of a surgical instrument and / or an arm of a surgical robot.

[0065] The end effector 10002 includes a first jaw 10004 and a second jaw 10006. The first jaw 10004 includes a staple cartridge 10008. The staple cartridge 10008 is insertable into and removable from the first jaw 10004; however, the staple cartridge may not be removable from the first jaw 10004 or at least not easily replaceable from the first jaw 10004. The second jaw 10006 includes an anvil configured to deform staples ejected from the staple cartridge 10008. The second jaw 10006 is pivotable relative to the first jaw 10004 between an open position and a closed position, in which the tip of the second jaw 10006 is spaced apart from the first jaw 10004 (see Figure 1 ), in the closed position, the tip of the second jaw 10006 is adjacent to the first jaw 10004; however, the first jaw 10004 can be capable of pivoting relative to the second jaw 10006.

[0066] The surgical stapling system also includes an articulation joint 10009 that is configured to allow the end effector 10002 to rotate or articulate relative to the shaft 10003. The end effector 10002 is capable of rotating about an articulation axis extending through the articulation joint. However, the surgical stapling system may not include the articulation joint 10009. The shaft assembly 10000 includes cooperating articulation rods 10010, 10011 (e.g., rods) that are configured to allow the end effector 10002 to articulate relative to the shaft 10003 about the articulation joint 10009. The shaft assembly 10000 also includes: an articulation lock bar 10012, which is configured to prevent the end actuator 10002 from rotating; a closure tube 10013, which houses the internal components of the shaft assembly 10000; and a spine portion 10014, which is configured to provide structural support to the closure tube 10013 and the shaft assembly 10000.

[0067] The staple cartridge 10008 includes a cartridge body 10015. The cartridge body 10015 includes a proximal end 10016, a distal end 10017, and a platform 10018 extending between the proximal and distal ends 10016, 10017. During use, the staple cartridge 10008 is positioned on a first side of tissue to be stapled, and the anvil 10006 is positioned on a second side of the tissue. The anvil 10006 moves toward the staple cartridge 10008 to compress and clamp the tissue against the platform 10018. The staples 10023 removably stored in the cartridge body 10015 can then be deployed into the tissue. The cartridge body 10015 includes staple cavities 10019 defined therein, wherein a staple 10023 is removably stored in each of the staple cavities 10019. The staple cavities 10019 are arranged in six longitudinal rows. Three rows of staple cavities are positioned on a first side of the longitudinal slot 10020, and three rows of staple cavities are positioned on a second side of the longitudinal slot 10020. Other arrangements of staple cavities 10019 and staples 10023 are possible.

[0068] The staples 10023 are supported in the cartridge body 10015 by a staple driver. The staples supported by the staple drivers are described in U.S. Patent Application Publication No. 2021 / 0059672, which is hereby incorporated by reference in its entirety. The driver is movable between a first, or unfired, position and a second, or fired, position to eject the staples 10023 from the staple cartridge 10019. The driver is retained in the cartridge body 10015 by a retainer 10021, which extends around the bottom of the cartridge body 10015 and includes a resilient member 10022 configured to grip the cartridge body 10015 and secure the retainer 10021 to the cartridge body 10015. The driver is movable between its unfired and fired positions by a slider. The slider is movable between a proximal position adjacent to the proximal end 10016 and a distal position adjacent to the distal end 10017. The sled includes a plurality of ramp surfaces configured to slide under the driver toward the anvil and elevate the driver, and the staples 10023 are supported on the driver. The staples may not be supported by the staple drivers, but rather the staples may include integral drive surfaces that are directly engaged by the sled to elevate the staples, examples of which are described in U.S. Patent Application Publication No. 2015 / 0173756, which is hereby incorporated by reference in its entirety.

[0069] In addition to the above, the sled is also moved distally by the firing drive 10024. The firing drive is configured to contact the sled and push the sled toward the distal end 10017. The longitudinal slot 10020 defined in the cartridge body 10015 is configured to receive the firing drive 10024. The anvil 10006 also includes a slot configured to receive the firing drive 10024. The firing drive 10024 also includes a first cam 10025 that engages the first jaw 10004 and a second cam 10026 that engages the second jaw 10006. When the firing drive 10024 is advanced distally, the first cam 10025 and the second cam 10026 can control the distance or tissue gap between the platform 10018 of the staple cartridge 10008 and the anvil 10006. The firing drive 10024 also includes a knife 10027 configured to cut into tissue captured between the staple cartridge 10008 and the anvil 10006. Desirably, the knife 10027 is positioned at least partially proximate the ramp surface so that the staples 10023 are ejected before the knife 10027. The shaft assembly 10000 also includes a firing rod 10028 attached to the firing drive 10024 and configured to drive the firing drive through the staple cartridge 10008. The firing rod 10028 may include a plurality of laminated strips. Further details of the shaft assembly 10000 can be found in U.S. patent application Ser. No. 15 / 385,887, entitled "METHOD FOR ATTACHING A SHAFT ASSEMBLY TO A SURGICAL INSTRUMENT AND, ALTERNATIVELY, TO A SURGICALROBOT," which is incorporated herein by reference in its entirety.

[0070] The anvil 10006 can be moved from an open position to a closed position using a closure system that is controlled separately from the firing drive 10024. Thus, the firing drive 10024 can be considered part of the firing system, which is separate and operable from the closure system. Thus, the anvil 10006 can include a ramp 10029 on its proximal end, and the closure system includes a closure drive, such as a closure tube 10013, that can be moved distally to engage the ramp 10029 and cam the anvil 10006 into the closed position. In the closed position, the first cam 10025 and the second cam 10026 of the firing drive 10024 translate distally and hold the anvil 10006 in the closed position. To transition the anvil 10006 to the open position, the closure drive can be retracted proximally, and a spring can be positioned within the end effector 10002 to bias the anvil 10006 into the open position. The anvil 10006 may include a tab, and the closure driver may define an aperture at its distal end that engages the tab when the closure driver moves proximally, thereby actively transitioning the anvil 10006 to the open position. Exemplary closure systems and closure drivers are disclosed in U.S. Patent Application Publication No. 2021 / 0059672, which was previously incorporated herein by reference in its entirety.

[0071] The anvil 10006 can be moved from an open position to a closed position using a firing drive 10024. Thus, the anvil 10006 can include a ramp extending proximally from a slot defined therein that is engaged by the firing drive 10024 during a first portion of the stroke of the firing drive 10024 to move the anvil 10006 to the closed position. At the end of the first portion of the stroke, the firing drive 10024 can continue to advance distally through a second portion of the stroke to deploy staples from the staple cartridge 10008 and incise tissue captured by the end effector 10002, as described above. An exemplary firing drive for closing anvils and firing staples is described in U.S. Patent No. 11,160,551, which has been previously incorporated herein by reference in its entirety.

[0072] Figure 3 A block diagram of a surgical system 10030 for use with one or more surgical instruments, tools, and / or robotic systems in accordance with the present disclosure is shown. The surgical system 10030 includes control circuitry 10032. The control circuitry 10032 includes a controller 10033 including a processor 10034 and a storage medium, such as, for example, a memory 10035.

[0073] The motor assembly 10036 includes one or more motors driven by a motor driver. The motor assembly 10036 can be operably coupled to a drive assembly 10037 to drive or effect one or more movements at an end effector 10038, which can be similar to the end effector 10002. For example, the drive assembly 10037 can include any number of components suitable for transmitting movement to the end effector 10038, such as, for example, one or more links, rods, tubes, and / or cables. The drive assembly 10037 can drive the firing drive and / or the closing drive described above.

[0074] For example, one or more sensors 10039 provide real-time feedback to the processor 10034 regarding one or more operational parameters monitored during a surgical procedure performed by the surgical system 10030. For example, the operational 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 10030. The sensors 10039 may include any suitable sensors, such as, for example, magnetic sensors (such as Hall effect sensors), strain gauges, pressure sensors, position sensors, force sensors, inductive sensors (such as eddy current sensors), resistive sensors, capacitive sensors, optical sensors, and / or any other suitable sensors.

[0075] In addition to the above, in various arrangements, the sensor 10039 may comprise any suitable sensor for detecting one or more conditions at the end effector 10038, including, but not limited to, a tissue thickness sensor, such as a Hall effect sensor or 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, 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, and without limitation, the sensor 10039 may comprise one or more sensors located at or around an articulation joint that, similar to the articulation joint 10009, extends proximally from the end effector 10038. Such sensors may comprise, 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. In some arrangements, the sensor 1938 may comprise multiple sensors located in multiple locations within the end effector 1940.

[0076] System 1930 may include a feedback system 10040 that includes one or more devices for providing sensory feedback to the user. Such devices may include, for example, a visual feedback device (e.g., an LCD display, an LED indicator), an audio feedback device (e.g., a speaker, a buzzer), or a tactile feedback device (e.g., a tactile actuator).

[0077] The controller 10033 can be programmed to perform various functions, such as precise control of the speed and position of the drive assembly 10037. The controller 10033 can be any single-core or multi-core processor, such as those offered by Texas Instruments under the trade name ARM Cortex. The main microcontroller 1933 can be a LM4F230H5QR ARM Cortex-M4F processor core, available from Texas Instruments, including, for example, 256KB of single-cycle flash memory or other non-volatile memory up to 40MHz, a pre-fetch buffer for improved performance above 40MHz, 32KB of single-cycle SRAM, and a processor loaded with Internal ROM for software, 2KB EEPROM, one or more PWM modules, one or more QEI analogs and / or one or more 12-bit ADCs with 12 analog input channels, details of which are available in the product datasheet.

[0078] Controller 10033 can be configured to calculate the response in the software of controller 10033. The calculated response is compared with the measured response of the actual system to obtain an "observed" response, which is used to determine the actual feedback. 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.

[0079] The motor assembly 10036 includes one or more electric motors and one or more motor drivers. The electric motor can be in the form of a brushed DC motor with a gearbox and a mechanical connection to the drive assembly 10037. The motor driver can be an A3941 available from Allegro Microsystems, Inc.

[0080] In various forms, the motor assembly 10036 comprises a brushed DC drive motor having a maximum rotational speed of approximately 25,000 RPM. In other arrangements, the motor assembly 10036 may comprise a brushless motor, a cordless motor, a synchronous motor, a stepper motor, or any other suitable electric motor. The motor driver may comprise, for example, an H-bridge driver comprising field effect transistors (FETs).

[0081] The motor assembly 10036 can be powered by a power source 10041. The power source 10041 can include one or more batteries, which can include a plurality of battery cells connected in series and can be used as a power source to power the motor assembly 10036. In some cases, the battery cells of the power assembly can be replaceable and / or rechargeable. In at least one example, the battery cells can be lithium-ion batteries that can be coupled to and detached from the power assembly.

[0082] In addition to the above, the end effector 10038 includes a first jaw 10042 and a second jaw 10043. During a closing motion that transitions the end effector 10038 from an open configuration toward a closed configuration, at least one of the first jaw 10042 and the second jaw 10043 can rotate relative to the other. The closing motion can cause the jaws 10042, 10043 to grasp tissue therebetween. In certain arrangements, a sensor (such as, for example, a strain gauge or microstrain gauge) can be configured to measure one or more parameters of the end effector 10038, such as, for example, the magnitude of the strain applied to one or both jaws 10042, 10043 during the closing motion, which can be indicative of the closing force applied to the jaws 10042, 10043. For example, the measured strain is converted into a digital signal and provided to the processor 10034. Additionally or alternatively, sensors (such as, for example, load cells) can measure the closing force and / or firing force applied to the jaws 10042, 10043. The sensors can include: a first sensor that measures a first force acting on a firing drive (such as the firing drive 10024) during the firing stroke; and a second sensor that measures a second force acting on a closing drive (such as the closing tube 10013) during the closing stroke. The processor 10034 can receive these force readings and determine a relationship between them, as described in more detail below. For example, the processor 10034 can determine a force distribution (ratio) of the forces applied to the firing drive and the closing drive.

[0083] In various arrangements, a current sensor can be employed to measure the current drawn by the motor of the motor assembly 10036. The force required to propel the drive assembly 10037 can correspond to the current drawn by the motor, for example. The measured force is converted into a digital signal and provided to the processor 10034.

[0084] In one form, for example, a strain gauge sensor can be used to measure the force applied to tissue by the end effector 10038. A strain gauge can be coupled to the end effector 10038 to measure the force on the tissue being processed by the end effector 10038. The strain gauge sensor can measure the magnitude or amount of strain applied to the jaws of the end effector 10038 during the closing motion, which can indicate tissue compression. The measured strain is converted into a digital signal and provided to the processor 10034.

[0085] The measurements of tissue compression, tissue thickness, and / or the force required to close the end effector on the tissue, respectively, as measured by the sensor 10039, can be used by the controller 10033 to characterize corresponding values ​​for a selected position of one or more components of the drive assembly 10037 and / or a velocity of one or more components of the drive assembly 10037. A memory (e.g., memory 10035) can store techniques, equations, and / or lookup tables that can be employed by the microcontroller 1933 in making these evaluations.

[0086] The surgical system 10030 may include wired or wireless communication circuitry to communicate with, for example, a surgical hub (e.g., surgical hub 10044), a communication hub, and / or a robotic surgical hub. Additional details regarding suitable interactions between the surgical system 10030 and the surgical hub 10044 are disclosed in U.S. patent application serial number 16 / 209,423, entitled “METHOD OF COMPRESSING TISSUE WITHIN A STAPLING DEVICE AND SIMULTANEOUSLY DISPLAYING THE LOCATION OF THE TISSUE WITHIN THE JAWS,” now U.S. Patent Application Publication No. 2019 / 0200981, the entire disclosure of which is incorporated herein by reference.

[0087] The control circuit 10032 may be configured to implement the various processes described herein. The control circuit 10032 may include a microcontroller (e.g., a microprocessor, a microcontroller) comprising one or more processors coupled to at least one memory circuit. The memory circuit stores machine-executable instructions that, when executed by the processor, cause the processor to execute machine instructions to implement the various processes described herein. The processor may be any of a variety of single-core or multi-core processors known in the art. The memory circuit may include a volatile storage medium and a non-volatile storage medium. The processor may include an instruction processing unit and an arithmetic unit. The instruction processing unit may be configured to receive instructions from the memory circuit of the present disclosure.

[0088] Alternatively, the control circuit 10032 can be in the form of a combinational logic circuit configured to implement the various processes described herein. The combinational logic circuit can include a finite state machine that includes combinational logic configured to receive data, process the data through the combinational logic, and provide an output.

[0089] Alternatively, the control circuit 10032 may be in the form of a sequential logic circuit. The sequential logic circuit may be 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, combinational logic, at least one memory circuit, and a clock. The at least one memory circuit may store the current state of the finite state machine. The sequential logic circuit may be synchronous or asynchronous. The control circuit 10032 may include a combination of a processor (e.g., processor 10034) and a finite state machine to implement the various processes described herein. For example, the finite state machine may include a combination of a combinational logic circuit and a sequential logic circuit.

[0090] Figure 4 A block diagram of a surgical system 10050 for use with one or more surgical instruments, tools, and / or robotic systems according to the present disclosure is shown. Surgical system 10050 is similar in many respects to surgical system 10030, which will not be repeated herein in the same detail for the sake of brevity. For example, similar to surgical system 10030, surgical system 10050 includes control circuitry comprising a controller 10051, a sensor 10054, and a power supply 10055. The controller includes a processor 10052 and a memory 10053, which are similar to controller 10033 (e.g., a microcontroller), processor 10034, memory 10035, and power supply 10041, respectively. Alternatively, surgical system 10050 includes a plurality of motors and corresponding drive assemblies that can be activated to perform various functions.

[0091] The first motor can be activated to perform a first function, the second motor can be activated to perform a second function, the third motor can be activated to perform a third function, the fourth motor can be activated to perform a fourth function, etc. For example, multiple motors can be individually activated to cause firing, closing, and / or articulation of an end effector, such as end effector 10002 or end effector 10038. The firing motion, closing motion, and / or articulation motion can be transmitted to the end effector, for example, via a shaft assembly, such as shaft assembly 10000.

[0092] The surgical system 10050 can include a firing motor 10056. The firing motor 10056 can be operably coupled to a firing motor drive assembly 10057 that can be configured to transmit the firing motion generated by the motor 10056 to the end effector, such as displacement of the firing rod 10028 and the firing drive 10024. The firing motion 10056 generated by the motor can, for example, cause staples to be deployed from a staple cartridge (such as staple cartridge 10008) into tissue captured by the end effector and / or cause a blade of the firing drive (such as blade 10027) to advance to cut the captured tissue. The firing drive can be retracted by reversing the direction of the motor 10056.

