Surgical system with dynamic firing force adjustment

Abstract

A surgical instrument comprising: an end effector; a firing member movable from an unfired position toward a fired position during a firing stroke; a firing system including a motor; and a control system, wherein the firing system is configured to drive the firing member through the firing stroke. The control system is configured to drive the firing member from the unfired position toward the fired position with the firing system, detect a force firing the firing member toward the fired position, and based on the detected firing force, pause advancement of the firing member for a first amount of time, resume advancement of the firing member after the first amount of time, and pause advancement of the firing member for a second amount of time, the second amount of time being based on the first amount of time.

Description

[Technical Field]

[0001] (CROSS-REFERENCE TO RELATED APPLICATIONS) This application claims the benefit under 35 U.S.C. §119(e) of U.S. Provisional Patent Application No. 63 / 411,445, filed September 29, 2022, entitled "METHOD FOR CONTROLLING SURGICAL SYSTEM DURING TISSUE TREATMENT MOTION," the entire disclosure of which is incorporated herein by reference. [Background technology]

[0002] The present invention relates to surgical instruments and to surgical stapling and severing instruments designed to staple and sever tissue in a variety of configurations, and staple cartridges for use therewith. [Brief explanation of the drawings]

[0003] The various features of the embodiments described herein, together with their advantages, may be understood by the following practice of the invention when taken in conjunction with the accompanying drawings, in which: [Figure 1] FIG. 1 is a perspective view of a powered surgical stapling system. [Figure 2] FIG. 2 is a perspective view of an interchangeable surgical shaft assembly of the powered surgical stapling system of FIG. 1; [Figure 3] FIG. 2 is an exploded view of a portion of a handle assembly of the powered surgical stapling system of FIG. 1; [Figure 4] FIG. 3 is an exploded view of the interchangeable surgical shaft assembly of FIG. 2. [Figure 5] FIG. 5 is another exploded view of a portion of the interchangeable surgical shaft assembly of FIG. 4. [Figure 6] FIG. 1 is a perspective view of a shaft assembly according to at least one embodiment. [Figure 7] FIG. 7 is an exploded view of the distal end of the shaft assembly of FIG. 6. [Figure 8]FIG. 1 is a perspective view of a surgical instrument including a proximal control interface, a shaft assembly, and an end effector assembly. [Figure 9] FIG. 9 is a bottom perspective view of the surgical instrument assembly of FIG. [Figure 10] FIG. 1 is a perspective view of an example of one form of a robotic controller, according to one aspect of the present disclosure. [Figure 11] FIG. 1 is a perspective view of an example of one configuration of a robotic surgical arm cart / manipulator of a robotic surgical system that operatively supports multiple surgical tools, according to one aspect of the present disclosure. [Figure 12] FIG. 12 is a side view of the robotic surgical arm cart / manipulator shown in FIG. 11 according to one embodiment of the present disclosure. [Figure 13] FIG. 1 shows a block diagram of a surgical system for use with one or more surgical instruments, tools, and / or robotic systems, according to one or more aspects of the present disclosure. [Figure 14] FIG. 1 shows a block diagram of a surgical system for use with one or more surgical instruments, tools, and / or robotic systems, according to one or more aspects of the present disclosure. [Figure 15] 10 is a graph illustrating firing motion parameter modifications of default firing motion parameters over time, in accordance with at least one aspect of the present disclosure. [Figure 16] 10 is a graph illustrating firing motion parameter modifications of default firing motion parameters over time, in accordance with at least one aspect of the present disclosure. [Figure 17] 1 illustrates a method for controlling a surgical instrument according to at least one embodiment of the present disclosure. [Figure 18] 10 is a graph illustrating firing motion parameter modifications of default firing motion parameters over time, in accordance with at least one aspect of the present disclosure. [Figure 19] 1 illustrates a method for controlling a surgical instrument according to at least one embodiment of the present disclosure. [Figure 20] 10 is a graph illustrating closure trigger stroke over time, in accordance with at least one aspect of the present disclosure. [Figure 21] 1 illustrates a method for controlling a surgical instrument according to at least one embodiment of the present disclosure. [Figure 22] 1 illustrates a method for controlling a surgical instrument according to at least one embodiment of the present disclosure. [Figure 23] 1 illustrates a method for controlling a surgical instrument according to at least one embodiment of the present disclosure. [Figure 24] 1 illustrates a method for controlling a surgical instrument according to at least one embodiment of the present disclosure. [Figure 25] 10 is a graph illustrating end effector closure over time, in accordance with at least one aspect of the present disclosure. [Figure 26] 1 illustrates a method for controlling a surgical instrument according to at least one embodiment of the present disclosure. [Figure 27] 1 illustrates a response profile from a clamping system utilizing a position-controlled closure system, according to at least one embodiment of the present disclosure. [Figure 28] 1 illustrates a response profile from a clamping system utilizing a position-controlled closure system, according to at least one embodiment of the present disclosure. [Figure 29] 1 illustrates an end effector of a surgical instrument in an open state, according to at least one aspect of the present disclosure. [Figure 30] 30 illustrates the end effector of FIG. 29 in a clamped state, in accordance with at least one embodiment of the present disclosure. [Figure 31] FIG. 31 shows a side view of the end effector of FIG. 30, in accordance with at least one embodiment of the present disclosure. [Figure 32] 10 shows a graph illustrating the difference between a position-controlled closure system and a load-controlled closure system, in accordance with at least one embodiment of the present disclosure. [Figure 33] 1 illustrates a response profile from a clamping system utilizing a load-controlled closure system, according to at least one embodiment of the present disclosure. [Figure 34] 1 illustrates a response profile from a clamping system utilizing a load-controlled closure system, according to at least one embodiment of the present disclosure. [Figure 35] 1 illustrates a response profile from a clamping system utilizing a load-controlled closure system, according to at least one embodiment of the present disclosure. [Figure 36] 1 illustrates a response profile from a clamping system utilizing a load-controlled closure system, according to at least one embodiment of the present disclosure. [Figure 37] 1 illustrates a method for controlling a surgical instrument according to at least one embodiment of the present disclosure. [Figure 38] 1 illustrates a method for controlling a surgical instrument according to at least one embodiment of the present disclosure. [Figure 39] 1 illustrates a target and response signal profile for a motor in accordance with at least one aspect of the present disclosure. [Figure 40] 1 illustrates the conversion of an analog signal to a PWM digital signal in accordance with at least one embodiment of the present disclosure. [Figure 41] 1 illustrates an inertia-improved motor in accordance with at least one embodiment of the present disclosure. [Figure 42] 42 shows a graph illustrating a current motor versus the motor of FIG. 41 in accordance with at least one embodiment of the present disclosure. [Figure 43] 42 shows a graph illustrating a current motor versus the motor of FIG. 41 in accordance with at least one embodiment of the present disclosure. [Figure 44] 1 illustrates a method for controlling a surgical instrument according to at least one embodiment of the present disclosure. [Figure 45] 1 illustrates a method for controlling a surgical instrument according to at least one embodiment of the present disclosure. [Figure 46] 1 illustrates a method for controlling a surgical instrument according to at least one embodiment of the present disclosure. [Figure 47] 1 illustrates a method for controlling a surgical instrument according to at least one embodiment of the present disclosure. [Figure 48] 1 illustrates a method for controlling a surgical instrument according to at least one embodiment of the present disclosure. [Figure 49] 10 is a table illustrating the cutting performance of various staple cartridges, in accordance with at least one aspect of the present disclosure. [Figure 50] 1 is a graph illustrating the force to fire ("FTF") of a firing member at various velocities, in accordance with at least one embodiment of the present disclosure. [Figure 51] 1 is a graph illustrating the effect of rest on FTF, in accordance with at least one embodiment of the present disclosure. [Figure 52] 1 is a graph illustrating the effect of rest on FTF, in accordance with at least one embodiment of the present disclosure. [Figure 53] 1 is a graph illustrating the effect of rest on FTF, in accordance with at least one embodiment of the present disclosure. [Figure 54] 1 is a graph illustrating the effect of rest on FTF, in accordance with at least one embodiment of the present disclosure. [Figure 55] 1 is a graph illustrating the effect of rest on FTF, in accordance with at least one embodiment of the present disclosure. [Figure 56] 1 illustrates a method for controlling a surgical instrument according to at least one embodiment of the present disclosure. [Figure 57] 1 illustrates a method for controlling a surgical instrument according to at least one embodiment of the present disclosure. [Figure 58] 10 is a graph illustrating the effect of rest on FTF at various closure loads, in accordance with at least one embodiment of the present disclosure. [Figure 59] 10 is a graph showing the effect of pause on FTF at various tissue thicknesses during the firing stroke, in accordance with at least one embodiment of the present disclosure. [Figure 60] FIG. 10 is a scatter plot showing the effect of firing force on staple height, in accordance with at least one aspect of the present disclosure. [Figure 61] 10 is a graph illustrating a firing force profile for a firing member encountering varying tissue thickness during the firing stroke, in accordance with at least one embodiment of the present disclosure. [Figure 62] 1 illustrates a method for controlling a surgical instrument according to at least one embodiment of the present disclosure.

[0004] Corresponding reference characters indicate corresponding parts throughout the several views. The exemplifications set forth herein illustrate various embodiments of the present invention in one form only, and such exemplifications should not be construed as limiting the scope of the present invention in any manner. DETAILED DESCRIPTION OF THE INVENTION

[0005] As described in the specification and illustrated in the accompanying drawings, numerous specific details are set forth to provide a thorough understanding of the overall structure, function, manufacture, and use of the embodiments. Well-known operations, components, and elements have not been described in detail so as not to obscure the embodiments described herein. The reader will understand that the embodiments described and illustrated herein are non-limiting examples, and thus the specific structural and functional details disclosed herein may be representative and exemplary. Variations and modifications can be made thereto without departing from the scope of the claims.

[0006] The terms "comprise" (and any form of comprise, such as "comprises" and "comprising"), "have" (and any form of have, such as "has" and "having"), "include" (and any form of include, such as "includes" and "including"), and "contain" (and any form of contain, such as "contains" and "containing") are open-ended linking verbs. As a result, a surgical system, device, or apparatus that "comprises," "has," "includes," or "contains" one or more elements has those one or more elements, but is not limited to having only those one or more elements. Similarly, an element of a system, device, or apparatus that "comprises," "has," "includes," or "contains" one or more features has those one or more features, but is not limited to having only those one or more features.

[0007] The terms "proximal" and "distal" are used herein with reference 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 located away from the clinician. It will be further understood that for convenience and clarity, spatial terms such as "vertical," "horizontal," "up," and "down" may be used herein with respect to the drawings. However, surgical instruments are used in many orientations and positions, and these terms are not intended to be limiting and / or absolute.

[0008] 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 many surgical procedures and applications, including, for example, those associated with open surgical procedures. By proceeding through the Detailed Description section of this specification, 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 opening, an incision or puncture made in tissue, etc. The working portions, or end effector portions, of these instruments can be inserted directly into the patient's body, or through an access device having a working channel through which the end effector and elongate shaft of the surgical instrument can be advanced.

[0009] The 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, although other embodiments are contemplated in which the staple cartridge is not removable from the first jaw, or at least not easily replaceable therefrom. 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 closure axis, while other embodiments are contemplated in which the first jaw is pivotable relative to the second jaw. The surgical stapling system further includes an articulation joint configured to rotate, i.e., articulate, the end effector relative to the shaft. The end effector is rotatable about an articulation axis extending through the articulation joint. Other embodiments are contemplated that do not include an articulation joint.

[0010] The staple cartridge includes a cartridge body. The cartridge body includes a proximal end, a distal end, and a deck extending between the proximal and distal ends. During use, the staple cartridge is positioned on a first side of tissue to be stapled, and the anvil is positioned on a second side of the tissue. The anvil is moved toward the staple cartridge to press and clamp the tissue against the deck. Staples removably stored within the cartridge body can then be deployed into the tissue. The cartridge body includes staple cavities defined therein, and the staples are removably stored within 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 configurations of staple cavities and staples may be possible.