[0093] The surgical system 10050 can include a closing motor 10058. The closing motor 10058 can be operably coupled to a closing motor drive assembly 10059 that is configured to transmit a closing motion generated by the motor 10058 to the end effector, specifically for displacing a closing driver (such as an outer shaft tube) to close the anvil and compress tissue between the anvil and the staple cartridge. The closing motion can, for example, cause the end effector to transition from an open configuration to an approximation configuration to capture tissue. The end effector can be transitioned to the open position by reversing the direction of the motor 10058.

[0094] The surgical system 10050 may include, for example, one or more articulation motors 10060a, 10060b. The motors 10060a, 10060b may be operably coupled to respective articulation motor drive assemblies 10061a, 10061b that may be configured to transmit the articulation generated by the motors 10060a, 10060b to the end effector. In some cases, the articulation may cause the end effector to articulate relative to an axis, for example. A first articulation motor 10060a may drive a first articulation rod (such as articulation rod 10010) to rotate the end effector in a first direction, and a second articulation motor 10060b may drive a second articulation rod (such as articulation rod 10011) to rotate the end effector in a second direction opposite to the first direction.

[0095] As described above, the surgical system 10050 may include multiple motors that may be configured to perform various independent functions. The 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. For example, the articulation motors 10060a, 10060b may be activated to articulate the end effector, while the firing motor 10056 remains inactive. Alternatively, the firing motor 10056 may be activated to fire multiple nails and / or advance the cutting edge, while the articulation motors 10060a, 10060b remain inactive. In addition, the closing motor 10058 may be activated simultaneously with the firing motor 10056 to advance the closing drive and the firing drive distally simultaneously or in an overlapping manner, as described in more detail below.

[0096] The surgical system 10050 may include a common control module 10062 that can be used with multiple motors of a surgical instrument or tool. The common control module 10062 can accommodate one of the multiple motors at a time. For example, the common control module 10062 can be individually coupled to and detached from multiple motors of a robotic surgical instrument. Multiple motors of a surgical instrument or tool can share one or more common control modules, such as the common control module 10062. The multiple motors of a surgical instrument or tool can individually and selectively engage the common control module 10062. The common control module 10062 can switch from interfacing with one of the multiple motors of the surgical instrument or tool to interfacing with another of the multiple motors of the surgical instrument or tool.

[0097] The common control module 10062 can be selectively switched between being able to operably engage the articulation motors 10060a, 10060b and being able to operably engage the firing motor 10056 or the closing motor 10058. Figure 4As shown in FIG, the switch 10063 can be moved or transitioned between a plurality of positions and / or states. In a first position 10064, the switch 10063 can electrically couple the common control module 10062 to the firing motor 10056; in a second position 10065, the switch 10063 can electrically couple the common control module 10062 to the closing motor 10058; in a third position 10066a, the switch 10063 can electrically couple the common control module 10062 to the first articulation motor 10060a; and in a fourth position 10066b, the switch 10063 can electrically couple the common control module 10062 to, for example, the second articulation motor 10060b. A single common control module 10062 can be simultaneously electrically coupled to the firing motor 10056, the closing motor 10058, and the articulation motors 10060a and 10060b. The switch 10063 can be a mechanical switch, an electromechanical switch, a solid-state switch, or any suitable switching mechanism.

[0098] Each of the motors 10056, 10058, 10060a, 10060b can include a torque sensor to measure the output torque on the shaft of the motor. The force on the end effector can be sensed in any conventional manner, such as by a force sensor on the outside of the jaws or by a torque sensor of the motor used to actuate the jaws.

[0099] like Figure 4 As shown in , the common control module 10062 may include a motor driver 10067, which may include one or more H-bridge FETs. The motor driver 10067 may regulate the power transmitted from the power supply 10055 to the motor coupled to the common control module 10062, for example, based on input from a controller 10051 (e.g., a microcontroller). When a motor is coupled to the common control module 10062, the controller 10051 may be employed, for example, to determine the current drawn by the motor, as described above.

[0100] The processor 10052 can control the motor driver 10067 to control the position, rotational direction and / or speed of the motors coupled to the common control module 10062. The processor 10052 can signal the motor driver 10067 to stop and / or deactivate the motors coupled to the common control module 10062.

[0101] The memory 10053 can include program instructions for controlling each of the motors of the surgical system 10050 that can be coupled to the common control module 10062. For example, the memory 10053 can include program instructions for controlling the firing motor 10056, the closing motor 10058, and the articulation motors 10060a, 10060b. Such program instructions can cause the processor 10052 to control the firing, closing, and articulation functions based on input from an algorithm or control program of the surgical instrument or tool.

[0102] One or more mechanisms and / or sensors, such as sensor 10054, can be used to alert the processor 10052 of program instructions to be used in a particular setting. For example, sensor 10054 can alert the processor 10052 to program instructions associated with firing, closing, and articulating the end effector. Sensor 10054 can include, for example, a position sensor that can be used to sense the position of switch 10063. Thus, the processor 10052 can use program instructions associated with firing the I-beam of the end effector when, for example, sensor 10054 detects that switch 10063 is in first position 10064; can use program instructions associated with closing the anvil when, for example, sensor 10054 detects that switch 10063 is in second position 10065; and can use program instructions associated with articulating the end effector when, for example, sensor 10054 detects that switch 10063 is in third position 10066a or fourth position 10066b. The controller 10051 can communicate with the display 10068 similar to the feedback system 10040 to provide feedback to the user. Additionally, the display 625 can include an input interface so that the user can provide input for controlling the surgical system 10050.

[0103] Closure systems utilizing position-controlled closure suffer from the following operational limitations: after the end effector has been placed in the closed position, the closing stroke of the closure actuator generates a specific force on the tissue captured within the end effector. As the tissue thins due to tissue creep and fluid loss from the captured tissue, this specific force applied to the tissue decreases over time. For example, a closure system utilizing position-controlled closure uses the closure actuator to transition the end effector from an open state to a closed state, which results in a gradual increase in the closing force applied to the tissue. Once the closure actuator reaches the end of its closing stroke, the closing force reaches its maximum closing force.

[0104] A problem with these closure systems is that once they have completed their closing stroke, the force applied to the tissue decreases over time (e.g., due to fluid efflux and eventual tissue thinning). Since the closing force is reduced after reaching the maximum closing force, the force driving the firing system reaches a firing force that is greater than the maximum closing force, which places a significant amount of stress on the firing motor of the firing system.

[0105] The load control of the closure system can maintain the closure load, and therefore the closure force, at an elevated level, thereby improving pre-firing compression of the tissue and ultimately resulting in a lower firing force. Thus, the load control allows the surgical system to balance the mechanical firing force impact between the closure system and the firing system to reduce stress on the corresponding drive systems and motors, specifically, the firing system and the firing motor.

[0106] refer to Figure 5 , provides a graph 10080 illustrating the relationship between firing force and time for various firing strokes of a firing drive. As shown, the firing force increases over the course of the firing stroke. The inventors have discovered that maximizing the closure system can complement the firing system and enable the firing force to be significantly reduced during a portion of the firing stroke. This portion of the firing stroke can be the first third of the firing stroke. While utilizing a closure system affects the firing force throughout the entire stroke of the firing drive, the stiffness of the anvil and the flexing of the anvil result in a greater impact in the first portion of the stroke than in the remainder of the stroke. However, utilizing a closure system throughout the entire stroke of the firing system can provide the benefit of reducing the force requirement on the firing system, even during the remainder of the stroke.

[0107] A surgical system including a closure system and a firing system can be provided. The closure system includes a closure driver, such as closure tube 10013, which is movable from a proximal position to a distal position during a closure stroke. The closure driver is driven between a proximal position and a distal position by a closure motor (such as closure motor 10058); however, the closure driver can be driven between the proximal position and the distal position by a manual drive system including a closure trigger that can be manually operated by a clinician. The surgical system also includes an end effector (such as end effector 10002) comprising a first jaw (such as first jaw 10004) and a second jaw (such as second jaw 10006) that is rotatable relative to the first jaw between an open position and a closed position. In use, the closure driver translates toward the distal position and engages the second jaw, such as on a ramp on its proximal end. The closure driver applies a closing force to the second jaw to rotate it toward the closed position. The surgical system may further include a first closing force sensor that senses a closing force applied to the second jaw by the closing actuator.

[0108] The firing system includes a firing drive (such as firing drive 10024) that is capable of moving from a proximal non-firing position toward a distal firing position during a firing stroke to deploy staples stored in a staple cartridge (such as staple cartridge 10008) and to incise tissue captured by an end effector with a knife (such as knife 10027). The firing drive is driven between a proximal non-firing position and a distal firing position by a firing motor (such as firing motor 10056). The firing drive includes a first cam (such as first cam 10025) and a second cam (such as second cam 10026) to engage the first jaw and the second jaw, respectively, during the firing stroke, thereby applying a closing force to the end effector to maintain the second jaw in a closed position. The surgical system may further include a second closing force sensor that senses the closing force applied by the firing drive to the end effector.

[0109] For example, the surgical system also includes a control system, such as controller 10033 or controller 10051. The control system determines the relationship between the closing system and the firing system to determine which of the closing drive and / or the firing drive the control system should control during the firing stroke of the firing drive, as described in more detail below. Determining the relationship between the closing drive and the firing drive may include determining the amount of coordination that exists between the closing drive and the firing drive when the second jaw is held in a closed position during the firing stroke. The control system may receive data from a first closing force sensor and a second closing force sensor to determine the amount of coordination that exists between the closing system and the firing system. The surgical system may also include various other sensors that sense various other parameters associated with the closing system and the firing system, as described elsewhere herein, which parameters also serve as inputs for determining the amount of coordination that exists between the closing system and the firing system. For example, the control system may receive data from a position sensor that senses the position of the closing drive and the firing drive, and may use this data to determine the amount of coordination that exists between the closing system and the firing system.

[0110] The control system can determine the amount of cooperation between the closing drive and the firing drive by determining a ratio of the closing forces applied by each of the respective components during a firing stroke of the firing drive. The amount of cooperation between the closing drive and the firing drive can be a ratio of a first parameter of the closing system measured by the first sensor to a second parameter of the firing system measured by the second sensor.

[0111] When the forces sensed by the first closing force sensor and the second closing force sensor are the same (a ratio of 1 to 1), the control system determines that there is 100% coordination between the closing system and the firing system. This may indicate that the closing motor and the firing motor are subjected to the same or similar strain during their operation. When the force sensed by the second force sensor is twice the force sensed by the first force sensor (a ratio of 1 to 2, indicating that the closing force applied by the firing drive is twice the closing force applied by the closing drive), the control system determines that there is 50% coordination between the closing system and the firing system. When the force sensed by the first force sensor is greater than the force sensed by the second force sensor (i.e., the closing drive applies a closing force greater than the firing drive), the control system interprets this as 100% coordination between the closing system and the firing system. In other words, the control system identifies 100% coordination between the closing system and the firing system until the closing force applied by the firing drive exceeds the closing force applied by the closing drive.

[0112] Based on the amount of synergy that exists between the closure system and the firing system, the control system adjusts the closure system and / or the firing system. As described in more detail below, the control system can adjust the firing force threshold of the firing system. The control system can adjust the closing algorithm that drives the closure drive and / or the firing algorithm that drives the firing drive. This can reduce the strain experienced by each system in the respective system while also reducing the force required to fire the firing drive.

[0113] Now refer to Figure 6 , a graph 10100 is provided illustrating exemplary firing strokes of firing drives for various sized staple cartridges (lengths d1, d2, and d3, where d2>d1 and d3>d2) and the amount of coordination that exists between the closing system and the firing system during the firing stroke of the firing drive.

[0114] also, Figure 7 Graph 10150 is shown including firing force thresholds for each staple cartridge in a corresponding exemplary staple cartridge during a firing stroke of a firing drive. Figure 7 As shown, the initial firing force threshold FTF M1 (initial firing force threshold of a nail magazine with a length of d1), FTF M2 (initial firing force threshold of a cartridge with a length of d2) and FTF M3 (The initial firing force threshold of the nail magazine with a length of d3) is less than the maximum firing force threshold FTF MAX , the maximum firing force threshold value may cause the firing motor (such as firing motor 10056) to stall. The initial firing force threshold value of the nail magazine may be at the maximum firing force threshold value FTF MAX. The staple cartridge may include an RFID tag positioned thereon, and the control system includes an RFID scanner that scans the RFID tag to determine the type of staple cartridge that has been inserted into the end effector. RFID tags and RFID scanners are discussed in more detail in U.S. Patent Application Publication No. 2017 / 0296173, which is hereby incorporated by reference in its entirety. Based on this determination, the control system retrieves an initial firing force threshold stored in a memory (such as memory 10035 or memory 10053). The initial firing force threshold may be set by a user. For example, a user may enter the initial firing force threshold at an input interface (such as at display 10068).

[0115] Based on the amount of coordination that exists between the closing system and the firing system, the control system adjusts the firing force threshold during the firing stroke of the firing drive. For example, referring to graphs 10100 and 10150, a staple cartridge having a length d1 is inserted into the first jaw of the end effector. As described above, based on this insertion, an initial firing force threshold FTF is set. M1 . The end effector is then used to grasp the tissue within the jaws of the end effector. Specifically, the closing drive is advanced distally by the closing motor to apply a closing force to the second jaw, thereby causing the second jaw to transition toward the closed position. When the second jaw has reached the closed position, the closing drive may be located in a first position intermediate between the proximal position and the distal position. Once a threshold amount of force has been applied to the tissue by the second jaw, the closing drive may stop advancing toward the distal position, thereby preventing the tissue from being damaged. Therefore, when the closing drive stops advancing, the second jaw is located in a position intermediate between the open position and the closed position (i.e., a partially closed or partially open position).

[0116] Once the closure drive stops advancing, the firing system advances the firing drive through its firing stroke 10102 to deploy the staples from the staple cartridge and cut the tissue captured by the end effector. A certain amount of time may elapse between the closure drive stopping and the firing system being activated to allow for pre-compression of the tissue, as described in more detail in U.S. Patent Application No. 17 / 957,946, which is hereby incorporated by reference in its entirety. As the firing drive advances through its firing stroke 10102, the first and second cams of the firing drive apply a closing force to the jaws of the end effector to maintain the end effector in a closed position.

[0117] As the firing drive is advanced toward the distal position, the control system monitors the amount of force applied to the end effector by the closing drive (via the first force sensor) and the firing drive (via the second force sensor) and determines the amount of coordination that exists between the closing system and the firing system to maintain the end effector in the closed position. Figure 6As shown, the amount of coordination between the closure system and the firing system is determined by the control system to be at or substantially at 100% throughout the firing stroke 10102 of the firing drive. At 100% coordination, the firing drive is considered to be in the first firing zone. Since the amount of coordination does not drop below 100%, the control system does not adjust the initial firing force threshold FTF during the firing stroke 10102. M1 .

[0118] As another example, a staple cartridge having a length d2 is inserted into the first jaw of the end effector. As described above, based on this insertion, the initial firing force threshold FTF is set. M2 As shown in the graph 10150, the initial firing force threshold FTF of the nail magazine with a length of d2 M2 The initial firing force threshold FTF of the nail magazine with a length of d1 is greater than M1 The initial firing force threshold may be the same regardless of the size of the staple cartridge. Alternatively, the initial firing force threshold for a staple cartridge having a first length may be greater than the initial firing force threshold for a staple cartridge having a second length that is less than the first length. The initial firing force threshold may vary with the length of the staple cartridge. As described above, the initial firing force threshold may be stored in a memory and retrieved by the control system. The initial firing force threshold may be set by the user.

[0119] The end effector is then used to grasp the tissue within the jaws of the end effector. Specifically, the closing driver is advanced distally to apply a closing force to the second jaw, thereby causing the second jaw to transition toward the closed position. When the second jaw has reached the closed position, the closing driver may be located in a first position intermediate between the proximal position and the distal position. Once a threshold amount of force has been applied to the tissue by the second jaw, the closing driver may stop advancing toward the distal position, thereby preventing the tissue from being damaged. Therefore, when the closing driver stops advancing, the second jaw is located in a position intermediate between the open position and the closed position (i.e., a partially closed or partially open position).

[0120] Once the closure drive stops advancing, the firing system advances the firing drive through its firing stroke 10104 to deploy staples from the staple cartridge and cut tissue captured by the end effector. As described above, a certain amount of time may elapse between the closure drive stopping and the firing system being activated to allow for pre-compression of the tissue. As the firing drive advances through its firing stroke 10104, the first and second cams of the firing drive apply a closing force to the jaws of the end effector to maintain the end effector in a closed position.

[0121] As the firing drive is advanced toward the distal position, the control system monitors the amount of force applied to the end effector by the closing drive (via the first force sensor) and the firing drive (via the second force sensor) and determines the amount of coordination that exists between the closing system and the firing system to maintain the end effector in the closed position. Figure 6 As shown, the amount of coordination between the closure system and the firing system is determined by the control system to be at or substantially at 100% until the firing drive reaches a length d2' of its firing stroke 10104. From the initiation of the firing stroke until d2', with 100% coordination, the firing drive is considered to be in the first firing zone.