[0011] The staples are supported by staple drivers within the cartridge body. The drivers are movable between a first, unfired, position and a second, fired, position to eject the staples from the staple cavities. The drivers are retained within the cartridge body by a retainer extending around a lower periphery of the cartridge body and include a resilient member configured to grip the cartridge body and hold the retainer against the cartridge body. The drivers are movable between their unfired and fired positions by a sled. The sled is movable between a proximal position adjacent the proximal end and a distal position adjacent the distal end. The sled includes a plurality of ramps configured to slide beneath the drivers and lift the drivers, on which the staples are supported, toward the anvil.

[0012] In addition to the above, the sled is moved distally by a firing member. The firing member is configured to contact the sled and push it toward the distal end. A longitudinal slot defined in the cartridge body is configured to receive the firing member. The anvil also includes a slot configured to receive the firing member. The firing member further includes a first cam engaging the first jaw and a second cam engaging the second jaw. When the firing member is advanced distally, the first cam and the second cam can control the distance between the deck of the staple cartridge and the anvil, i.e., the tissue gap. The firing member also includes a knife configured to cut tissue captured intermediate the staple cartridge and the anvil. It is desirable that the knife be positioned at least partially proximal to the beveled surface so that the staples are fired forward of the knife.

[0013] FIG. 1 illustrates a surgical instrument 1010 including an interchangeable shaft assembly 1200 operably coupled to a housing 1012. FIG. 2 illustrates the interchangeable shaft assembly 1200 detached from the housing 1012 or handle 1014. As can be seen in FIG. 3, the handle 1014 may include a pair of interconnectable handle housing segments 1016 and 1018, which may be interconnected by screws, snap mechanisms, adhesives, or the like. In the illustrated arrangement, the handle housing segments 1016, 1018 cooperate to form a pistol grip portion 1019. FIGS. 1 and 3 illustrate a motorized surgical cutting and fastening instrument 1010, which may or may not be reusable. In the illustrated embodiment, the instrument 1010 includes a proximal housing 1012 including a handle 1014 configured to be grasped, manipulated, and actuated by a clinician. The housing 1012 is configured to operably attach to an interchangeable shaft assembly 1200, to which a surgical end effector 1300 configured to perform one or more surgical tasks or procedures is operably coupled. As the detailed description of the present invention progresses, it will be understood that the various forms of interchangeable shaft assemblies disclosed herein may also be effectively used in connection with robotically controlled surgical systems. Accordingly, the term "housing" may also encompass a housing or similar portion of a robotic system that houses or otherwise operably supports at least one drive system configured to generate and apply at least one control motion that can be used to actuate the interchangeable shaft assemblies disclosed herein and their respective equivalents. Additionally, various components may be "housed" or included within the housing, or various components may be "associated" with the housing. In such instances, components may not be contained within or directly supported by the housing. The term "frame" may refer to a portion of a handheld surgical instrument.The term "frame" may also refer to a portion of a robotically controlled surgical instrument and / or a portion of a robotic system that may be used to operatively control a surgical instrument. For example, the interchangeable shaft assemblies disclosed herein may be used with the various robotic systems, instruments, components, and methods disclosed in U.S. Patent No. 9,072,535, entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS," which is incorporated herein by reference in its entirety.

[0014] The aforementioned housing 1012 shown in FIG. 1 is illustrated in connection with an interchangeable shaft assembly 1200 ( FIGS. 2 , 4 , and 5 ) including an end effector 1300 including a surgical cutting and fastening device configured to operably support a surgical staple cartridge 1301 therein. The housing 1012 may be configured for use in connection with interchangeable shaft assemblies having various shaft lengths, sizes, and types, including end effectors adapted to support various sizes and types of staple cartridges. In addition, the housing 1012 may also be effectively used in connection with a variety of other interchangeable shaft assemblies, including assemblies configured to apply, for example, motion and other forms of energy, such as radio frequency (RF) energy, ultrasonic energy, and / or motion, to end effector arrangements adapted for use in connection with various surgical applications and procedures. Furthermore, the end effector, shaft assembly, handle, surgical instrument, and / or surgical instrument system may utilize any suitable fastener that can be grasped and manipulated by a clinician. As discussed in more detail below, the handle 1014 operably supports a number of drive systems therein that are configured to generate and apply various control actions to corresponding portions of interchangeable shaft assemblies operably attached to the handle.

[0015] 3, the handle 1014 may further include a frame 1020 that operably supports a plurality of drive systems. For example, the frame 1020 may operably support a "first" or closure drive system, generally designated 1030, that may be used to apply a closing or opening motion to an interchangeable shaft assembly 1200 operably attached or coupled thereto. In at least one form, the closure drive system 1030 may include an actuator in the form of a closure trigger 1032 pivotally supported by the frame 1020. More specifically, as shown in FIG. 3, the closure trigger 1032 is pivotally coupled to the housing 1014 by a pin 1033. Such an arrangement allows the closure trigger 1032 to be manipulated by a clinician. Specifically, when a clinician grasps the pistol grip portion 1019 of the handle 1014, the closure trigger 1032 can be easily pivoted from a starting or “unactuated” position to an “actuated” position, more specifically, a fully squeezed or fully actuated position. The closure trigger 1032 may be biased to the unactuated position by a spring or other biasing arrangement (not shown). In various forms, the closure drive system 1030 further includes a closure linkage assembly 1034 pivotally coupled to the closure trigger 1032. As can be seen in FIG. 3 , the closure linkage assembly 1034 may include a first closure link 1036 and a second closure link 1038 pivotally connected to the closure trigger 1032 by a pin 1035. The second closure link 1038, also sometimes referred to herein as a “mounting member,” includes a lateral mounting pin 1037.

[0016] Continuing to refer to FIG. 3 , it can be seen that the first closure link 1036 may have a locking wall or end 1039 thereon that is configured to cooperate with a closure release assembly 1060 that is pivotally coupled to the frame 1020. In at least one form, the closure release assembly 1060 may include a release button assembly 1062 having a distally projecting locking pawl 1064 formed thereon. The release button assembly 1062 may be pivoted counterclockwise by a release spring (not shown). When the clinician depresses the closure trigger 1032 from its unactuated position toward the pistol grip portion 1019 of the handle 1014, the first closure link 1036 pivots upward to a point where the locking pawl 1064 drops into retaining engagement with the locking wall 1039 on the first closure link 1036, thereby preventing the closure trigger 1032 from returning to the unactuated position. Thus, the closure release assembly 1060 acts to lock the closure trigger 1032 in the fully actuated position. When a clinician wishes to unlock the closure trigger 1032 so that it can be biased to the unactuated position, the clinician simply pivots the closure release button assembly 1062, thereby moving the locking pawl 1064 out of engagement with the locking wall 1039 on the first closure link 1036. Once the locking pawl 1064 is moved out of engagement with the first closure link 1036, the closure trigger 1032 may pivot back to the unactuated position. Other closure trigger lock and release configurations may be used.