[0122] At d2', the amount of closing force applied by the firing drive begins to exceed the amount of closing force applied by the closing drive. Therefore, the control system (via the first force sensor and the second force sensor) determines that the amount of coordination begins to drop below 100%, and therefore, the firing drive transitions to the second firing zone. As described above, the control system adjusts the firing force threshold during the firing stroke based on the amount of coordination that exists between the closing system and the firing system. Therefore, in the second firing zone, the control system adjusts the initial firing force threshold FTF to M2 Adjust 10108 to be less than the initial firing force threshold FTF M2 The first adjustment firing force threshold FTF AM2 . The first adjustment trigger force threshold FTF AM2 Can be stored in memory and retrieved by the control system. First adjustment firing force threshold FTF AM2 It can be user defined. When the amount of coordination drops below 100%, the firing drive can transition to a second firing zone. When the amount of coordination drops to a threshold amount below 100% coordination, the firing drive can transition to a second firing zone.

[0123] As shown in graph 10100, the firing drive continues to advance through its firing stroke 10104 in the second firing zone and the amount of coordination continues to decrease. At d2", the amount of coordination reaches a threshold coordination percentage X%, and therefore, the firing drive transitions to the third firing zone. The threshold coordination percentage can be 50% coordination (a 1 to 2 ratio). The threshold coordination percentage can be 75% (a 3 to 4 ratio). The threshold coordination percentage can be 25% (a 1 to 4 ratio). The threshold coordination percentage can be stored in memory and retrieved by the control system. The threshold coordination percentage can be user defined. The threshold coordination percentage can be set based on the insertion of the nail magazine into the end actuator.

[0124] Based on the firing drive transitioning to the third firing zone, the control system adjusts the first firing force threshold FTF AM2 Adjust 10110 to be less than the first adjustment firing force threshold FTF AM2The second adjustment trigger force threshold FTF SAM2 The second adjustment trigger force threshold FTF SAM2 Can be stored in the memory and retrieved by the control system. Second adjustment firing force threshold FTF SAM2 It can be user defined. The control system will first adjust the firing force threshold FTF AM2 Adjust to the second adjustment trigger force threshold FTF SAM2 Thereafter, the firing drive continues to advance through the remainder of the firing stroke 10104 .

[0125] As another example, a staple cartridge having a length d3 is inserted into the first jaw of the end effector. As described above, based on this insertion, the initial firing force threshold FTF is set. M3 As shown in graph 10150, the initial firing force threshold FTF M3 The initial firing force threshold FTF of the nail magazine with length d2 M2 Same. Initial firing force threshold FTF M3 The initial firing force threshold FTF of the nail cartridge having a length d2 may be greater than M2 As mentioned above, the initial firing force threshold FTF M3 Can be stored in memory and retrieved by the control system. Initial firing force threshold FTF M3 Can be set by the user.

[0126] The end effector is then used to grasp the tissue within the jaws of the end effector. Specifically, the closing driver is advanced distally to apply a closing force to the second jaw, thereby causing the second jaw to transition toward the closed position. When the second jaw has reached the closed position, the closing driver may be located in a first position intermediate between the proximal position and the distal position. Once a threshold amount of force has been applied to the tissue by the second jaw, the closing driver may stop advancing toward the distal position, thereby preventing the tissue from being damaged. Therefore, when the closing driver stops advancing, the second jaw is located in a position intermediate between the open position and the closed position (i.e., a partially closed or partially open position).

[0127] Once the closure drive stops advancing, the firing system advances the firing drive through its firing stroke 10106 to deploy staples from the staple cartridge and cut tissue captured by the end effector. As described above, a certain amount of time may elapse between the closure drive stopping and the firing system being activated to allow for pre-compression of the tissue. As the firing drive advances through its firing stroke 10106, the first and second cams of the firing drive apply a closing force to the jaws of the end effector to maintain the end effector in a closed position.

[0128] As the firing drive advances toward the distal position, the control system monitors the amount of force applied to the end effector by the closing drive (via the first force sensor) and the firing drive (via the second force sensor) and determines the amount of coordination between the closing system and the firing system to maintain the end effector in the closed position. As shown in graph 10100, the coordination between the closing system and the firing system is determined by the control system to be at or substantially at 100% until the firing drive reaches the length d3' of the firing stroke 10106. From the start of the firing stroke until d3', with 100% coordination, the firing drive is considered to be in the first firing zone.

[0129] At d3', the amount of closing force applied by the firing drive begins to exceed the amount of closing force applied by the closing drive. Therefore, the control system (via the first force sensor and the second force sensor) determines that the amount of coordination begins to drop below 100%, and therefore, the firing drive transitions to the second firing zone. As described above, the control system adjusts the firing force threshold during the firing stroke based on the amount of coordination that exists between the closing system and the firing system. Therefore, in the second firing zone, the control system adjusts the initial firing force threshold FTF to M3 Adjust 10112 to be less than the initial firing force threshold FTF M3 The first adjustment firing force threshold FTF AM3 . The first adjustment trigger force threshold FTF AM3 Can be stored in memory and retrieved by the control system. First adjustment firing force threshold FTF AM3 Can be user defined. First adjustment firing force threshold FTF AM3 Adjustable firing force threshold FTF AM2 Same. First adjustment trigger force threshold FTF AM3 Can be different from the first adjustment firing force threshold FTF AM2 When the amount of coordination drops below 100% coordination, the firing drive may transition to a second firing zone. When the amount of coordination drops below 100% coordination by a threshold amount, the firing drive may transition to a second firing zone.

[0130] As shown in graph 10100, the firing drive continues to advance through its firing stroke 10106 in the second firing zone and the amount of coordination continues to decrease. At d3", the amount of coordination reaches a threshold coordination percentage X%, and therefore, the firing drive transitions to the third firing zone. The threshold coordination percentage can be 50% coordination (a 1 to 2 ratio). The threshold coordination percentage can be 75% (a 3 to 4 ratio). The threshold coordination percentage can be 25% (a 1 to 4 ratio). The threshold coordination percentage can be stored in memory and retrieved by the control system. The threshold coordination percentage can be user defined. The threshold coordination percentage can be set based on the insertion of the nail magazine into the end actuator.

[0131] Based on the firing drive transitioning to the third firing zone, the control system adjusts the first firing force threshold FTF AM3 Adjust 10114 to less than the first adjustment firing force threshold FTF AM3 The second adjustment trigger force threshold FTF SAM3 The second adjustment trigger force threshold FTF SAM3 Can be stored in the memory and retrieved by the control system. Second adjustment firing force threshold FTF SAM3 It can be limited. In the control system, the first adjustment trigger force threshold FTF AM3 Adjust to the second adjustment trigger force threshold FTF SAM3 Thereafter, the firing drive continues to advance through the remainder of the firing stroke.

[0132] While the examples provided above illustrate that the control system only adjusts the firing force threshold up to two times, the control system may make additional adjustments to the firing force threshold at various other coordination percentages. The control system may adjust the firing force threshold when the coordination drops below 100% and reaches a first intermediate threshold percentage that is higher than the threshold percentage X% (such as reaching 75% when the threshold percentage is 50%). The control system may adjust the firing force threshold when the coordination drops below 100% and reaches a first intermediate threshold percentage that is lower than the threshold percentage X% (such as reaching 25% when the threshold percentage is 50%).

[0133] Now refer to Figure 7A According to the present disclosure, a method 10160 for controlling a surgical stapling system is provided. Figure 7A as well as Figure 3 and Figure 4 According to method 10160, a control system, such as controller 10033 or controller 10051, can set 10162 a firing force threshold based on a staple cartridge removably positioned in an end effector of a surgical system, as described elsewhere herein. The firing force threshold can be a threshold that will cause a firing motor, such as firing motor 10056, to stall. The firing force threshold can be a threshold that is less than a maximum firing force threshold that will cause the firing motor to stall.

[0134] According to method 10160, the control system advances 10164 the closure actuator to a first position intermediate the proximal position and the distal position. The control system can actuate a closure motor (such as closure motor 10058) to advance the closure actuator (such as closure tube 10013) distally.

[0135] In accordance with method 10160, the control system can advance the firing drive toward the firing position 10166. The control system can actuate a firing motor, such as firing motor 10056, to advance the firing drive, such as firing drive 10024, distally.

[0136] According to method 10160, as the firing drive is advanced toward the fired position, the control system can monitor 10168 the relationship between the closing drive and the firing drive. The control system can monitor the relationship between the closing drive and the firing drive by monitoring the amount of cooperation that exists between the closing drive and the firing drive when maintaining an end effector, such as end effector 10002, in the closed position. As described elsewhere herein, the control system can monitor the amount of cooperation that exists by monitoring the ratio of the closing force applied to the end effector by each of the closing drive and the firing drive.

[0137] According to method 10160, the control system can adjust 10170 the firing force threshold based on the relationship. The control system can adjust the firing force threshold based on the amount of cooperation that exists between the firing drive and the closing drive to maintain the end effector in the closed position. The control system can adjust the firing force threshold to a first adjusted firing force threshold based on the firing drive applying a greater amount of closing force to the closing drive. As described elsewhere herein, the control system can also be configured to determine the region in which the firing drive is located based on the relationship between the closing drive and the firing drive. Thus, as described elsewhere herein, the firing drive is determined to be in the first firing region based on the control system comparing the initial firing force threshold with the measured firing force, and is determined to be in the second firing region based on the control system comparing the first adjusted firing force threshold with the measured firing force.

[0138] As described above, based on the amount of coordination that exists between the closure system and the firing system, the control system also adjusts the closure system and / or the firing system, as well as adjusts the firing force threshold of the firing system. Figures 8 to 10 , graphs 10200, 10210, and 10220 of exemplary firing strokes for a staple cartridge having a length d are provided. Graph 10200 illustrates the firing force and firing force threshold during the firing stroke of the firing drive. Graph 10210 illustrates the closing load applied by the closing drive during the firing stroke of the firing drive. Graph 10220 illustrates the velocity of the firing drive during the firing stroke of the firing drive.

[0139] The nail cartridge is inserted into the first jaw of the end effector. As described above, based on this insertion, the initial firing force threshold FTF is set. M4 As shown in the graph 10200, the initial firing force threshold FTF M4Less than the firing force threshold FTF that will cause the firing motor to stall MAX Initial firing force threshold FTF M4 Can be stored in memory and retrieved by the control system. Initial firing force threshold FTF M4 Can be set by the user.

[0140] The end effector is then used to grasp the tissue within the jaws of the end effector. Specifically, the closing driver is advanced distally to apply a closing force CF1 to the second jaw, thereby causing the second jaw to transition toward the closed position. When the second jaw applies the closing force CF1 to the second jaw, the closing driver may be located in a first position intermediate between the proximal position and the distal position. Once a threshold amount of force has been applied to the tissue by the second jaw, the closing driver may stop advancing toward the distal position, thereby preventing damage to the tissue. Therefore, when the closing driver stops advancing, the second jaw is located in a position intermediate between the open position and the closed position (i.e., a partially closed or partially open position).

[0141] Once the closure drive stops advancing and the closing force CF1 is applied, the firing system advances the firing drive through its firing stroke at a velocity V1 (see graph 10220) to deploy the staples from the staple cartridge and cut the tissue captured by the end effector. As described above, a certain amount of time may elapse between the closure drive stopping and the firing system being activated to allow for pre-compression of the tissue. As the firing drive advances through its firing stroke, the first and second cams of the firing drive apply a closing force to the jaws of the end effector to maintain the end effector in a closed position.

[0142] When the firing drive is advanced toward the distal position, the control system monitors the amount of force applied to the end effector by the closing drive (via the first closing force sensor) and the firing drive (via the second closing force sensor), and determines the amount of coordination between the closing system and the firing system to maintain the second jaw in the closed position. In addition, the control system uses the firing force sensor to monitor the force of the firing drive 10201. The firing force can be measured using a force sensor on the firing drive. The firing force can be measured using a current sensor that measures the current through the firing motor. Various other sensors for measuring the firing force are described elsewhere herein.

[0143] As seen in graph 10200, at d1 of the firing stroke, the firing force 10201 exceeds 10202 the firing force threshold. At this point, the amount of coordination between the firing system and the closing system is still determined to be 100%, and therefore, the firing drive is determined to be located in the first firing zone, as discussed elsewhere herein. Based on the firing drive being located in the first firing zone, the control system utilizes only the closing system and adjusts the closing algorithm. That is, the control system advances the closing drive from the first position to the second position without stopping the advancement of the firing drive to increase 10212 the applied closing force from CF1 to CF2. Based on the increased closing force applied by the closing drive, the firing force 10201 drops to the initial firing force threshold FTF M4 The second position may be proximal to the distal-most position of the closed actuator. The second position may be the distal-most position of the closed actuator. The stroke length from the first position to the second position may be stored in a memory and retrieved by the control system. The stroke length from the first position to the second position may be a length that reduces the firing force by a predetermined amount.

[0144] As the firing drive continues to advance through its firing stroke, the control system continues to monitor the force acting on the firing drive and the amount of coordination between the closing system and the firing system. At d2, the control system determines that the firing drive begins to apply a greater closing force than the closing drive, and therefore, the coordination between the closing system and the firing system has dropped below 100%. Therefore, the firing drive transitions to the second firing zone. In the second firing zone, the control system sets the initial firing force threshold FTF to M4 Adjust 10203 to the first adjustment firing force threshold FTF AM4 , without pausing the advancement of the firing drive.

[0145] At d3 of the firing stroke, the firing force 10201 exceeds 10204 the first adjusted firing force threshold FTF AM4 . At this time, it is still determined that the firing drive is located in the second firing area. Based on the firing drive being located in the second firing area, the control system utilizes both the firing system and the control system and adjusts the firing algorithm and the closing algorithm. That is, the control system first pauses 10221 the advancement of the firing drive and reduces the speed of the firing drive from V1 to 0, as shown in the curve 10220. In addition, the control system advances the closing drive from the second position to the third position to increase 10214 the applied closing force from CF2 to CF3. Based on the pause of the firing drive and the increased closing force applied by the closing drive, the firing force 10201 drops to the first adjusted firing force threshold FTF AM4The third position may be proximal to the distal-most position of the closed actuator. The third position may be the distal-most position of the closed actuator. The stroke length from the second position to the third position may be stored in memory and retrieved by the control system. The stroke length from the second position to the third position may be a length that reduces the firing force by a predetermined amount.

[0146] The control system can cause the firing drive to resume 10222 advancement after being paused for a threshold amount of time. The threshold amount of time can be stored in memory. The threshold amount of time can be user defined. The control system can cause the firing drive to resume 10222 advancement after the firing force drops to a first adjusted firing force threshold FTF. AM4 Advancement resumes after a threshold amount has elapsed. At this point, the control system adjusts the firing algorithm so that the firing drive resumes advancement 10222 at a second speed V2 that is less than the first speed V1. The control system may not adjust the firing speed of the firing drive. The second firing speed may be stored in memory and retrieved by the control system. The second firing speed may be user-defined. The second firing speed may vary with the displacement of the firing drive within the firing stroke.

[0147] As the firing drive continues to advance through its firing stroke, the control system continues to monitor the force acting on the firing drive and the amount of cooperation between the closing system and the firing system. At d4, the control system determines that the cooperation between the closing system and the firing system reaches a threshold cooperation percentage X%, and therefore, the firing drive transitions to the third firing area. The threshold cooperation percentage X% can be 50% (a 1 to 2 ratio of the closing force applied by the closing drive and the firing drive). The threshold cooperation percentage X% can be 75% (a 3 to 4 ratio of the closing force applied by the closing drive and the firing drive). The threshold cooperation percentage X% can be 25% (a 1 to 4 ratio of the closing force applied by the closing drive and the firing drive). The threshold cooperation percentage can be stored in a memory and retrieved by the control system. The threshold cooperation percentage can be user-defined. The threshold cooperation percentage can be set based on the insertion of the nail magazine into the end actuator. Therefore, based on the transition to the third firing area, the control system adjusts the firing force threshold FTF to the first value. AM4 Adjust 10205 to the second adjustment firing force threshold FTF SAM4 , without pausing the advancement of the firing drive.

[0148] At d5 of the firing stroke, the firing force 10201 exceeds 10206 the second adjusted firing force threshold FTF SAM4At this time, it is determined that the firing drive is located in the third firing zone. Based on the firing drive being located in the third firing zone, the control system only utilizes the firing system and adjusts the firing algorithm. That is, the control system pauses 10223 the advancement of the firing drive and reduces the speed of the firing drive from V2 to 0, as shown in the curve 10220. Unlike in the first firing zone and the second firing zone, the control system does not resume the advancement of the closing drive in the third firing zone. Based on the pause of the firing drive, the firing force drops to the second adjusted firing force threshold FTF SAM4 the following.

[0149] The control system may cause the firing drive to resume 10224 advancement after being paused for a threshold amount of time. The threshold amount of time may be stored in memory. The threshold amount of time may be user defined. The control system may cause the firing drive to resume 10224 advancement after the firing force drops to a second adjusted firing force threshold FTF. SAM4 10224. At this point, the control system adjusts the firing algorithm so that the firing drive resumes advancement 10224 at a third speed V3 that is less than the second speed V2. The third speed may be a minimum speed. The control system may not adjust the firing speed of the firing drive. The third firing speed may be stored in memory and retrieved by the control system. The third firing speed may be user-defined. The third firing speed may vary with the displacement of the firing drive within the firing stroke. After the firing drive resumes advancement 10224 at the third firing speed, the firing drive reaches the end of its firing stroke at d.

[0150] If, after resuming advancement 10224 of the firing drive at d5 and before completing the firing stroke, the firing drive has exceeded the second adjusted firing force threshold FTF SAM4 , the control system will again use only the firing system to reduce the firing force 10201 to the second adjusted firing force threshold FTF SAM4 The following is similar to what is described above.

[0151] Therefore, the foregoing provides a control system that utilizes the closure system and / or the firing system based on the amount of synergy that exists between the closure system and the firing system. The amount of utilization that the closure system can provide early in the firing stroke of the firing drive is greater than the amount of utilization provided late in the firing stroke, so that the closure system is exclusively utilized by the control system in the first firing zone (when synergy is at 100%) and is connected in series with the firing system in the second firing zone (when synergy is less than 100% but greater than a threshold percentage X%). After reaching or decreasing below the threshold synergy percentage, the control system exclusively utilizes the firing system for the remainder of the firing stroke. Therefore, when the amount of utilization that the closure system can provide is not as large as it is in the first firing zone and the second firing zone, the stress on the firing system is reduced because the firing system is exclusively relied upon only in the third zone.

[0152] In addition, the length of the firing zone can be variable rather than predetermined. For example, when the coordination between the closure system and the firing system drops below 100%, the firing drive transitions from the first firing zone to the second firing zone. When the coordination drops below 100%, it will undergo a change from one stroke to the next. For example, the change in coordination is based on a variety of factors, such as the thickness, condition, or type of tissue positioned in the jaws of the end effector. When compared to thin tissue positioned between the jaws, when thicker tissue is positioned between the jaws, the coordination between the closure system and the firing system may drop below 100% more quickly. Therefore, the firing zone undergoes a change from one firing stroke to the next because the transition from one zone to the next depends on the amount of coordination between the closure system and the firing system, which may occur at different times during different firing strokes.

[0153] Now refer to Figure 10A According to the present disclosure, a method 10230 for controlling a surgical stapling system is provided. Figure 10A as well as Figure 3 and Figure 4 According to method 10230, a control system (such as controller 10033 or controller 10051) sets 10232 a firing force threshold value as a threshold value that will cause a firing motor (such as firing motor 10056) to stall. The control system may set the firing force threshold value to be less than a maximum firing force threshold value that will cause the firing motor to stall. How a control system sets a firing force threshold value according to the present disclosure is described elsewhere herein.

[0154] According to method 10230, the control system advances 10234 the closure actuator to a first position intermediate the proximal position and the distal position. The control system can actuate a closure motor (such as closure motor 10058) to advance the closure actuator (such as closure tube 10013) distally.

[0155] According to method 10230, the control system advances the firing drive toward the firing position 10234. The control system can actuate a firing motor (such as firing motor 10056), which applies a firing force to a firing drive (such as firing drive 10024) to advance the firing drive distally.

[0156] According to method 10230, as the firing drive moves toward the firing position, the control system monitors 10238 the firing force. The surgical stapling system can include a force sensor (such as sensor 10039 or sensor 10054) that senses the firing force applied by the firing motor to the firing drive.

[0157] According to method 10230, the control system compares the firing force to a firing force threshold 10240. The control system can be in operative communication with the force sensor and receive the monitored firing force from the force sensor. The control system compares the firing force to the firing force threshold to determine whether the firing force is below the firing force threshold or whether the firing force has reached or exceeded the firing force threshold.

[0158] According to the method 10230, the control system controls 10242 movement of at least one of the closing drive or the firing drive based on the comparison and the zone in which the firing drive is located. Based on the control system determining that the firing force has reached or exceeded the firing force threshold, the control system can determine in which zone the firing drive is located in order to determine which of the closing drive and / or the firing drive should be adjusted, as described elsewhere herein.

[0159] The method 10230 can optionally include monitoring the relationship between the closing drive and the firing drive as the firing drive advances toward the fired position. As described elsewhere herein, the control system can monitor the relationship between the closing drive and the firing drive by monitoring the amount of cooperation that exists between the closing drive and the firing drive when maintaining the end effector in its closed state. The control system can monitor the amount of cooperation that exists between the closing drive and the firing drive by monitoring the ratio between the closing force that each of the closing drive and the firing drive applies to the end effector to maintain the end effector in the closed state.

[0160] Setting 10232 may optionally include: setting an initial firing force threshold; adjusting the initial firing force threshold to a first adjusted firing force threshold based on a monitored relationship between the closing drive and the firing drive; and adjusting the first adjusted firing force threshold to a second adjusted firing force threshold based on the monitored relationship between the closing drive and the firing drive. Elsewhere herein, a control system is described for setting the initial firing force threshold according to the present disclosure.

[0161] The method 10230 may optionally include determining a region from a plurality of regions in which the firing drive is located. As described elsewhere herein, the control system may determine the region in which the firing drive is located based on the amount of cooperation that exists between the closing drive and the firing drive. In the event of 100% determined cooperation, the firing drive may be considered to be located in a first firing region. In the event that the firing drive is determined to be located in the first firing region, the method 10230 may optionally include controlling movement of the closing drive without controlling movement of the firing drive based on the monitored firing force reaching the initial firing force threshold and the firing drive being located in the first firing region.

[0162] If the coordination is determined to be less than 100%, the firing drive can be considered to be in the second firing zone. The control system can adjust the initial firing force threshold to a first adjusted firing force threshold based on the second closing force being greater than the first closing force, which will result in less than 100% coordination. If the firing drive is determined to be in the second firing zone, the method 10230 can optionally include controlling the movement of the closing drive and the firing drive based on the monitored firing force reaching the first adjusted firing force threshold and the firing drive being positioned in the second firing zone.

[0163] Method 10230 may optionally include setting a threshold synergy percentage. Elsewhere herein, a control system may set the threshold synergy percentage in accordance with the present disclosure. If the synergy is determined to be below the threshold synergy percentage, the firing drive may be deemed to be located in the third firing zone. The control system may adjust the first adjusted firing force threshold to a second adjusted firing force threshold based on the second closing force being greater than the first closing force, which will result in the synergy percentage being below the threshold synergy percentage. If the firing drive is determined to be located in the third firing zone, method 10230 may optionally include controlling movement of the firing drive without controlling movement of the closing drive based on the firing force reaching the second adjusted firing force threshold and the firing drive being located in the third firing zone.

[0164] As described above, it is desirable to maximize the amount of impact provided by the closure system in order to reduce the force required to fire the firing drive and, therefore, reduce the strain on the firing system. The control system may receive input from a plurality of sensors to provide this result. The control system may receive tissue response data and device data from the sensors in order to set appropriate parameters for the closure system and the firing system, thereby increasing the amount of impact provided by the closure system and reducing the strain on the firing system, while still maintaining a reasonable firing stroke time.

[0165] Tissue response data may include the density of tissue captured by the end effector, the stiffness of tissue captured by the end effector, the condition of tissue captured by the end effector (healthy, diseased, etc.), the type of tissue captured by the end effector, or any other type of tissue response data described elsewhere herein. Device data may include the angle of articulation between the end effector and the shaft, the number of uses of the surgical system, the type of staple cartridge positioned in the end effector, or any other type of device data described elsewhere herein. Such data may be used by the control system alone or in combination with one another to make any suitable adjustments to the closure system to reduce the load on the firing system during the firing stroke.

[0166] The staple cartridge can be inserted into the first jaw of the end effector. As described elsewhere herein, the control system interrogates the staple cartridge to determine the type of staple cartridge positioned in the end effector. The end effector is then utilized to grasp the tissue within its jaws. Specifically, the closing drive advances from the proximal position toward the distal position to cause the second jaw to transition toward the closed position and apply an initial closing force to the second jaw. When the second jaw applies a closing force to the second jaw, the closing drive can be located in a position intermediate between the proximal position and the distal position. Once a threshold amount of force has been applied to the tissue by the second jaw, the closing drive can stop advancing toward the distal position, thereby preventing the tissue from being damaged. Therefore, when the closing drive stops advancing, the second jaw is located in a position intermediate between the open position and the closed position (i.e., a partially closed or partially open position).

[0167] In the case where tissue is grasped, the control system receives data from any number of sensors in the surgical system to determine tissue response data, as described above or elsewhere herein. In addition, the control system receives data from any number of sensors in the surgical system to determine device data, such as the angle of articulation of the end effector, the number of times the end effector is used, or any other type of device data described above or elsewhere herein. Based on the tissue response data and the device data, the control system adjusts the closing algorithm so that the closing drive is moved to apply an adjustment closing force to the second jaw. In addition, once the closing tube has stopped moving, the control system provides a message to the user via a display (such as display 10068) indicating that a certain amount of time should be allowed to pass before firing. This amount of time allows the tissue to relax and stabilize, and therefore will further reduce the firing load on the firing drive. After the amount of time has passed, the control system provides a message to the user on the display indicating that the firing system can be actuated to advance the firing drive through the firing stroke.

[0168] As the firing system advances the firing driver through its firing stroke to deploy the nails from the nail magazine and cut the tissue captured by the end effector, the control system monitors the firing load on the firing system. The firing load can be measured using a force sensor on the firing driver. The firing load can be measured using a current sensor that measures the current through the firing motor. Various other sensors for measuring the firing load on the firing driver and firing system are described elsewhere herein.

[0169] The firing load on the firing drive can remain below a threshold firing load during the entire firing stroke, and thus no adjustments are made to the firing system or the closure system. The threshold firing load can be stored in a memory and can be retrieved by the control system. The threshold firing load can be user-defined.

[0170] The control system can determine that the firing load reaches or exceeds a threshold firing load. Based on reaching or exceeding the threshold firing load, the control system adjusts the closing algorithm to distally advance the closing drive toward its distal position. By initially adjusting only the closing system, the control system attempts to reduce the firing load on the firing drive without interrupting the firing stroke of the firing drive, and thus potentially maintain the firing force below the firing threshold without affecting the transection time.

[0171] If the closed driver is advanced toward the distal position so that the firing load drops below the threshold firing load, the control system can continue to advance the firing driver through its firing stroke without any adjustment to the firing algorithm. If the closed driver is advanced toward the distal position so that the firing load does not drop below the threshold firing load, the control system can continue to advance the closed driver until the firing load drops below the firing threshold. As long as the firing load is higher than the firing threshold and the closed driver is not in its distal position, the control system continues to advance the closed driver. If the closed driver arrives at its distal position and the firing load does not drop below the threshold firing load, the control system adjusts the firing algorithm to reduce the firing force on the firing system. Adjustment of the firing algorithm may include pausing the advancement of the firing driver. Adjustment of the firing algorithm may include reducing the speed of the firing driver. Adjustment of the firing algorithm may include pausing the advancement of the firing driver and recovering the advancement of the firing driver at a slower speed. Other adjustments to the firing algorithm for reducing the firing force are described elsewhere herein.

[0172] Therefore, the control system regulates the closure system exclusively during the firing stroke of the firing drive until the closure system reaches its maximum limit, such as its most distal position. This provides the benefit of managing the firing load without affecting the transection time of the firing drive. Once the closure system reaches its maximum limit, the control system switches to regulating the firing system to control the firing load.

[0173] The firing stroke of the firing driver may include predetermined regions, and the control system may adjust the closure system and / or firing system based on which region the firing driver is located during the firing stroke. The predetermined regions may include a pre-firing region, a closed firing region, an intermediate firing region, and an end firing region. The pre-firing region may include the region when the firing driver is in its proximal position. As described elsewhere herein, the suturing firing system may not include a closed firing driver, but rather may complete the closure of the second jaw by moving the firing driver from a proximal position to an intermediate position. When the firing driver moves toward the intermediate position, a cam on the firing driver engages a ramp on the second jaw to cam the second jaw from an open position toward a closed position. Thus, the closed firing region is defined between the proximal position of the firing driver and the intermediate position of the firing driver. The intermediate firing region may include a first portion of the firing stroke, such as the first half of the firing stroke, in which the firing driver deploys staples from the staple cartridge. The end firing region may include a second portion of the firing stroke, such as the remaining half of the firing stroke, in which the firing driver deploys staples from the staple cartridge.

[0174] The regions described elsewhere herein may be defined or adjusted based on inputs from sensors within the surgical system to the control system. The inputs may include the device type, tissue type, tissue location within the end effector, the amount of pressure applied to the tissue, the amount of time the end effector clamps the tissue before firing, the clamping speed of the second jaw, the force to close the second jaw (FTC), the voltage applied to the closing motor, the current applied to the closing motor, the length of the staple cartridge positioned in the end effector, the type of cartridge positioned in the end effector, the type of support positioned on the platform of the staple cartridge, or the angle of articulation of the end effector relative to the axis, or any combination thereof. The length of the staple cartridge positioned in the end effector and the type of cartridge positioned in the end effector may be used by the control system to set initial firing parameters of the firing system, such as firing speed, firing force, or any other suitable firing parameters described elsewhere herein.

[0175] The surgical stapling system may include a modular surgical stapling system in which the end effectors are interchangeable, an example of which is described in U.S. Patent Application Publication No. 2019 / 0209249. The surgical stapling system may include an end effector having a first suture length and be replaced with an end effector having a second suture length different from the first suture length. Based on this adjustment, the control system adjusts the motor control algorithm of the closing motor and / or the firing motor for the specific end effector characteristics and then also for the individual calibration characteristics of the specific device, as described above.

[0176] As described elsewhere herein, the control system can utilize the closure system alone, or in combination with the firing system, during the first portion of the firing stroke when the utilization available to the closure system is high. Once the firing drive has transitioned to the second, late portion of the firing stroke, adjustments to the firing algorithm are only made because adjustments to the closure algorithm provide less of an effect than earlier in the firing stroke.

[0177] For example, as described elsewhere herein, the control system determines the amount of cooperation that exists between the closing system and the firing system to define a variable region so that the control system knows whether to adjust the closing algorithm, the firing algorithm, or a combination thereof. The cooperation region can be predetermined, stored in a memory (such as memory 10035 or memory 10053), and retrieved by the control system. The predetermined cooperation region can vary with the length of the staple cartridge. The predetermined cooperation region can be the same regardless of the staple cartridge length. The control system can define a high cooperation region in a first portion of the staple cartridge length and a low cooperation region in a second portion of the staple cartridge length. The first portion can include the first half of the cartridge length, and the second portion can include the second half of the cartridge length. The first portion can include the first third of the cartridge length, and the second portion can include the remaining two thirds of the cartridge length. The first portion can include the first two thirds of the cartridge length, and the second portion can include the remaining one third of the cartridge length.

[0178] Now refer to Figure 11 , graphs 10300, 10310, 10320 of exemplary firing strokes of a firing drive through a staple cartridge having a length d are provided. Graph 10300 illustrates the displacement of a firing drive (such as firing drive 10024) over time. Graph 10310 illustrates the displacement of a closure drive (such as closure tube 10013) over time. Graph 10320 illustrates the firing force acting on the firing drive over time.

[0179] The nail cartridge is inserted into the first jaw of the end effector. Based on this insertion, the firing force threshold FTF is set. MAX , as shown in graph 10320. Trigger force threshold FTF MAX The firing force threshold FTF can be defined as the threshold that will cause a firing motor (such as firing motor 10056) driving the firing drive to stall. MAX The trigger force threshold FTF may be stored in the memory and can be retrieved by the control system. The staple cartridge may include an RFID tag positioned thereon, and the control system includes an RFID scanner that scans the RFID tag to determine the type of staple cartridge that has been inserted into the end effector. Based on this determination, the control system retrieves the trigger force threshold FTF stored in the memory. MAX Firing force threshold FTF MAX Can be set by the user.

[0180] Additionally, upon insertion of the cartridge, the control system defines a high coordination zone CZ for the firing stroke of the firing driver. H and low-cooperation region CZ L High synergy zone CZ H and low-cooperation region CZ L It can be a predefined area stored in the memory and retrieved by the control system. High coordination area CZ H and low-cooperation region CZ L Can vary with the length of the nail magazine. High synergy zone CZ H and low-cooperation region CZ L Can be user-defined. High collaboration zone CZ H May include a first portion of the bin length and a low coordination zone CZ L A second portion of the bin length may be included. High synergy zone CZ H May include the first half of the bin length and the low coordination zone CZ L The latter half of the bin length may be included. High Coordination Zone CZ H May include the first third of the bin length and the low coordination zone CZ L The remaining two-thirds of the bin length may be included. High Coordination Zone CZ H May include the first two-thirds of the bin length and the low coordination zone CZ L The remaining third of the bin length may be included.