[0017] An arm 1061 may extend from the closure release button 1062. A magnetic element 1063, such as, for example, a permanent magnet, may be attached to the arm 1061. When the closure release button 1062 is rotated from its first position to its second position, the magnetic element 1063 may move toward the circuit board 1100. The circuit board 1100 may include at least one sensor configured to detect movement of the magnetic element 1063. In at least one embodiment, for example, a "Hall Effect" sensor (not shown) may be mounted on a bottom surface of the circuit board 1100. The Hall Effect sensor may be configured to detect a change in a magnetic field surrounding the Hall Effect sensor caused by movement of the magnetic element 1063. The Hall effect sensor may, for example, be capable of signal communication with a microcontroller to determine whether the closure release button assembly 1062 is in its first position associated with the unactuated position of the closure trigger 1032 and the open configuration of the end effector, in its second position associated with the actuated position of the closure trigger 1032 and the closed configuration of the end effector, and / or in any position between the first and second positions.

[0018] In at least one form, the handle 1014 and frame 1020 may operably support another drive system, referred to herein as a firing drive system 1080, configured to apply a firing motion to a corresponding portion of an interchangeable shaft assembly attached thereto. The firing drive system 1080 may also be referred to herein as a “second drive system.” The firing drive system 1080 may employ an electric motor 1082 positioned within the pistol grip portion 1019 of the handle 1014. In various forms, the motor 1082 may be a DC brushed drive motor having a maximum rotational speed of, for example, approximately 25,000 RPM. In other configurations, the motor may include a brushless motor, a cordless motor, a synchronous motor, a stepper motor, or any other suitable electric motor. The motor 1082 may be powered by a power source 1090, which in one form may include a removable power pack 1092. As can be seen in FIG. 3 , for example, the power pack 1092 may include a proximal housing portion 1094 configured to attach to a distal housing portion 1096. The proximal housing portion 1094 and the distal housing portion 1096 are configured to operably support a plurality of batteries 1098 therein. The batteries 1098 may each include, for example, Lithium Ion ("LI") or other suitable batteries. The distal housing portion 1096 is configured to be removably and operably attached to a circuit board 1100 that is also operably coupled to the motor 1082. Several batteries 1098 may be connected in series and used as a power source for the surgical instrument 1010. Additionally, the power source 1090 may be replaceable and / or rechargeable.

[0019] As outlined above in connection with various other configurations, the electric motor 1082 may include a rotatable shaft (not shown) operably interfaced with a gear reducer assembly 1084 mounted in meshing engagement with a set or rack of drive teeth 1122 on the longitudinally movable drive member 1120. In use, the voltage polarity provided by the power source 1090 may cause the electric motor 1082 to operate in a clockwise direction, while the voltage polarity applied to the electric motor by the battery may be reversed to cause the electric motor 1082 to operate in a counterclockwise direction. When the electric motor 1082 is rotated in one direction, the drive member 1120 will be driven axially in a distal direction "DD." When the motor 1082 is driven in the opposite rotational direction, the drive member 1120 will be driven axially in a proximal direction "PD." The handle 1014 may include a switch that may be configured to reverse the polarity applied to the electric motor 1082 by the power source 1090. Similar to other configurations described herein, the handle 1014 may also include a sensor configured to detect the position of the drive member 1120 and / or the direction in which the drive member 1120 is being moved.

[0020] Actuation of the motor 1082 can be controlled by a firing trigger 1130 pivotally supported on the handle 1014. The firing trigger 1130 can be pivoted between an inactivated position and an activated position. The firing trigger 1130 can be biased to the inactivated position by a spring 1132 or other biasing arrangement, such that when the clinician releases the firing trigger 1130, it can be pivoted or otherwise returned to the inactivated position by the spring 1132 or other biasing arrangement. In at least one form, the firing trigger 1130 can be positioned “outside” of the closure trigger 1032, as described above. In at least one form, a firing trigger safety button 1134 can be pivotally attached to the closure trigger 1032 by a pin 1035. The safety button 1134 can have a pivot arm 1136 positioned between and projecting from the firing trigger 1130 and the closure trigger 1032. When the closure trigger 1032 is in the unactuated position, the safety button 1134 is housed in the handle 1014. In this case, it is not easily accessible to the clinician and cannot be moved between a safety position that prevents actuation of the firing trigger 1130 and a firing position in which the firing trigger 1130 may be fired. When the clinician depresses the closure trigger 1032, the safety button 1134 and firing trigger 1130 pivot down and can then be operated by the clinician.

[0021] As shown above, in at least one form, the longitudinally movable drive member 1120 has a rack of teeth 1122 formed thereon for meshing engagement with a corresponding drive gear 1086 of the gear reducer assembly 1084. At least one form also includes a manually actuated “emergency breakaway” assembly 1140 configured to allow a clinician to manually retract the longitudinally movable drive member 1120 if the motor 1082 is disabled. The emergency breakaway assembly 1140 may include a lever or emergency breakaway handle assembly 1142 configured to be manually pivoted to ratchet engagement with teeth 1124 also provided on the drive member 1120. Thus, a clinician can manually retract the drive member 1120 by using the emergency breakaway handle assembly 1142 to ratchet the drive member 1120 in the proximal direction “PD.” U.S. Patent No. 8,608,045, entitled "POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM," discloses an emergency detachment arrangement, as well as other components, arrangements, and systems that may also be used with the various instruments disclosed herein. U.S. Patent No. 8,608,045 is incorporated herein by reference in its entirety.