[0181] The end effector is then used to grasp the tissue within the jaws of the end effector. Specifically, referring to graph 10310, from t0 to t1, the closing drive is advanced distally from the proximal position x0 to a first intermediate position x1 by a closing motor (such as closing motor 10058) to apply a closing force to the second jaw (such as second jaw 10006), thereby causing the second jaw to transition toward the closed position. The first intermediate position x1 can be a position between the proximal position x0 and the distal position of the closing drive when the second jaw has reached the closed position. Once a threshold amount of force has been applied to the tissue by the second jaw, the closing drive can stop advancing toward the distal position, thereby preventing the tissue from being damaged. Therefore, when the closing drive stops advancing at the first intermediate position x1, the second jaw can be in a position intermediate between the open position and the closed position (i.e., partially closed or partially open position).

[0182] Once the closing drive stops advancing at t1, a certain amount of time (t1 to t2) is allowed to pass before the firing system is activated. The amount of time can be a predetermined amount of time stored in a memory and can be retrieved by the control system. This amount of time can be variable and varies with the length of the nail magazine. The amount of time can vary with the closing force applied to the tissue by the second jaw. For example, the amount of time can correspond to the amount of time it takes for the closing force applied by the second jaw to drop a predetermined amount (indicating tissue thinning). The amount of time can vary with the length of time it takes for the closing drive to reach the first intermediate position x1. Other pre-compression time amounts are described in U.S. Patent Application No. 17 / 957,946, which is hereby incorporated by reference in its entirety.

[0183] At t2, referring to graph 10300, the firing system is actuated to advance the firing drive toward its distal position. Specifically, the firing drive advances from its proximal position d0 through the high cooperation zone CZ H The control system may include a position sensor that senses the position of the firing drive to determine if the firing drive is in the high coordination zone CZ. H Still in the low coordination zone CZ L From t2 to t3, the firing drive is advanced from its proximal position d0 to the locked position d1 at a first speed, which increases the firing force (see graph 10320). The control system may include a force sensor that measures the firing force on the firing drive. The control system may include a current sensor that senses the current through the firing motor to determine the firing force. Various other force sensors are described elsewhere herein. In the locked position, a locking member may be located in the end effector that prevents the firing drive from being advanced if the nail magazine is not positioned therein. An exemplary locking member is described in U.S. Patent Application Publication No. 2019 / 0298350, which is hereby incorporated by reference in its entirety. The firing drive is then advanced from the locked position d1 toward the distal position at a second speed greater than the first speed. According to the present disclosure, the firing drive can be advanced at a single speed.

[0184] At t4, referring to graph 10320, the control system detects that the firing force has reached the firing force threshold FTF at point d2 of the firing stroke. MAX Therefore, the control system pauses the advancement of the firing drive for a certain amount of time (t4 to t5). The amount of time may be predetermined and stored in memory. The amount of time may increase as the firing force approaches the firing force threshold FTF. MAX The amount of time may vary with the rate at which the firing stroke is fired. The amount of time may vary with the number of pauses that have occurred in the firing stroke until the pause. The length of the pause may be user defined.

[0185] As shown in graph 10320, despite the pause in the firing stroke, the firing force does not drop to the firing force threshold FTF. MAX Below, and therefore, the firing drive cannot continue to advance through the firing stroke. However, as seen in graph 10300, the control system determines that the firing drive is still in the high coordination zone CZ H inside, and therefore, the control system utilizes a closed system to reduce the firing force.

[0186] As shown in graph 10300, at t5, the firing drive is retracted proximally from d2 to d3 by the firing motor, thereby reducing the firing force to 0, as shown in graph 10320. The length of the retraction stroke from d2 to d3 can be predetermined. The length of the retraction stroke can be defined as the displacement of the firing drive required to reduce the firing force to 0. At t6, before re-advancing the firing drive, the closing drive is advanced distally from the first intermediate position x1 to the second intermediate position x2 to apply additional closing force to the tissue via the second jaw. The second intermediate position x2 can be proximal to the distal-most position of the closing drive. The second intermediate position x2 can be the distal-most position of the closing drive. The length of the stroke from x1 to x2 can be stored in a memory and retrieved by the control system. The length of the stroke from x1 to x2 can be user-defined.

[0187] At t7, the control system actuates the firing motor to resume advancement of the firing drive toward its distal position d. When the firing drive is advanced toward the distal position, the firing force does not exceed the firing force threshold FTF. MAX , so the control system takes no additional action.

[0188] Now refer to Figure 12 , graphs 10400, 10410, 10420 of another exemplary firing stroke of a firing drive through a staple cartridge having a length d are provided. Graph 10400 illustrates the displacement of a firing drive (such as firing drive 10024) over time. Graph 10410 illustrates the displacement of a closure drive (such as closure tube 10013 (e.g., closure drive)) over time. Graph 10420 illustrates the firing force acting on the firing drive over time.

[0189] The nail cartridge is inserted into the first jaw of the end effector. Based on this insertion, the firing force threshold FTF is set. MAX , as shown in graph 10420. Trigger force threshold FTF MAX The firing force threshold FTF can be defined as the threshold that will cause a firing motor (such as firing motor 10056) driving the firing drive to stall. MAXThe trigger force threshold FTF may be stored in a memory (such as memory 10035 or memory 10053) and can be retrieved by the control system. The staple cartridge may include an RFID tag positioned thereon, and the control system may include an RFID scanner that scans the RFID tag to determine the type of staple cartridge that has been inserted into the end effector. Based on this determination, the control system retrieves the trigger force threshold FTF stored in the memory. MAX Firing force threshold FTF MAX Can be set by the user.

[0190] Additionally, upon insertion of the cartridge, the control system defines a high coordination zone CZ for the firing stroke of the firing driver. H and low-cooperation region CZ L High synergy zone CZ H and low-cooperation region CZ L It can be a predefined area stored in the memory and retrieved by the control system. High coordination area CZ H and low-cooperation region CZ L Can vary with the length of the nail magazine. High synergy zone CZ H and low-cooperation region CZ L Can be user-defined. High collaboration zone CZ H May include a first portion of the bin length and a low coordination zone CZ L A second portion of the bin length may be included. High synergy zone CZ H May include the first half of the bin length and the low coordination zone CZ L The latter half of the bin length may be included. High Coordination Zone CZ H May include the first third of the bin length and the low coordination zone CZ L The remaining two-thirds of the bin length may be included. High Coordination Zone CZ H May include the first two-thirds of the bin length and the low coordination zone CZ L The remaining third of the bin length may be included.

[0191] The end effector is then used to grasp the tissue within the jaws of the end effector. Specifically, referring to graph 10410, from t0 to t1, the closing driver is advanced distally from the proximal position x0 to a first intermediate position x1 by a closing motor (such as closing motor 10058) to apply a closing force to the second jaw (such as second jaw 10006), thereby causing the second jaw to transition toward the closed position. The first intermediate position x1 can be a position between the proximal position x0 and the distal position of the closing driver when the second jaw has reached the closed position. Once a threshold amount of force has been applied to the tissue by the second jaw, the closing driver can stop advancing toward the distal position, thereby preventing the tissue from being damaged. Therefore, when the closing driver stops advancing at the first intermediate position x1, the second jaw can be in a position intermediate between the open position and the closed position (i.e., partially closed or partially open position).

[0192] Once the closing drive stops advancing at t1, a certain amount of time (from t1 to t2) is allowed to pass before the firing system is activated. The amount of time can be a predetermined amount of time stored in a memory and can be retrieved by the control system. This amount of time can be variable and varies with the length of the nail magazine. The amount of time can vary with the closing force applied to the tissue by the second jaw. For example, the amount of time can correspond to the amount of time it takes for the closing force applied by the second jaw to drop a predetermined amount (indicating tissue thinning). The amount of time can vary with the length of time it takes for the closing drive to reach the first intermediate position x1. Other pre-compression time amounts are described in U.S. Patent Application No. 17 / 957,946, which is hereby incorporated by reference in its entirety.

[0193] At t2, referring to graph 10400, the firing system is actuated to advance the firing drive toward its distal position. Specifically, the firing drive advances from its proximal position d0 through the high cooperation zone CZ H The control system may include a position sensor that senses the position of the firing drive to determine if the firing drive is in the high coordination zone CZ. H Still in the low coordination zone CZ L From t2 to t3, the firing drive is advanced from its proximal position d0 to the locked position d1 at a first speed, which causes the firing force to increase (see graph 10420). The control system may include a force sensor that measures the firing force on the firing drive. The control system may include a current sensor that senses the current passing through the firing motor to determine the firing force. At the locked position d1, a locking member may be located in the end effector that prevents the firing drive from being advanced if the nail magazine is not positioned therein, as described above. The firing drive is then advanced from the locked position d1 toward the distal position at a second speed that is greater than the first speed. According to the present disclosure, the firing drive can be advanced at a single speed.

[0194] At t4, referring to graph 10420, the control system detects that the firing force has reached the firing force threshold FTF at point d2 of the firing stroke. MAX Therefore, the control system pauses the advancement of the firing drive, which causes the firing force to drop to the firing force threshold FTF. MAX the following.

[0195] As shown in graph 10400, unlike the example shown in graph 10300, the control system determines that the firing drive is no longer in the high cooperation zone CZ. H Instead, it has moved to the low-cooperation zone CZ L Therefore, the control system does not use the closed system to reduce the firing force. Instead, in the low coordination area CZ L In the embodiment of the present invention, the control system controls the firing load on the firing drive by adjusting the firing algorithm. The control system can adjust the firing algorithm to pause the advancement of the firing drive for a certain amount of time. The amount of time can be predetermined, stored in a memory and retrieved by the control system. The amount of time can be adjusted as the firing force approaches the firing force threshold FTF. MAX The amount of time may vary depending on the rate at which the firing force is reduced. The amount of time may vary depending on the number of pauses that have occurred in the firing stroke. The length of the pause may be user defined. The amount of time may be the time it takes for the firing force to drop the threshold amount to the firing force threshold FTF. MAX The control system may adjust the firing algorithm by reducing the speed of the firing drive. The control system may adjust the firing algorithm by reducing the speed of the firing drive after pausing the firing drive. The control system may adjust the firing algorithm by reducing the speed of the firing drive to a minimum speed. The control system may adjust the firing algorithm by reducing the speed of the firing drive to a speed intermediate the current speed and the minimum speed.

[0196] As can be seen in graphs 10400 and 10420, at t5, the firing drive resumes advancement toward the distal position after the firing force drops to force F1. As the firing drive advances toward the distal position, the firing force does not exceed the firing force threshold FTF. MAX , so the control system does not take additional action. However, as mentioned above, if the firing force threshold reaches or exceeds the firing force threshold FTF MAX , the control system will only adjust the firing algorithm.

[0197] Thus, the foregoing provides a predetermined zone that signals to the control system which system (the closing system or the firing system) should be utilized if the firing force reaches or exceeds the firing force threshold. H When the firing drive is in the low coordination zone CZ, the control system can exclusively utilize the closed system. LWhen the firing drive is in the high coordination zone CZ, the control system can exclusively utilize the firing system. H The control system may utilize a combination of a firing system and a closing system, as described elsewhere herein. The intermediate coordination zone may be defined within a high coordination zone CZ. H With low synergy zone CZ L Therefore, the control system is in the high coordination area CZ H Using closed system, in low coordination area CZ L The firing system is utilized in the middle, and a combination of the closing system and the firing system is utilized in the middle cooperative area.

[0198] Now refer to Figure 12A According to the present disclosure, a method 10430 for controlling a surgical stapling system is provided. The method 10430 includes setting 10432 a firing force threshold. A control system (such as controller 10033 or controller 10051) can set a firing force threshold that is a threshold that will cause a firing motor (such as firing motor 10056) to stall. The control system can set a firing force threshold that is less than a maximum firing force threshold that will cause the firing motor to stall. Elsewhere herein, a control system is described as to how to set a firing force threshold according to the present disclosure.

[0199] The method 10430 also includes setting 10434 a first cooperative zone in a first portion of a firing stroke of the firing drive and a second cooperative zone in a second portion of the firing stroke. The first cooperative zone may include a high cooperative zone CZ H , and the second synergistic region may include a low synergistic region CZ L Elsewhere herein is described how a control system sets the lengths of the cooperation zone and the firing zone in accordance with the present disclosure.

[0200] The method 10430 also includes advancing 10436 the closure actuator to a first position intermediate the proximal position and the distal position.The control system can actuate a closure motor (such as closure motor 10058) to advance the closure actuator (such as closure tube 10013) distally.

[0201] The method 10430 also includes advancing the firing drive toward the firing position 10438. The control system can actuate a firing motor (such as firing motor 10056) that applies a firing force to the firing drive (such as firing drive 10024) to advance the firing drive distally.

[0202] The method 10430 also includes monitoring 10440 the firing force as the firing drive moves toward the firing position.The surgical stapling system may include a force sensor (such as sensor 10039 or sensor 10054) that senses the firing force applied by the firing motor to the firing drive.

[0203] Method 10430 also includes comparing the firing force to a firing force threshold 10442. The control system can be in operative communication with the force sensor and receive the monitored firing force from the force sensor. The control system compares the firing force to the firing force threshold to determine whether the firing force is below the firing force threshold or whether the firing force has reached or exceeded the firing force threshold.

[0204] The method 10430 also includes determining 10444 whether the firing drive is located in the first coordinated region or the second coordinated region based on the comparison. The surgical stapling system may include a position sensor in operable communication with the control system and sensing the position of the firing drive as the firing drive moves through the firing stroke. Based on the firing force reaching or exceeding the firing force threshold, the control system interrogates the position sensor to determine whether the firing drive is located in the first coordinated region or the second coordinated region.

[0205] The method 10430 also includes controlling 10446 movement of at least one of the closing drive or the firing drive based on the determination. Based on the control system determining that the firing drive is located in the first cooperative region, the control system may control both the closing drive and the firing drive. Controlling movement of the firing drive and the closing drive may include: pausing advancement of the firing drive for a certain amount of time; retracting the firing drive toward a proximal position based on the elapsed time; advancing the closing drive distally from the first position to a second position; and resuming advancement of the firing drive toward the distal position based on the closing drive reaching the second position.

[0206] Based on the control system determining that the firing drive is located in the second cooperative region, the control system may control the firing drive but not the movement of the closing drive. Controlling the movement of the firing drive may include: pausing advancement of the firing drive for a certain amount of time; and resuming advancement of the firing drive toward the fired position based on the amount of time that has passed.

[0207] As described elsewhere herein, the control system can utilize the closing system and the firing system individually or in combination with each other to reduce the force of firing the firing drive. The control system can adjust the closing algorithm based on the amount of force experienced by the cam surface of the firing drive during the firing stroke.

[0208] Now refer to Figure 13, according to the present disclosure, a firing drive 10500 and anvil 10510 are provided. The firing drive 10500 can be similar to the firing drive 10024. The anvil 10510 can be similar to the anvil 10006. The firing drive 10500 includes a body 10502, a first flange 10504 extending from a first lateral side of the body 10502, and a second flange 10506 extending from a second lateral side of the body 10502. The body 10502 is sized to be received by a longitudinal slot defined in a staple cartridge (such as the longitudinal slot 10020 of the staple cartridge 10008) during the firing stroke of the firing drive 10500. The body 10502 can include a knife similar to the knife 10027 that is configured to cut tissue during the firing stroke of the firing drive 10500.

[0209] The anvil 10510 defines a channel 10512 comprising a first lower wall 10514, a second lower wall 10516, a first upper wall 10518, and a second upper wall 10520. In use, the first flange 10504 and the second flange 10506 traverse the channel 10512 during the firing stroke and engage the first lower wall 10514 and the second lower wall 10516, respectively, to maintain a spacing between the anvil 10510 and the staple cartridge during the firing stroke. When tissue is overcompressed by a closure actuator (such as the closure tube 10013), the first flange 10504 and the second flange 10506 can engage the first upper wall 10518 and the second upper wall 10520, respectively.

[0210] The anvil 10510 also includes a first force sensor 10515 positioned at the first lower wall 10514, a second force sensor 10517 positioned at the second lower wall 10516, a third force sensor 10519 positioned at the first upper wall 10518, and a fourth force sensor 10521 positioned at the second upper wall 10520. The force sensors 10515, 10517, 10519, 10521 measure the forces experienced by the flanges 10504, 10506 at their respective walls 10514, 10516, 10518, 10520 during the firing stroke of the firing drive 10500.

[0211] In operation, a control system (such as controller 10033 or controller 10051) receives force measurements from each of the force sensors 10515, 10517, 10519, 10521 to determine a clamped state of the anvil 10510. The clamped state may include an underclamped state, in which the first and second flanges 10504, 10506 ride along the lower walls 10514, 10516 of the channel 10512, which increases the firing force on the firing drive 10500. The clamped state may include an overclamped state, in which the first and second flanges 10504, 10506 ride along the upper walls 10518, 10520 of the channel 10512, which increases the firing force on the firing drive 10500. Based on the determination of an underclamped state or an overclamped state, the closure system adjusts the closure algorithm accordingly, as discussed in more detail below.

[0212] Now refer to Figure 14 , graphs 10530 and 10540 are provided that illustrate exemplary cutting and stapling operations performed using the firing drive 10500. Graph 10530 illustrates the closing force applied by a closing drive (such as the closing tube 10013) to the jaws of an end effector (such as the anvil 10510) over time. Graph 10540 illustrates the firing force driving the firing drive 10500 through the firing stroke over time.

[0213] At t0, the closing driver advances distally to apply a closing force 10532 to the anvil 10510 so that the anvil 10510 is transitioned toward the closed position. When the anvil 10510 has reached the closed position, the closing driver may be located in a first position intermediate between the proximal position and the distal position. Once a threshold amount of force has been applied to the tissue by the second jaw, the closing driver may stop advancing toward the distal position, thereby preventing the tissue from being damaged. Thus, when the closing driver stops advancing, the second jaw may be located in a position intermediate between the open position and the closed position (i.e., a partially closed or partially open position).

[0214] Once the closing drive stops advancing at t1, a certain amount of time (t1 to t2) is allowed to pass before the firing system is activated. The amount of time can be a predetermined amount of time stored in a memory and retrievable by a control system. The amount of time can be variable and varies with the length of the staple cartridge positioned in the end effector. The amount of time can vary with the closing force applied to the tissue by the anvil 10510. For example, the amount of time can correspond to the amount of time it takes for the closing force applied by the second jaw to drop a predetermined amount (indicating tissue thinning). The amount of time can vary with the length of time it takes for the closing drive to place the anvil 10510 in the closed position. Other pre-compression time amounts are described in U.S. Patent Application No. 17 / 957,946, which is hereby incorporated by reference in its entirety.

[0215] Once the amount of time has elapsed, at t2, the control system actuates the firing system to advance the firing drive 10500 through its firing stroke. During the firing stroke, the first flange 10504 and the second flange 10506 traverse the channel 10512 in the anvil 10510.

[0216] As the firing drive 10500 traverses the firing stroke, the control system monitors the firing force 10542 of the firing drive 10500. The firing force can be measured using a force sensor on the firing drive 10500. The firing force can be measured using a current sensor that measures the current passing through the firing motor driving the firing drive 10500. Various other sensors for measuring the firing load on the firing drive and firing system are described elsewhere herein.

[0217] At t3, the firing force 10542 reaches the firing force threshold FTF MAX Firing force threshold FTF MAX The firing force threshold FTF can be defined as the threshold that will cause a firing motor (such as firing motor 10056) driving the firing drive to stall. MAX Can be stored in memory and can be retrieved by the control system. Firing force threshold FTF MAX The firing force threshold FTF may be based on the type of staple cartridge positioned in the end effector. MAX Can be set by the user. Based on the firing force 10542 reaching the firing force threshold FTF MAX , the control system determines the clamping state of the anvil 10510.

[0218] The control system can determine the clamped state of the anvil 10510 by evaluating the forces sensed by the upper force sensors 10519, 10521 and the lower force sensors 10515, 10517. The control system can compare the forces sensed by the upper force sensors 10519, 10521 with the forces sensed by the lower force sensors 10515, 10517. The control system can determine that the anvil 10510 is in an under-clamped state based on the lower force sensors 10515, 10517 sensing a force greater than the force sensed by the upper force sensors 10519, 10521 by a threshold amount. The control system can determine that the anvil 10510 is in an over-clamped state based on the upper force sensors 10519, 10521 sensing a force greater than the force sensed by the lower force sensors 10515, 10517 by a threshold amount. The threshold values ​​used for comparison can be stored in memory and can be retrieved by the control system. The threshold values ​​can be user-defined. The control system can determine that the anvil 10510 is in an under-clamped state based on the lower force sensors 10515, 10517 sensing a force exceeding a threshold value. The control system can determine that the anvil 10510 is in an over-clamped state based on the upper force sensors 10519, 10521 sensing a force exceeding a threshold value.

[0219] Based on the determined clamping state of the anvil 10510, the control system adjusts the closing algorithm to change the position of the closing actuator. When an over-clamping state is determined, the closing actuator may be retracted proximally, which reduces the closing force 10532 to a first adjusted closing force 10534. Based on this adjustment, the firing force 10542 is reduced to a first adjusted firing force 10544. When an under-clamping state is determined, the closing actuator may be advanced distally, which increases the closing force 10532 to a second adjusted closing force 10536. Based on this adjustment, the firing force 10542 is reduced to a second adjusted firing force 10546.

[0220] Now refer to Figure 14A According to the present disclosure, a method 10550 for controlling a surgical stapling system is provided. Figure 14A as well as Figure 3 and Figure 4 According to method 10550a, a control system (such as controller 10033 or controller 10051) sets 10552 a firing force threshold value as the threshold value that will cause a firing motor (such as firing motor 10056) to stall. The control system may set the firing force threshold value to be less than the maximum firing force threshold value that will cause the firing motor to stall. How a control system sets the firing force threshold value according to the present disclosure is described elsewhere herein.

[0221] According to method 10550, the control system can advance 10552 the closure actuator to a first position intermediate the proximal position and the distal position. The control system can actuate a closure motor (such as closure motor 10058) to advance the closure actuator (such as closure tube 10013) distally.

[0222] According to the method 10550, the control system can advance the firing drive toward the firing position 10554. The control system can actuate a firing motor (such as firing motor 10056), which applies a firing force to the firing drive (such as firing drive 10024) to advance the firing drive distally.

[0223] According to method 10550, as the firing drive moves toward the firing position, the control system can monitor 10558 the firing force. The surgical stapling system can include a force sensor (such as sensor 10039 or sensor 10054) that senses the firing force applied by the firing motor to the firing drive.

[0224] According to method 10550, the control system may compare the firing force to a firing force threshold value 10560. The control system may be in operative communication with the force sensor and may receive the monitored firing force from the force sensor. The control system compares the firing force to the firing force threshold value to determine whether the firing force is below the firing force threshold value or whether the firing force has reached or exceeded the firing force threshold value.

[0225] Based on the comparison, the control system can determine 10562 the clamped state of the jaws of the end effector according to method 10550. As described elsewhere herein, the control system can determine the clamped state of the jaws (such as the anvil 10510) by evaluating the forces sensed in a channel (such as the channel 10512) of the jaws by the upper force sensors 10519, 10521 and the lower force sensors 10515, 10517.

[0226] According to method 10550, the control system can control 10564 the movement of the closure actuator based on this determination. Based on the control system determining the clamping state of the jaws, the control system can adjust the closing algorithm to change the position of the closure actuator. When an under-clamping state is determined, the closure actuator can be advanced distally. When an over-clamping state is determined, the closure actuator can be retracted proximally.

[0227] During parameterization of a surgical cutting and stapling device, an unloaded closing load and an unloaded firing load may be determined. The unloaded closing load may be the amount of force required to transition the jaws of the end effector (such as the second jaw 10006) from an open position to a closed position. The unloaded firing load may be the amount of force required to move a firing drive (such as the firing drive 10024) through a firing stroke. These values ​​constitute a baseline for use by the surgical system. These baseline values ​​may be stored in a memory, such as the memory 10035 or the memory 10053.

[0228] Additional functionality may be included during the parameterization process. A "dummy" staple cartridge may be inserted into an end effector (such as end effector 10002) and actuated to grip onto the simulated tissue material. One of the simulated tissue materials is used to simulate an overstressed firing / closing condition, and a second of the simulated tissue materials is used to simulate an understressed firing / closing condition. The results of these three baseline simulations (no load, overstress, and understress) are used to influence the final parameters of the closing force threshold, firing force threshold, and device-specific friction loss.

[0229] In addition, during parameterization, the surgical system may indicate that the maximum closing force is above the nominal threshold amount. Therefore, the surgical system is adjusted by offsetting the maximum closing threshold accordingly. Due to the closing threshold adjustment, the surgical system also adjusts the firing force threshold to cooperate with the increased closing force. The adjustment of the firing force threshold can be proportional to the adjustment of the closing force threshold. The adjustment of the firing force threshold can be a 1:1 adjustment with the adjustment of the closing force threshold. Based on the offset maximum closing force threshold, the control system can also adjust the time when the stall warning signal is provided. Based on the offset maximum closing force threshold, the control system can also adjust parameters associated with the motor control algorithm. The parameters may include the maximum pulse width modulation signal to the motor controller (such as motor driver 10067), the acceleration of the firing system to the firing driver, or the pause / pause sequence in the firing algorithm, or a combination thereof. Other parameters associated with the motor control algorithm are discussed elsewhere in this document.

[0230] refer to Figure 15 and Figure 16According to the present disclosure, a surgical stapling system 10600 including an end effector 10601 is provided. End effector 10601 may be similar to end effector 10002. End effector 10601 includes a first jaw 10602 and a second jaw 10604. First jaw 10602 includes an elongated channel 10603 sized to receive a staple cartridge, such as staple cartridge 10008, therein. Second jaw 10604 includes an anvil configured to deform staples ejected from the staple cartridge. Second jaw 10604 is pivotable relative to first jaw 10602 between an open position and a closed position. First jaw 10602 defines a first jaw channel 10606 including a first surface 10607, and second jaw 10604 defines a second jaw channel 10608 including a second surface 10609. A first distance d1 is defined between first surface 10607 and second surface 10609.

[0231] The surgical stapling system 10600 further includes a firing drive 10610 and a firing rod 10612. The firing drive 10610 may be similar to the firing drive 10024, and the firing rod 10612 may be similar to the firing rod 10028. In use, the firing rod 10612 is driven by a firing system (such as a firing motor 10056 and a firing motor drive assembly 10057) to drive the firing drive 10610 through a firing stroke, thereby deploying staples removably stored in a staple cartridge and cutting tissue captured by the end effector 10601 with a knife 10614, as described elsewhere herein. The firing rod 10612 may include a plurality of laminated strips.

[0232] The firing drive 10610 further includes a first cam 10616 and a second cam 10618. During the firing stroke, the first cam 10616 traverses the first jaw channel 10606, and the second cam traverses the second jaw channel 10608. The first cam 10616 and the second cam 10618 cooperate to maintain the end effector 10601 in a closed state by applying a closing force to the first surface 10607 and the second surface 10609, respectively. A second distance d2 is defined between the top surface 10617 of the first cam 10616 and the bottom surface 10619 of the second cam 10618.

[0233] During the firing stroke, the firing drive 10610 can experience frictional resistance 10630 from the bottom surface 10619 of the second cam 10618, which engages with and rides along the second surface 10609 of the second jaw channel 10608. Similarly, the firing drive 10610 can experience frictional resistance 10632 from the top surface 10617 of the first cam 10616, which engages with and rides along the first surface 10617 of the first jaw channel 10606. Due to these frictional forces 10630, 10632, the firing drive 10610 can rotate 10640, which can result in an increase in the amount of force required to fire the firing drive 10610.

[0234] During the parameterization process, information about the end effector 10601 is used to calibrate the control system so that it knows when to adjust the closure system and / or the firing system to adjust the firing force on the firing drive. The control system (such as controller 10033 or controller 10051) can be provided with the distance d1 and the distance d2. Figure 15 As shown, d2 is greater than d1. Therefore, the control system determines that there is a gap between surfaces 10617, 10619 and surfaces 10607, 10609, which may cause the firing drive 10610 to rotate during the firing stroke. Such component level measurements of the end effector 10601 are integrated into the control system so that the control system better understands when the closure system algorithm and / or the firing system algorithm should be adjusted during the firing stroke of the firing drive. These component level measurements can be used to adjust the firing zone of the firing drive. These component level measurements can be used to adjust the variable firing zone, which is established based on the synergy between the closure system and the firing system, as described elsewhere herein. These component level measurements can be used to adjust a predetermined firing zone, such as a high synergy zone CZ H and low-cooperation region CZ L , as described elsewhere herein. Any number of component level measurements may be incorporated into the control system to adjust the coordinated area of ​​the firing drive. The component level measurements may include the height of the blade, the height of the firing drive, the height of the first jaw channel, or the height of the second jaw channel, or a combination thereof.

[0235] As described elsewhere herein, the control system can utilize the closure system and the firing system, either alone or in combination, to reduce the force required to fire the firing drive. The control system can utilize a combination of the energy release provided by the closure system and pauses and pulses in the firing algorithm to further reduce the force required to fire the firing drive.

[0236] Now refer to Figure 17, a graph 10700 is provided that illustrates the relationship between firing force and time for various firing strokes of firing drivers of different tissue thicknesses. As shown in graph 10700, during a first firing stroke through thin tissue using a firing driver (such as firing driver 10024), the firing force has a first firing force curve 10702. In the first firing force curve 10702, the force firing the firing driver reaches a first firing force peak 10704. After the first firing force peak 10704, the force firing the firing driver increases at a first rate.

[0237] During a second firing stroke using the firing driver, the firing force has a second firing force curve 10712 in which the forces experienced are greater than the forces in the first firing force curve 10702. In the second firing force curve 10712, the force to fire the firing driver reaches a second firing force peak 10714 that is greater than the first firing force peak 10704. After the second firing force peak 10714, the force to fire the firing driver increases at a second rate.

[0238] During a third firing stroke using the firing driver, the firing force has a third firing force curve 10722 in which the forces experienced are greater than the forces in the first firing force curve 10702 and the second firing force curve 10712. In the third firing force curve 10722, the force to fire the firing driver reaches a third firing force peak 10724 that is greater than the first firing force peak 10704 and the second firing force peak 10714. After the third firing force peak 10724, the force to fire the firing driver increases at a third rate.

[0239] The control system may predict a firing force curve (such as firing force curves 10702, 10712, 10722) based on an initial firing force reading (such as initial firing force peaks 10704, 10714, 10724), the rate at which the firing force changes from the initial firing force peak, or the number of peaks and valleys detected in the firing force curve after a certain amount of time has passed from the initial firing force peaks 10704, 10714, 10724, or a combination thereof. Based on this prediction, the control system adjusts the closing algorithm and / or the firing algorithm, as described elsewhere herein, to reduce the firing force curve later in the transection cycle.

[0240] The staple cartridge can be inserted into a first jaw (such as first jaw 10004) of an end effector (such as end effector 10002). The end effector is then utilized to grasp the tissue within the jaws of the end effector. Specifically, a closing drive (such as closing tube 10013) is advanced distally to apply a closing force to a second jaw (such as second jaw 10006), thereby causing the second jaw to transition toward a closed position. The firing system (such as firing motor 10056 and firing motor drive assembly 10057) then advances the firing drive (such as firing drive 10024) through its firing stroke to deploy staples from the staple cartridge and cut the tissue captured by the end effector.

[0241] As the firing drive advances through its firing stroke, the control system monitors the firing force of the firing drive. The firing force can be measured using a force sensor on the firing drive. The firing force can be measured using a current sensor that measures the current flowing through the firing motor that drives the firing drive. Various other sensors for measuring the firing load on the firing drive and firing system are described elsewhere herein.

[0242] At one point in the firing stroke of the firing driver, the control system detects an initial firing force peak. The initial firing force peak may indicate that the firing driver has begun to transect tissue captured by the end effector. The initial firing force peak may indicate that the firing driver has begun to deploy staples from the staple cartridge.

[0243] Based on this detection, the control system compares the initial firing force peak with a threshold value stored in a memory (such as memory 10053). The threshold value may correspond to the force value expected for different tissue thicknesses. If the initial firing force peak exceeds a first threshold value but remains below a second threshold force value greater than the first threshold value, the control system may determine that thin tissue is positioned within the jaws of the end effector. If the initial firing force peak exceeds a second threshold value but remains below a third threshold force value greater than the second threshold value, the control system may determine that medium tissue is positioned within the jaws of the end effector. If the initial firing force peak exceeds a third threshold value, the control system may determine that thick tissue is positioned within the jaws of the end effector. Based on this comparison, the control system predicts the future firing force expected to be experienced by the firing drive during the firing stroke.

[0244] After detecting the initial firing force peak, the control system may detect the rate at which the firing force increases from the initial firing force peak. Based on the initial firing force peak and the rate at which the firing force increases from the initial firing force peak, the control system predicts a future force to be fired during the firing stroke. The control system may detect the number of peaks and valleys in the firing force during a portion of the firing stroke after the initial firing force peak. Based on the initial firing force peak and the number of peaks and valleys detected, the control system predicts a future force to be fired during the firing stroke.