[0022] 2 and 5, the interchangeable shaft assembly 1200 includes a surgical end effector 1300 including an elongated channel 1310 configured to operably support a staple cartridge 1301 therein. The end effector 1300 may further include an anvil 2000 pivotally supported relative to the elongated channel 1310. The interchangeable shaft assembly 1200 may further include an articulation joint 3020 and an articulation lock 2140 that may be configured to releasably hold the end effector 1300 in a desired position relative to the shaft axis SA. Various features of embodiments of the end effector 1300, the articulation joint 3020, and at least one form of articulation lock are described in U.S. patent application Ser. No. 13 / 803,086, filed Mar. 14, 2013, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK," now U.S. Patent Application Publication No. 2014 / 0263541. The entire disclosure of U.S. patent application Ser. No. 13 / 803,086, filed Mar. 14, 2013, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK," now U.S. Patent Application Publication No. 2014 / 0263541, is incorporated herein by reference. As can be seen in FIG. 4, the interchangeable shaft assembly 1200 may further include a proximal housing or nozzle 1201 comprised of nozzle portions 1202 and 1203 .

[0023] The interchangeable shaft assembly 1200 can further include a closure system or closure member assembly 3000 that can be utilized to open and close the anvil 2000 of the end effector 1300. The shaft assembly 1200 includes a spine 1210 that can be configured to (1) slidably support a firing member therein and (2) slidably support a closure member assembly 3000 extending therearound. As can be seen in FIG. 5 , the distal end 1212 of the spine 1210 terminates in an upper lug attachment mechanism 1270 and a lower lug attachment mechanism 1280. The upper lug attachment mechanism 1270 defines a lug slot 1272 within which an upper mounting link 1274 can be fixedly supported. Similarly, the lower lug attachment mechanism 1280 defines a lug slot 1282 within which a lower mounting link 1284 can be fixedly supported. The upper mounting link 1274 includes a pivot socket 1276 therein that is adapted to rotatably receive a pivot pin 1292 formed on a channel cap or anvil retainer 1290 that is attached to the proximal end portion 1312 of the elongated channel 1310. The lower mounting link 1284 includes a lower pivot pin 1286 that can be received in a pivot hole 1314 formed in the proximal end portion 1312 of the elongated channel 1310. See FIG. 5. The lower pivot pin 1286 is vertically aligned with the pivot socket 1276 to define an articulation axis AA about which the surgical end effector 1300 can articulate relative to the shaft axis SA. See FIG. 2.

[0024] In the illustrated embodiment, the surgical end effector 1300 is selectively articulatable about an articulation axis AA by an articulation system 2100. In one form, the articulation system 2100 includes a proximal articulation drive 2102 pivotally coupled to an articulation link 2120. As can be seen most particularly in FIG. 5 , an offset mounting lug 2114 is formed on the distal end 2110 of the proximal articulation drive 2102. A pivot hole 2116 is formed in the offset mounting lug 2114 and configured to pivotally receive a proximal link pin 2124 formed on the proximal end 2122 of the articulation link 2120. The distal end 2126 of the articulation link 2120 includes a pivot hole 2128 configured to pivotally receive a channel pin 1317 formed in the proximal end portion 1312 of the elongate channel 1310. Axial movement of the proximal articulation drive 2102 thus imparts articulation to the elongated channel 1310, which in turn articulates the surgical end effector 1300 about the articulation axis AA relative to the spine 1210. Further details regarding the construction and operation of the articulation system 2100 can be found in various references incorporated herein by reference, such as U.S. Patent Application No. 15 / 635,631, filed June 28, 2017, entitled "SURGICAL INSTRUMENT WITH AXIALLY MOVABLE CLOSURE MEMBER," now U.S. Patent Application Publication No. 2019 / 0000464, the entire disclosure of which is incorporated herein by reference. In various circumstances, when the proximal articulation drive 2102 is not moving proximally or distally, the proximal articulation drive 2102 can be held in a fixed position by a joint lock 2140. Further details regarding examples of joint locks 2140 can be found in U.S. Patent Application No. 15 / 635,631, now U.S. Patent Application Publication No. 2019 / 0000464, as well as other references incorporated by reference herein.

[0025] In various circumstances, the spine 1210 can include a proximal end 1211 that is rotatably supported within the chassis 1240. In one configuration, for example, the proximal end 1211 of the spine 1210 is threaded 1214 for threaded attachment to a spine bearing 1216 configured to be supported within the chassis 1240. See FIG. 4. Such an arrangement facilitates rotatable attachment of the spine 1210 to the chassis 1240 such that the spine 1210 can be selectively rotated relative to the chassis 1240 about the shaft axis SA.

[0026] 4, the interchangeable shaft assembly 1200 includes a closure shuttle 1250 slidably supported therein for axial movement relative to the chassis 1240. The closure shuttle 1250 includes a pair of proximally projecting hooks 1252 configured for attachment to mounting pins 1037 (FIG. 3) attached to the second closure link 1038, as described in further detail below. In at least one example, the closure member assembly 3000 includes a proximal closure member segment 3010 having a proximal end 3012 coupled to the closure shuttle 1250 for rotation relative thereto. For example, a U-shaped connector 1263 is inserted into an annular slot 3014 in the proximal end 3012 of the proximal closure member segment 3010 and is retained within a vertical slot 1253 in the closure shuttle 1250. Such an arrangement allows the proximal closure member segment 3010 and the closure shuttle 1250 to rotate relative to the closure shuttle 1250 about the shaft axis SA while the proximal closure member segment 3010 is mounted for axial movement together. A closure spring 1268 is journaled on the proximal closure member 3010 and serves to bias the proximal closure member 3010 in the proximal direction "PD," thereby pivoting the closure trigger 1032 to an unactuated position when the shaft assembly is operably coupled to the handle 1014.