[0245] Based on the prediction, the control system may adjust the closing algorithm to shift the closing actuator. When thin tissue is determined to be positioned in the jaws of the end effector, the control system may advance the closing actuator by a first amount. When medium tissue is determined to be positioned in the jaws of the end effector, the control system may advance the closing actuator by a second amount that is different from the first amount. The second amount may be greater than the first amount. When thick tissue is determined to be positioned in the jaws of the end effector, the control system may advance the closing actuator by a third amount that is different from the second amount. The third amount may be greater than the second amount.

[0246] Based on this prediction, the control system can set regions for the firing stroke, where these regions include the length of the firing stroke where the closing algorithm is specifically adjusted, the firing algorithm is specifically adjusted, or a combination of both the closing algorithm and the firing algorithm is adjusted, as discussed elsewhere in this document.

[0247] Based on this prediction, the control system can adjust a predetermined zone, such as the high coordination zone CZ for the firing stroke. H and low-cooperation region CZ L Based on this prediction, the control system can adjust the closing algorithm and / or the firing algorithm for different parts of the firing stroke. Based on this prediction, the control system can adjust the length and number of pauses that occur during the firing stroke of the firing drive.

[0248] Thus, based on predictions from earlier portions, the control system is able to make lower force adjustments that will result in firing later in the firing stroke.

[0249] 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. For example, the surgical instrument systems described herein may be actuated by a manually operated trigger. The motors 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, entitled “SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS,” now U.S. Patent No. 9,072,535, discloses several examples of robotic surgical instrument systems in greater detail.

[0250] 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. Thus, 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 are disclosed for certain components, other materials may also be used. Furthermore, according to various embodiments, a single component may be replaced with multiple components, and multiple components may be replaced with a single component to perform a given function or functions. The foregoing detailed description and the following claims are intended to cover all such modifications and variations.

[0251] Various aspects of the subject matter described herein are set forth in the following numbered examples:

[0252] Example 1 - A surgical stapling system (10000), comprising: an end effector (10002); a closing drive (10013) movable to rotate the second jaw relative to the first jaw; a closing motor (10058) for driving the closing drive; a firing drive (10024) movable from a non-firing position toward a firing position during a firing stroke; a firing motor (10056) for applying a firing force to the firing drive; a force sensor (10039, 10054) for sensing the firing force applied by the firing motor; and a control circuit (10032, 10051) capable of coupling with the closing motor, the firing motor, and the force sensor. The end effector comprises a first jaw (10004) and a second jaw (10006), the second jaw being movable relative to the first jaw. The control circuit is used to: set a firing force threshold; advance the closing drive to a first position; advance the firing drive; monitor the firing force as the firing drive is advanced; compare the firing force to the firing force threshold; and control the movement of at least one of the closing drive or the firing drive based on: the result of the comparison; and the area in which the firing drive is positioned.

[0253] Example 2 - The surgical stapling system of Example 1, wherein the control circuit is configured to monitor the relationship between the closing drive and the firing drive as the firing drive is advanced. To set the firing force threshold, the control circuit is configured to: set an initial firing force threshold; and adjust the initial firing force threshold to a first adjusted firing force threshold based on the monitored relationship between the closing drive and the firing drive.

[0254] Example 3 - A surgical suturing system according to Example 2, wherein, in order to monitor the relationship between the closing drive and the firing drive, the control circuit is used to monitor the amount of coordination between the closing drive and the firing drive to maintain the second jaw in a closed position.

[0255] Example 4 - The surgical stapling system of Example 3, wherein the closing drive is used to apply a first closing force to the second jaw, and the firing drive is used to apply a second closing force to the second jaw. The surgical stapling system further includes: a first closing force sensor (10039, 10054), the first closing force sensor being used to sense the first closing force; and a second closing force sensor (10039, 10054), the second closing force sensor being used to sense the second closing force. The control circuit is used to: receive the first closing force from the first closing force sensor; receive the second closing force from the second closing force sensor; and monitor the amount of coordination between the closing drive and the firing drive based on a ratio of the first closing force to the second closing force.

[0256] Example 5 - The surgical stapling system of Example 4, wherein the control circuit is configured to determine a region from a plurality of regions in which the firing drive is located. The regions include a first firing region and a second firing region. The firing drive is determined to be in the first firing region based on the first closing force being greater than or equal to the second closing force. The firing drive is determined to be in the second firing region based on the second closing force being greater than the first closing force.

[0257] Example 6 - A surgical suturing system according to Example 5, wherein the control circuit is used to set a threshold coordination value, wherein the area includes a third firing area, and wherein the firing drive is determined to be in the third firing area based on the ratio of the first closing force to the second closing force reaching the threshold coordination value or falling below the threshold coordination value.

[0258] Example 7 - The surgical stapling system of Example 6, wherein the control circuit is configured to adjust the initial firing force threshold to the first adjusted firing force threshold based on the second closing force being greater than the first closing force. The control circuit is configured to control movement of the closing drive without controlling movement of the firing drive based on the monitored firing force reaching the initial firing force threshold and the firing drive being positioned in the first firing zone. The control circuit is configured to control movement of the closing drive and the firing drive based on the monitored firing force reaching the first adjusted firing force threshold and the firing drive being positioned in the second firing zone.

[0259] Example 8 - A surgical suturing system according to Example 7, wherein, in order to set the firing force threshold, the control circuit is used to adjust the first adjusted firing force threshold to a second adjusted firing force threshold based on the monitored relationship between the closing drive and the firing drive, and wherein the control circuit is used to control the movement of the firing drive without controlling the movement of the closing drive based on the firing force reaching the second adjusted firing force threshold and the firing drive being positioned in the third firing area.

[0260] Example 9 - The surgical stapling system according to Example 1, wherein the control circuit is used to set: a first cooperative zone (CZ H ), wherein the first cooperative zone is defined in the first portion of the firing stroke; and a second cooperative zone (CZ L ), wherein the second cooperative area is defined in a second portion of the firing stroke distal to the first portion of the firing stroke.

[0261] Example 10 - The surgical stapling system of Example 9 further comprises a position sensor (10039, 10054) couplable to the control circuit. The position sensor is configured to sense the position of the firing drive. The control circuit is configured to: determine whether the firing drive is in the first coordinated region or the second coordinated region; and control the movement of both the closing drive and the firing drive based on: the firing force reaching the firing force threshold; and the firing drive being located in the first coordinated region.

[0262] Example 11 - A surgical suturing system according to Example 10, wherein, in order to control the movement of the firing drive, the control circuit is used to: pause the advancement of the firing drive for a certain amount of time; and retract the firing drive toward a proximal position based on the amount of time that has passed.

[0263] Example 12 - A surgical stapling system according to Example 11, wherein, in order to control the movement of the closing drive, the control circuit is used to advance the closing drive distally from the first position to a second position.

[0264] Example 13 - A surgical stapling system according to Example 12, wherein, in order to control the movement of the firing drive, the control circuit is used to resume the advancement of the firing drive toward the distal position based on the closing drive reaching the second position.

[0265] Example 14 - A surgical suturing system according to Example 12, wherein the control circuit controls the movement of the firing drive without controlling the movement of the closing drive based on the following aspects: the firing force reaches the firing force threshold; and the firing drive is located in the second cooperative area.

[0266] Example 15 - A surgical suturing system according to Example 16, wherein, in order to control the movement of the firing drive, the control circuit is used to: pause the advancement of the firing drive for a certain amount of time; and resume the advancement of the firing drive toward the firing position based on the amount of time that has passed.

[0267] Example 16 - A surgical stapling system (10000), comprising: an end effector (10002); a closing drive (10013) movable to rotate the second jaw relative to the first jaw; a closing motor (10058) for driving the closing drive; a firing drive (10024, 10500) movable from a non-fired position toward a fired position during a firing stroke; a firing motor (10056) for applying a firing force to the firing drive; a third force sensor (10039, 10054) for sensing the firing force applied by the firing motor; and a control circuit (10032, 10051). The end effector comprises a first jaw (10004) and a second jaw (10006, 10510), the second jaw being movable relative to the first jaw. The second jaw defines a channel (10512). The channel includes an upper wall (10518), the upper wall including a first force sensor (10519); and a lower wall (10514), the lower wall including a second force sensor (10515). The firing driver includes a flange (10504) to traverse the channel during the firing stroke. The first force sensor is used to sense a first force applied by the flange to the upper wall. The second force sensor is used to sense a second force applied by the flange to the lower wall. The control circuit can be coupled to the closing motor, the firing motor, the first force sensor, the second force sensor, and the third force sensor. The control circuit is used to: set a firing force threshold; advance the closing driver to a first position; advance the firing driver toward the firing position; monitor the firing force while the firing driver is advanced; compare the firing force with the firing force threshold; determine a clamping state of the second jaw based on the result of the comparison; and control movement of the closing driver based on the result of the determination.

[0268] Example 17 - A surgical suturing system according to Example 16, wherein, in order to determine the clamping state of the second jaw, the control circuit is used to evaluate the first force applied by the flange to the upper wall and the second force applied by the flange to the lower wall.

[0269] Example 18 - A surgical stapling system according to Example 16, wherein, in order to control the movement of the closing drive, the control circuit is used to advance the closing drive based on the determined under-clamping state.

[0270] Example 19 - A surgical stapling system according to Example 16, wherein, in order to control the movement of the closing drive, the control circuit is used to retract the closing drive based on the determined over-clamping state.

[0271] Example 20 - A surgical stapling system, comprising: an end effector; a closing drive movable to rotate the second jaw relative to the first jaw; a closing motor for driving the closing drive; a firing drive movable from a non-fired position toward a fired position during a firing stroke; a firing motor for applying a firing force to the firing drive; a force sensor for sensing the firing force applied by the firing motor; and a control circuit coupled to the closing motor, the firing motor, and the force sensor. The end effector comprises a first jaw and a second jaw rotatable relative to the first jaw. The control circuit is configured to: set a firing force threshold; advance the closing drive to a first position; advance the firing drive; monitor the firing force while the firing drive is advanced; compare the firing force to the firing force threshold; and control movement of at least one of the closing drive or the firing drive based on: a result of the comparison; and an area in which the firing drive is positioned.

[0272] Example 21 - The surgical stapling system of Example 20, wherein the control circuit is configured to monitor the relationship between the closure drive and the firing drive as the firing drive is advanced. To set the firing force threshold, the control circuit is configured to: set an initial firing force threshold; and adjust the initial firing force threshold to a first adjusted firing force threshold based on the monitored relationship between the closure drive and the firing drive.

[0273] Example 22 - A surgical suturing system according to Example 21, wherein, in order to monitor the relationship between the closing drive and the firing drive, the control circuit is used to monitor the amount of coordination between the closing drive and the firing drive to maintain the second jaw in a closed position.

[0274] Example 23 - The surgical stapling system of Example 22, wherein the closing drive is configured to apply a first closing force to the second jaw, and the firing drive is configured to apply a second closing force to the second jaw. The surgical stapling system further comprises: a first closing force sensor configured to sense the first closing force; and a second closing force sensor configured to sense the second closing force. The control circuit is configured to: receive the first closing force from the first closing force sensor; receive the second closing force from the second closing force sensor; and monitor the amount of coordination between the closing drive and the firing drive based on a ratio of the first closing force to the second closing force.

[0275] Example 24 - The surgical stapling system of Example 23, wherein the control circuit is configured to determine a region from a plurality of regions in which the firing drive is located. The regions include a first firing region and a second firing region. The firing drive is determined to be in the first firing region based on the first closing force being greater than or equal to the second closing force. The firing drive is determined to be in the second firing region based on the second closing force being greater than the first closing force.

[0276] Example 25 - The surgical stapling system of Example 24, wherein the control circuit is configured to set a threshold coordination value. The region includes a third firing region. The firing drive is determined to be within the third firing region based on the ratio of the first closing force to the second closing force reaching or falling below the threshold coordination value.

[0277] Example 26 - The surgical stapling system of Example 25, wherein the control circuit is configured to adjust the initial firing force threshold to the first adjusted firing force threshold based on the second closing force being greater than the first closing force. The control circuit is configured to control movement of the closing drive without controlling movement of the firing drive based on the monitored firing force reaching the initial firing force threshold and the firing drive being positioned in the first firing zone. The control circuit is configured to control movement of the closing drive and the firing drive based on the monitored firing force reaching the first adjusted firing force threshold and the firing drive being positioned in the second firing zone.

[0278] Example 27 - A surgical stapling system according to Example 26, wherein the control circuit is used to adjust the initial firing force threshold to the first adjusted firing force threshold based on the firing drive entering the second firing zone.

[0279] Example 28 - The surgical stapling system of Example 26, wherein, to set the firing force threshold, the control circuit is configured to adjust the first adjusted firing force threshold to a second adjusted firing force threshold based on the monitored relationship between the closure drive and the firing drive. The control circuit is configured to control movement of the firing drive without controlling movement of the closure drive based on the firing force reaching the second adjusted firing force threshold and the firing drive being positioned in the third firing zone.

[0280] Example 29 - A surgical stapling system according to Example 28, wherein the control circuit is used to adjust the first adjusted firing force threshold to the second adjusted firing force threshold based on the firing drive entering the third firing zone.

[0281] Example 30 - A surgical suturing system according to Example 20, wherein the control circuit is used to set: a first cooperative area, which is defined in a first part of the firing stroke; and a second cooperative area, which is defined in a second part of the firing stroke distal to the first part of the firing stroke.

[0282] Example 31 - The surgical stapling system of Example 30 further comprises a position sensor couplable to the control circuit. The position sensor is configured to sense the position of the firing drive. The control circuit is configured to: determine whether the firing drive is within the first coordinated region or the second coordinated region; and control the movement of both the closing drive and the firing drive based on: the firing force reaching the firing force threshold; and the firing drive being within the first coordinated region.

[0283] Example 32 - A surgical suturing system according to Example 31, wherein, in order to control the movement of the firing drive, the control circuit is used to: pause the advancement of the firing drive for a certain amount of time; and retract the firing drive toward a proximal position based on the amount of time that has passed.

[0284] Example 33 - A surgical stapling system according to Example 32, wherein, in order to control the movement of the closing drive, the control circuit is used to advance the closing drive distally from the first position to a second position.

[0285] Example 34 - A surgical suturing system according to Example 33, wherein, in order to control the movement of the firing drive, the control circuit is used to resume the advancement of the firing drive toward the distal position based on the closing drive reaching the second position.

[0286] Example 35 - A surgical suturing system according to Example 31, wherein the control circuit controls the movement of the firing drive without controlling the movement of the closing drive based on the following aspects: the firing force reaches the firing force threshold; and the firing drive is located in the second cooperative area.

[0287] Example 36 - A surgical suturing system according to Example 35, wherein, in order to control the movement of the firing drive, the control circuit is used to: pause the advancement of the firing drive for a certain amount of time; and resume the advancement of the firing drive toward the firing position based on the amount of time that has passed.

[0288] Example 37 - A surgical stapling system, comprising: an end effector; a closing drive movable to rotate the second jaw relative to the first jaw; a closing motor for driving the closing drive; a firing drive movable from an unfired position toward a fired position during a firing stroke; a firing motor for applying a firing force to the firing drive; a third force sensor for sensing the firing force applied by the firing motor; and a control circuit coupled to the closing motor, the firing motor, the first force sensor, the second force sensor, and the third force sensor. The end effector comprises a first jaw and a second jaw rotatable relative to the first jaw. The second jaw defines a channel. The channel comprises an upper wall comprising a first force sensor; and a lower wall comprising a second force sensor. The firing drive comprises a flange for traversing the channel during the firing stroke. The first force sensor senses a first force applied by the flange to the upper wall. The second force sensor is configured to sense a second force applied by the flange to the lower wall. The control circuit is configured to: set a firing force threshold; advance the closing actuator to a first position; advance the firing actuator toward the firing position; monitor the firing force while the firing actuator is advanced; compare the firing force with the firing force threshold; determine a clamping state of the second jaw based on a result of the comparison; and control movement of the closing actuator based on the result of the determination.

[0289] Example 38 - A surgical suturing system according to Example 37, wherein, in order to determine the clamping state of the second jaw, the control circuit is used to evaluate the first force applied by the flange to the upper wall and the second force applied by the flange to the lower wall.

[0290] Example 39 - A surgical suturing system according to Example 38, wherein, in order to control the movement of the closing drive, the control circuit is used to advance the closing drive based on a determined under-clamping state and to retract the closing drive based on a determined over-clamping state.

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No. D933,220, entitled “TISSUE THICKNESS COMPENSATOR COMPRISING AT LEAST ONE MEDICAMENT,” issued on December 12, 2017; No. 10,588,623, entitled “ADHESIVE FILM LAMINATE,” issued on March 17, 2020; No. 8,499,992, entitled “DEVICE AND METHOD FOR CONTROLLING COMPRESSION OF TISSUE,” issued on August 6, 2013; U.S. Patent Application Publication No. 2022 / 0378427, entitled “STAPLING INSTRUMENT COMPRISING JAWMOUNTS,” published on December 1, 2022; and U.S. Patent Application Publication No. 2022 / 0378427, entitled “METHOD OF APPLYING A BUTTRESS TO A U.S. Patent No. 10,349,939, entitled “SURGICAL STAPLER”; U.S. Patent No. 9,386,988, issued on July 12, 2016, entitled “RETAINER ASSEMBLY INCLUDING A TISSUE THICKNESS COMPENSATOR”;U.S. Patent No. 9,072,535, entitled “SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS,” issued on July 7, 2015; and U.S. Patent No. 9,844,369, entitled “SURGICAL END EFFECTORS WITH FIRING ELEMENT MOITORING ARRANGEMENTS,” issued on December 19, 2017.

[0292] The entire disclosures of the following patents are hereby incorporated herein by reference:

[0293] U.S. Patent No. 5,403,312, entitled “ELECTROSURGICAL HEMOSTATIC DEVICE,” issued on April 4, 1995;

[0294] U.S. Patent 7,000,818, issued on February 21, 2006, entitled “SURGICAL STAPLING INSTRUMENT HAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS”;

[0295] U.S. Patent 7,422,139, issued September 9, 2008, entitled “MOTOR-DRIVEN SURGICALCUTTING AND FASTENING INSTRUMENT WITH TACTILEPOSITION FEEDBACK”

[0296] U.S. Patent 7,464,849, issued on December 16, 2008, entitled “ELECTRO-MECHANICAL SURGICAL INSTRUMENT WITH CLOSURE SYSTEM AND ANVILALIGNMENT COMPONENTS”;

[0297] U.S. Patent 7,670,334, issued on March 2, 2010, entitled “SURGICAL INSTRUMENT HAVING AN ARTICULATING END EFFECTOR”;

[0298] U.S. Patent 7,753,245, entitled “SURGICAL STAPLING INSTRUMENTS,” issued on July 13, 2010;

[0299] U.S. Patent 8,393,514, issued on March 12, 2013, entitled “SELECTIVELY ORIENTABLE IMPLANTABLE FASTENER CARTRIDGE”;

[0300] - U.S. Patent Application Serial No. 11 / 343,803, entitled “SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES,” now U.S. Patent No. 7,845,537;

[0301] U.S. Patent Application Serial No. 12 / 031,573, filed February 14, 2008, entitled “SURGICAL CUTTING AND FASTENING INSTRUMENT HAVING RF ELECTRODES”;

[0302] - U.S. Patent Application Serial No. 12 / 031,873, filed February 15, 2008, entitled “END EFFECTORS FOR ASURGICAL CUTTING AND STAPLING INSTRUMENT,” now U.S. Patent No. 7,980,443;

[0303] - U.S. patent application serial number 12 / 235,782, entitled “MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT,” now U.S. Patent No. 8,210,411;

[0304] - U.S. Patent Application Serial No. 12 / 235,972, entitled “MOTORIZED SURGICAL INSTRUMENT,” now U.S. Patent No. 9,050,083.

[0305] - U.S. Patent Application Serial No. 12 / 249,117, entitled “POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM,” now U.S. Patent No. 8,608,045;

[0306] U.S. Patent Application Serial No. 12 / 647,100, filed December 24, 2009, entitled “MOTOR-DRIVEN SURGICALCUTTING INSTRUMENTWITH ELECTRIC ACTUATORDIRECTIONAL CONTROL ASSEMBLY,” now U.S. Patent No. 8,220,688;

[0307] - Submitted on September 29, 2012, the US title "STAPLE CARTRIDGE"

[0308] US patent application serial number 12 / 893,461, now US Patent 8,733,613;

[0309] - U.S. Patent Application Serial No. 13 / 036,647, filed February 28, 2011, entitled “SURGICAL STAPLING INSTRUMENT,” now U.S. Patent No. 8,561,870;

[0310] - U.S. Patent Application Serial No. 13 / 118,241, entitled “SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS,” now U.S. Patent No. 9,072,535;

[0311] U.S. Patent Application Serial No. 13 / 524,049, filed June 15, 2012, entitled “ARTICULATABLE SURGICALINSTRUMENT COMPRISING A FIRING DRIVE,” now U.S. Patent No. 9,101,358;

[0312] U.S. Patent Application Serial No. 13 / 800,025, filed March 13, 2013, entitled “STAPLE CARTRIDGE TISSUETHICKNESS SENSOR SYSTEM,” now U.S. Patent No. 9,345,481;

[0313] U.S. Patent Application Serial No. 13 / 800,067, filed on March 13, 2013, and entitled “STAPLE CARTRIDGE TISSUETHICKNESS SENSOR SYSTEM,” now U.S. Patent Application Publication No. 2014 / 0263552;

[0314] - U.S. Patent Application Publication No. 2007 / 0175955, filed January 31, 2006, entitled "SURGICAL CUTTING AND FASTENING INSTRUMENTWITH CLOSURE TRIGGER LOCKING MECHANISM"; and

[0315] - U.S. Patent Application Publication No. 2010 / 0264194, filed April 22, 2010, entitled "SURGICAL STAPLING INSTRUMENT WITH ANARTICULATABLE END EFFECTOR," now U.S. Patent No. 8,308,040.

[0316] 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.

[0317] The above detailed description has been described using block diagrams, flow charts, and / or examples to illustrate various forms of apparatus and / or methods. 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 in whole or in part in an integrated circuit 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, and that designing circuits and / or writing software and / or hardware code based on the present disclosure will be within the skill 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 apply regardless of the specific type of signal-bearing medium used for actual distribution.

[0318] Instructions for programming logic to perform various disclosed aspects may be stored in a memory in the system, such as dynamic random access memory (DRAM), cache, flash memory, or other memory. In addition, instructions may be distributed via a network or through other computer-readable media. Thus, 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 or optical card, a flash memory, or a tangible, machine-readable storage device used when transmitting information over 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.). Thus, 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.

[0319] 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 comprising 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)), 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 smartphone, or the like. 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 apparatus described herein, or a microprocessor configured by a computer program to at least partially implement the methods and / or apparatus 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 can be implemented in analog or digital form, or some combination thereof.

[0320] 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 aforementioned 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.

[0321] As used in any aspect herein, 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.

[0322] As used in any aspect herein, an "algorithm" refers to a self-consistent sequence of steps leading to a desired result, where a "step" refers 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. The terms "input" and "output" are commonly used to refer to such signals as 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.

[0323] Unless otherwise expressly indicated in the above disclosure, it is understood that discussions in the above disclosure using terms such as "process," "compute," "calculate," "determine," and "display" refer to the actions and processes of a computer system or similar electronic computing device that manipulate data represented as physical (electronic) quantities within the computer system's registers and memories and transform them 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.

[0324] One or more components may be referred to herein as being "configured to be able to," "configurable to be able to," "operably / 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 encompass components in an active state and / or components in an inactive state and / or components in a standby state.

[0325] Those skilled in the art will recognize that, in general, the terms used herein, and in particular in the appended claims (e.g., the bodies 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 an intent will be explicitly recited 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 introducing 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.

[0326] In addition, even if a specific number of claim recitations is explicitly recited, those skilled in the art will recognize that such 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). Furthermore, in those instances where a convention similar to "at least one of A, B, and C, etc." is used, generally, such construction is intended to have the meaning that one skilled in the art would understand the convention (e.g., "a system having at least one of A, B, and C" would 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.). In those instances 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 (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, A and B together, A and C together, B and C together, and / or A, B, and C together, etc.). Those skilled in the art will also understand that, generally, unless the context indicates otherwise, 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, either, or both of the terms. For example, the phrase "A or B" will generally be understood to include the possibility of "A" or "B" or "A and B."

[0327] With respect to the appended claims, those skilled in the art will understand 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 will be understood that the various operations may be performed in an order other than the order shown, or the various operations may be performed simultaneously. Unless the context dictates otherwise, examples of such alternative orderings may include overlapping, interleaved, interrupted, reordered, incremental, preliminary, supplemental, simultaneous, reverse, or other altered orderings. Furthermore, unless the context dictates otherwise, terms such as "responsive to," "related to," or other past tense adjectives are generally not intended to exclude such variations.

[0328] It is worth noting that any reference to "one aspect," "an aspect," "an example," or "an example" means that the specific features, structures, or characteristics described in connection with the aspect are included in at least one aspect. Therefore, the phrases "in one aspect," "in an aspect," "in an example," and "in an example" appearing in various places throughout this specification do not necessarily refer to the same aspect. Furthermore, specific features, structures, or characteristics may be combined in any suitable manner in one or more aspects.

[0329] 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 intended to limit the scope of the subject matter recited in the appended claims.

[0330] Any patent application, patent, non-patent publication, or other disclosure 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 herein. 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, allegedly incorporated herein by reference that conflicts with existing definitions, statements, or other disclosure material listed herein will be incorporated only to the extent that there is no conflict between the incorporated material and the existing disclosure material.

[0331] In summary, the numerous benefits resulting from the use of the concepts described herein have been described. For purposes of illustration and description, one or more specific embodiments have been provided above. These specific embodiments are not intended to be exhaustive or to limit the invention to the precise forms disclosed. The invention may be modified or varied in light of the above teachings. The form or forms selected and described are intended to illustrate the principles and practical applications, thereby enabling one of ordinary skill in the art to utilize various forms and modifications as appropriate for the particular use contemplated. The claims submitted herewith are intended to define the full scope.

Claims

1. A surgical suturing system (10000), comprising: An end effector (10002), the end effector comprising: a first jaw (10004); and a second jaw (10006) capable of rotating relative to the first jaw; a closing actuator (10013) movable to rotate the second jaw relative to the first jaw; a closing motor (10058), the closing motor being used to drive the closing actuator; a firing drive (10024) movable from an unfired position toward a fired position during a firing stroke; a firing motor (10056) for applying a firing force to the firing drive; a force sensor (10039, 10054) for sensing the firing force applied by the firing motor; A control circuit (10032, 10051), the control circuit being connectable to the closing motor, the firing motor and the force sensor, wherein the control circuit is used to: Set the firing force threshold; advancing the closure actuator to a first position; advancing the firing drive; monitoring the firing force as the firing drive is advanced; comparing the firing force to the firing force threshold; and Controlling movement of at least one of the closing drive or the firing drive based on: A result of said comparison; and The area in which the firing drive is positioned.

2. The surgical stapling system according to claim 1, wherein: The control circuit is configured to monitor the relationship between the closing drive and the firing drive as the firing drive is advanced, and wherein, to set the firing force threshold, the control circuit is configured to: Setting an initial firing force threshold; and The initial firing force threshold is adjusted to a first adjusted firing force threshold based on the monitored relationship between the closing drive and the firing drive.

3. The surgical stapling system according to claim 2, wherein: In order to monitor the relationship between the closing drive and the firing drive, the control circuit is used to monitor the amount of cooperation that exists between the closing drive and the firing drive to maintain the second jaw in a closed position.

4. The surgical stapling system according to claim 3, wherein: The closing actuator is used to apply a first closing force to the second jaw; The firing drive is used to apply a second closing force to the second jaw; The surgical suturing system also includes: a first closing force sensor (10039, 10054), the first closing force sensor being used to sense the first closing force; and a second closing force sensor (10039, 10054), the second closing force sensor being used to sense the second closing force; and The control circuit is used for: receiving the first closing force from the first closing force sensor; receiving the second closing force from the second closing force sensor; and The amount of coordination existing between the closing drive and the firing drive is monitored based on a ratio of the first closing force to the second closing force.

5. The surgical stapling system according to claim 4, wherein: The control circuit is configured to determine a region from a plurality of regions in which the firing drive is located, and wherein the plurality of regions comprises: a first firing zone, wherein the firing drive is determined to be in the first firing zone based on the first closing force being greater than or equal to the second closing force; and A second firing zone, wherein the firing drive is determined to be in the second firing zone based on the second closing force being greater than the first closing force.

6. The surgical stapling system according to claim 5, wherein: The control circuit is used to set a threshold coordination value, wherein the multiple areas include a third firing area, and wherein the firing drive is determined to be in the third firing area based on the ratio of the first closing force to the second closing force reaching the threshold coordination value or falling below the threshold coordination value.

7. The surgical stapling system according to claim 6, wherein: The control circuit is configured to adjust the initial firing force threshold to the first adjusted firing force threshold based on the second closing force being greater than the first closing force, and wherein: The control circuit is for controlling movement of the closing drive without controlling movement of the firing drive based on the monitored firing force reaching the initial firing force threshold and the firing drive being positioned in the first firing zone; and The control circuit is used to control the movement of the closing drive and the firing drive based on the monitored firing force reaching the first adjusted firing force threshold and the firing drive being positioned in the second firing zone.

8. The surgical stapling system according to claim 7, wherein: In order to set the firing force threshold, the control circuit is used to adjust the first adjusted firing force threshold to a second adjusted firing force threshold based on the monitored relationship between the closing drive and the firing drive, and wherein the control circuit is used to control the movement of the firing drive without controlling the movement of the closing drive based on the firing force reaching the second adjusted firing force threshold and the firing drive being positioned in the third firing area.

9. The surgical stapling system according to claim 1, wherein: The control circuit is used to set: The first collaborative zone (CZ H ), wherein the first cooperative area is defined in a first portion of the firing stroke; and The second collaborative zone (CZ L ), wherein the second cooperative area is defined in a second portion of the firing stroke distal to the first portion of the firing stroke.

10. The surgical stapling system according to claim 9 further comprises a position sensor (10039, 10054) capable of being coupled to the control circuit, wherein: The position sensor is used to sense the position of the firing drive, and wherein the control circuit is used to: determining whether the firing drive is in the first zone of coordination or in the second zone of coordination; and The movement of both the closing drive and the firing drive is controlled based on: The firing force reaches the firing force threshold; and The firing drive is located in the first cooperative area.

11. The surgical stapling system according to claim 10, wherein: In order to control the movement of the firing drive, the control circuit is used to: pausing advancement of the firing drive for a certain amount of time; and The firing drive is retracted toward a proximal position based on the amount of time that has elapsed.

12. The surgical stapling system according to claim 11, wherein: To control the movement of the closure actuator, the control circuit is used to advance the closure actuator distally from the first position to a second position.

13. The surgical stapling system according to claim 12, wherein: To control movement of the firing drive, the control circuit is configured to resume advancement of the firing drive toward a distal position based on the closing drive reaching the second position.

14. The surgical stapling system according to claim 12, wherein: The control circuit is configured to control movement of the firing drive without controlling movement of the closing drive based on: The firing force reaches the firing force threshold; and The firing drive is located in the second cooperative area.

15. The surgical stapling system according to claim 16, wherein: In order to control the movement of the firing drive, the control circuit is used to: pausing advancement of the firing drive for a certain amount of time; and Advancement of the firing drive toward the firing position is resumed based on the amount of time that has elapsed.

16. A surgical suturing system (10000), comprising: An end effector (10002), the end effector comprising: a first jaw (10004); and a second jaw (10006, 10510), the second jaw being rotatable relative to the first jaw, wherein the second jaw defines a channel (10512), and wherein, The channel comprises: an upper wall (10518), the upper wall comprising a first force sensor (10519); and a lower wall (10514), the lower wall comprising a second force sensor (10515); a closing actuator (10013) movable to rotate the second jaw relative to the first jaw; a closing motor (10058), the closing motor being used to drive the closing actuator; a firing drive (10024, 10500) movable from an unfired position toward a fired position during a firing stroke, wherein the firing drive includes a flange (10504) to traverse the channel during the firing stroke, wherein the first force sensor is used to sense a first force applied by the flange to the upper wall, and wherein the second force sensor is used to sense a second force applied by the flange to the lower wall; a firing motor (10056) for applying a firing force to the firing drive; a third force sensor (10039, 10054) for sensing the firing force applied by the firing motor; and A control circuit (10032, 10051), wherein the control circuit is connectable to the closing motor, the firing motor, the first force sensor, the second force sensor, and the third force sensor, wherein the control circuit is used to: Set the firing force threshold; advancing the closure actuator to a first position; advancing the firing drive toward the firing position; monitoring the firing force as the firing drive is advanced; comparing the firing force to the firing force threshold; determining a clamping state of the second jaw based on a result of the comparison; and The movement of the closing actuator is controlled based on a result of the determination.

17. The surgical stapling system according to claim 16, wherein: To determine the clamping state of the second jaw, the control circuit is configured to evaluate the first force applied by the flange to the upper wall and the second force applied by the flange to the lower wall.

18. The surgical stapling system according to claim 16, wherein: To control the movement of the closing actuator, the control circuit is configured to advance the closing actuator based on the determined under-grip condition.

19. The surgical stapling system according to claim 16, wherein: To control the movement of the closing actuator, the control circuit is configured to retract the closing actuator based on the determined over-clamping condition.

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