[0027] In at least one form, the interchangeable shaft assembly 1200 may further include an articulation joint 3020. However, other interchangeable shaft assemblies may not be articulatable. As shown in FIG. 5 , for example, a distal closure member or distal closure tube segment 3030 is coupled to the distal end of the proximal closure member segment 3010. The articulation joint 3020 includes a dual-pivoting closure sleeve assembly 3022. According to various forms, the dual-pivoting closure sleeve assembly 3022 includes an end effector closure tube 3050 having an upper distally-extending tang 3052 and a lower distally-extending tang 3054. The upper dual pivot linkage 3056 includes an upwardly projecting distal pivot pin and a proximal pivot pin that engage with an upper distal pin hole of an upper proximally projecting tang 3052 on the distal closure tube segment 3030, respectively. The lower dual pivot linkage 3058 includes an upwardly projecting distal pivot pin and a proximal pivot pin that engage with a lower distal pin hole of a lower proximally projecting tang 3054 and a lower proximal pin hole of a lower distally projecting tang 3034, respectively. See FIGS. 4 and 5. As discussed in further detail below, the closure member assembly 3000 is translated in the distal direction (direction DD) to close the anvil 2000, for example, in response to actuation of the closure trigger 1032. The anvil 2000 is opened by translating the closure member assembly 3000 proximally, which causes the end effector closure sleeve to interact with the anvil 2000 and pivot to an open position.

[0028] As also described above, the interchangeable shaft assembly 1200 further includes a firing member 1900 supported for axial movement within the shaft spine 1210. The firing member 1900 includes an intermediate firing shaft portion 1222 configured to attach to a distal cutting portion or knife bar 1910. The intermediate firing shaft portion 1222 may include a longitudinal slot 1223 at its distal end, which may be configured to receive a tab 1912 on the proximal end of the distal knife bar 1910. The longitudinal slot 1223 and the proximal end tab 1912 may be sized and configured to permit relative movement therebetween and may include a slip joint 1914. The slip joint 1914 may allow the intermediate firing shaft portion 1222 of the firing member 1900 to move and articulate the end effector 1300 without moving, or at least substantially without moving, the knife bar 1910. Once the end effector 1300 is properly oriented, the intermediate firing shaft portion 1222 can be advanced distally until the proximal sidewall of the longitudinal slot 1223 contacts the tab 1912 to advance the knife bar 1910 and fire the staple cartridge 1301 positioned within the channel 1310. The knife bar 1910 includes a knife portion 1920 that includes a blade or tissue-cutting edge 1922, and includes an upper anvil engagement tab 1924 and a lower channel engagement tab 1926. The configurations and operation of various firing members are disclosed in various other references, which are incorporated herein by reference.

[0029] Embodiments are also contemplated in which a shifter assembly may be used in place of the slip joint 1914. Details of such a shifter assembly and corresponding components, assemblies, and systems can be found in U.S. Patent Application No. 15 / 635,521, entitled "SURGICAL INSTRUMENT LOCKOUT ARRANGEMENT," which is incorporated herein by reference in its entirety.

[0030] As can be seen in FIG. 4 , the shaft assembly 1200 further includes a switch drum 1500 rotatably received on the proximal closure member segment 3010. The switch drum 1500 includes a hollow shaft segment 1502 having a shaft boss formed therein for receiving an outwardly protruding actuation pin. Under various circumstances, the actuation pin extends through a slot into a longitudinal slot provided in the locking sleeve to facilitate axial movement of the locking sleeve when engaged with the articulation driver. The rotational torsion spring 1420 is configured to engage the boss on the switch drum 1500 and a portion of the nozzle housing 1203 to apply a biasing force to the switch drum 1500. The switch drum 1500 can further include an at least partially circumferential opening 1506 defined therein, which can be configured to receive a circumferential mount extending from the nozzle portions 1202, 1203 and allow relative rotation but not translation between the switch drum 1500 and the nozzle 1201. The mount also extends through an opening 3011 in the proximal closure member segment 3010 and fits into a recess 1219 in the spine 1210. Rotation of the switch drum 1500 about the shaft axis SA ultimately rotates the actuation pin and locking sleeve between their engaged and disengaged positions. In one configuration, rotation of the switch drum 1500 can be coupled to axial advancement of the closure tube or closure member. Thus, in essence, actuation of the closure system can operatively engage and disengage the articulation drive system from the firing drive system in a variety of manners as described in more detail in U.S. Patent Application No. 13 / 803,086, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK," now U.S. Patent Application Publication No. 2014 / 0263541, and U.S. Patent No. 9,913,642, entitled "SURGICAL INSTRUMENT COMPRISING A SENSOR SYSTEM," the disclosures of each of which are incorporated herein by reference in their entireties.For example, when the closure tube is in its proximal-most position corresponding to the "jaws open" position, the closure member segment 3010 positions the switch drum 1500 to couple the articulation system with the firing drive system. When the closure tube is moved to its distal position corresponding to the "jaws closed" position, the closure tube rotates the switch drum 1500 to a position where the articulation system is decoupled from the firing drive system.

[0031] 4 , the shaft assembly 1200 can include a slip ring assembly 1600 that can be configured, for example, to conduct power to and / or communicate signals with the end effector 1300. The slip ring assembly 1600 can include a proximal connector flange 1604 attached to a chassis flange 1242 extending from the chassis 1240 and a distal connector flange positioned in a slot defined in the shaft housing. The proximal connector flange 1604 can include a first surface, and the distal connector flange can include a second surface positioned adjacent to and movable relative to the first surface. The distal connector flange can rotate relative to the proximal connector flange 1604 about the shaft axis SA. The proximal connector flange 1604 can include a plurality of concentric, or at least substantially concentric, conductors defined in its first surface. The connector can be mounted proximally to the connector flange and can have multiple contacts, each corresponding to and in electrical contact with one of the conductors. Such a configuration allows the proximal connector flange 1604 and the distal connector flange to rotate relative to each other while maintaining electrical contact therebetween. The proximal connector flange 1604 can include an electrical connector 1606 that can place conductors in signal communication with, for example, a shaft circuit board 1610 mounted to the shaft chassis 1240. In at least one example, a wiring harness including multiple conductors can extend between the electrical connector 1606 and the shaft circuit board 1610. The electrical connector 1606 can extend proximally through a connector opening 1243 defined in the chassis flange 1242. See FIG. 4 .Further details regarding slip ring assembly 1600 can be found, for example, in U.S. patent application Ser. No. 13 / 803,086, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK," now U.S. Patent Application Publication No. 2014 / 0263541, U.S. patent application Ser. No. 13 / 800,067, filed March 13, 2013, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM," now U.S. Patent Application Publication No. 2014 / 0263552, and U.S. Patent No. 9,345,481, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM." U.S. Patent Application No. 13 / 803,086, now U.S. Patent Application Publication No. 2014 / 0263541, U.S. Patent Application No. 13 / 800,067, now U.S. Patent Application Publication No. 2014 / 0263552, and U.S. Patent No. 9,345,481 are each incorporated by reference herein in their entirety.

[0032] As discussed above, the shaft assembly 1200 may include a proximal portion fixably attached to the handle 1014 and a distal portion rotatable about a longitudinal axis. The rotatable distal shaft portion may rotate relative to the proximal portion about the slip ring assembly 1600, as discussed above. A distal connector flange of the slip ring assembly 1600 may be positioned within the rotatable distal shaft portion. Further to the above, the switch drum 1500 may also be positioned within the rotatable distal shaft portion. When the rotatable distal shaft portion is rotated, the distal connector flange and the switch drum 1500 may rotate synchronously with one another. Additionally, the switch drum 1500 may rotate between a first position and a second position relative to the distal connector flange. When the switch drum 1500 is in its first position, the articulation drive system may be operably disengaged from the firing drive system, and thus, operation of the firing drive system may not articulate the end effector 1300 of the shaft assembly 1200. When the switch drum 1500 is in its second position, the articulation drive system may be operatively engaged with the firing drive system, such that operation of the firing drive system may articulate the end effector 1300 of the shaft assembly 1200. When the switch drum 1500 is moved between its first position and its second position, the switch drum 1500 is moved relative to the distal connector flange. In various examples, the shaft assembly 1200 can include at least one sensor configured to detect the position of the switch drum 1500.

[0033] Referring again to FIG. 4, the chassis 1240 includes at least one, and preferably two, tapered mounting portions 1244 formed thereon that are adapted to be received within corresponding dovetail slots 1702 formed in the distal mounting flange portion 1700 of the frame 1020. See FIG. 3. Each dovetail slot 1702 may be tapered, or in other words, somewhat V-shaped, to seat and receive the mounting portion 1244 therein. As can be further seen in FIG. 4, a shaft mounting lug 1226 is formed on the proximal end of the intermediate firing shaft portion 1222. As will be described in more detail below, when the interchangeable shaft assembly 1200 is coupled to the handle 1014, the shaft mounting lug 1226 is received in a firing shaft mounting cradle 1126 formed on the distal end 1125 of the longitudinal drive member 1120. See FIG. 3.

[0034] Various shaft assembly embodiments use a latch system 1710 to removably couple the shaft assembly 1200 to the housing 1012, and more particularly, to the frame 1020. As can be seen in FIG. 4 , for example, in at least one form, the latch system 1710 includes a locking member or lock yoke 1712 that is movably coupled relative to the chassis 1240. In the embodiment shown, for example, the lock yoke 1712 has a U-shape with two spaced apart, downwardly extending legs 1714. Each leg 1714 is formed with a pivot lug 1715 that is adapted to be received in a corresponding hole 1245 formed in the chassis 1240. Such an arrangement facilitates pivotally mounting the lock yoke 1712 to the chassis 1240. The locking yoke 1712 may include two proximally protruding locking lugs 1716 configured to releasably engage corresponding locking detents or grooves 1704 on the distal mounting flange portion 1700 of the frame 1020. See FIG. 3 . In various forms, the locking yoke 1712 is proximally biased by a spring or biasing member (not shown). Actuation of the locking yoke 1712 may be accomplished by a latch button 1722 pivotally mounted on a latch actuator assembly 1720 mounted to the chassis 1240. The latch button 1722 may be biased proximally relative to the locking yoke 1712. As described in more detail below, distal biasing of the latch button may move the locking yoke 1712 to an unlocked position, which also pivots the locking yoke 1712 out of retaining engagement with the distal mounting flange portion 1700 of the frame 1020. When the locking yoke 1712 is in “retaining engagement” with the distal mounting flange portion 1700 of the frame 1020 , the locking lugs 1716 are retained within corresponding locking detents or grooves 1704 in the distal mounting flange portion 1700 .

[0035] When using interchangeable shaft assemblies, including end effectors of the types described herein adapted to cut and fasten tissue, as well as other types of end effectors, it may be desirable to prevent the interchangeable shaft assembly from being inadvertently separated from the housing during actuation of the end effector. For example, during use, a clinician may actuate the closure trigger 1032 to grasp and manipulate target tissue into a desired position. Once the target tissue is positioned in the end effector 1300 in a desired orientation, the clinician may then fully actuate the closure trigger 1032 to close the anvil 2000 and clamp the target tissue in place for cutting and stapling. In that case, the first drive system 1030 is fully actuated. After the target tissue is clamped in the end effector 1300, it may be desirable to prevent the shaft assembly 1200 from being inadvertently separated from the housing 1012. One form of the latch system 1710 is configured to prevent such inadvertent separation.

[0036] As seen most particularly in FIG. 4 , the locking yoke 1712 includes at least one, and preferably two, locking hooks 1718 that are adapted to contact corresponding locking lug portions 1256 formed on the closure shuttle 1250. When the closure shuttle 1250 is in the inactivated position (i.e., the first drive system 1030 is inactivated and the anvil 2000 is open), the locking yoke 1712 may pivot distally to unlock the interchangeable shaft assembly 1200 from the housing 1012. When in that position, the locking hooks 1718 are not in contact with the locking lug portions 1256 of the closure shuttle 1250. However, when the closure shuttle 1250 is moved to the activated position (i.e., the first drive system 1030 is activated and the anvil 2000 is in the closed position), the locking yoke 1712 is prevented from pivoting to the unlocked position. In other words, if a clinician attempts to pivot the locking yoke 1712 to the unlocked position, or if the locking yoke 1712 is inadvertently pushed or contacted in a manner that would cause it to pivot distally, for example, the locking hook 1718 of the locking yoke 1712 will contact the locking lug portion 1256 of the closure shuttle 1250, preventing the locking yoke 1712 from moving to the unlocked position.

[0037] Attachment of the interchangeable shaft assembly 1200 to the handle 1014 will now be described. To begin the coupling process, the clinician may position the chassis 1240 of the interchangeable shaft assembly 1200 above or adjacent to the distal mounting flange portion 1700 of the frame 1020 so that the tapered mounting portion 1244 formed on the chassis 1240 is aligned with the dovetail slot 1702 of the frame 1020. The clinician may then move the shaft assembly 1200 along a mounting axis perpendicular to the shaft axis SA to seat the mounting portion 1244 in “operable engagement” with the corresponding dovetail slot 1702. In doing so, the shaft mounting lugs 1226 on the intermediate firing shaft portion 1222 are also mounted within the cradle 1126 of the longitudinally movable drive member 1120, and portions of the pin 1037 on the second closure link 1038 are received within corresponding hooks 1252 of the closure shuttle 1250. As used herein, the term "operably engaged" in the context of two components means that the two components are sufficiently engaged with one another so that, upon application of an actuating motion thereto, the components can perform their intended action, function, and / or procedure.

[0038] At least five systems of the interchangeable shaft assembly 1200 can be operably coupled to at least five corresponding systems of the handle 1014. A first system can include a frame system that couples and / or aligns the frame 1020 or spine 1210 of the shaft assembly 1200 with the frame 1020 of the handle 1014. Another system can include a closure drive system 1030 that can operably connect a closure trigger 1032 of the handle 1014 with a closure tube of the shaft assembly 1200. As outlined above, the closure shuttle 1250 of the shaft assembly 1200 can engage with the pin 1037 of the second closure link 1038. Another system can include a firing drive system 1080 that can operably connect the firing trigger 1130 of the handle 1014 with the intermediate firing shaft portion 1222 of the shaft assembly 1200. As outlined above, the shaft mounting lugs 1226 can be operatively connected to the cradle 1126 of the longitudinal drive member 1120. Another system can include, for example, an electrical system that can signal a controller in the handle 1014, such as, for example, a microcontroller, that a shaft assembly, such as shaft assembly 1200, is operatively engaged with the handle 1014, and / or secondly, can conduct power and / or communication signals between the shaft assembly 1200 and the handle 1014. For example, the shaft assembly 1200 can include an electrical connector 1810 operatively mounted to the shaft circuit board 1610. The electrical connector 1810 is configured to matingly engage with a corresponding electrical connector 1800 on the circuit board 1100.Further details regarding the circuitry and control systems can be found in U.S. Patent Application Serial No. 13 / 803,086, now U.S. Patent Application Publication No. 2014 / 0263541, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK," and U.S. Patent Application Serial No. 14 / 226,142, now U.S. Patent No. 9,913,642, entitled "SURGICAL INSTRUMENT COMPRISING A SENSOR SYSTEM," the entire disclosures of each of which are previously incorporated by reference herein. A fifth system may comprise a latching system for releasably locking the shaft assembly 1200 to the handle 1014.

[0039] The anvil 2000 in the illustrated example includes an anvil body 2002 terminating in an anvil mounting portion 2010. The anvil mounting portion 2010 is movably or pivotally supported on the elongated channel 1310 and is selectively pivotally movable relative to the elongated channel 1310 about a fixed anvil pivot axis PA that is transverse to the shaft axis SA. In the illustrated configuration, a pivot member or anvil trunnion 2012 extends laterally from each lateral side of the anvil mounting portion 2010 and is received in a corresponding trunnion cradle 1316 formed in an upstanding wall 1315 of the proximal end portion 1312 of the elongated channel 1310. The anvil trunnion 2012 is pivotally retained in the corresponding trunnion cradle 1316 by a channel cap or anvil retainer 1290. The channel cap or anvil retainer 1290 has a pair of mounting lugs configured to be received and retained within corresponding lug grooves or notches formed in the upstanding wall 1315 of the proximal end portion 1312 of the elongated channel 1310. See FIG.

[0040] 5, in at least one arrangement, the distal closure member or end effector closure tube 3050 employs two axially offset proximal and distal positive jaw opening mechanisms 3060 and 3062. The positive jaw opening mechanisms 3060, 3062 are configured to interact with corresponding relief areas and stepped portions formed on the anvil mounting portion 2010, as described in further detail in U.S. Patent Application Serial No. 15 / 635,631, entitled "SURGICAL INSTRUMENT WITH AXIALLY MOVABLE CLOSURE MEMBER," now U.S. Patent Application Publication No. 2019 / 0000464, the entire disclosure of which is incorporated herein by reference. Other jaw opening configurations may also be used.

[0041] A shaft assembly 100 is shown in Figures 6 and 7. The shaft assembly 100 includes a mounting portion 110, a shaft 120 extending distally from the mounting portion 110, and an end effector 130 attached to the shaft 120. The shaft assembly 100 is configured to clamp, staple, and cut tissue. The mounting portion 110 is configured to be attached to, for example, the handle of a surgical instrument and / or the arm of a surgical robot.

[0042] 7, shaft assembly 100 includes cooperating articulation rods 144, 145 configured to articulate end effector 130 relative to shaft 120 about articulation joint 160. Shaft assembly 100 further includes an articulation locking bar 148, an outer shaft tube 162, and a spine portion 123.

[0043] 7, shaft assembly 100 comprises firing shaft 150 including a firing member 156 attached to a distal end of firing shaft 150. Firing member 156 comprises an upper cam flange configured to engage anvil jaw 133 and a lower cam member configured to engage cartridge jaw 132. Firing shaft 150 is configured to be advanced distally through a closing stroke to clamp anvil jaw 133 against cartridge jaw 132 using the cam member. Further advancement of firing shaft 150 through the firing stroke is configured to advance firing member 156 through cartridge jaw 132, deploying staples from cartridge jaw 132 and severing tissue during the firing stroke. Further details of the shaft assembly 100 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 SURGICAL ROBOT," which is incorporated by reference in its entirety.

[0044] 8 and 9 illustrate a surgical tool assembly 200 configured for use with a surgical robot. The surgical tool assembly 200 is configured to staple and cut tissue, although the surgical tool assembly 200 may be adapted to treat tissue in any suitable manner, such as by applying thermal energy, electrical energy, and / or vibrations to the tissue. The surgical tool assembly 200 includes a proximal control interface 210 configured to couple to a robotic arm of a surgical robot and a shaft assembly 220 configured to attach to the proximal control interface 210. The shaft assembly 220 includes an end effector 230 configured to clamp, cut, and staple tissue. The proximal control interface 210 includes multiple drive discs 211, each for actuating one or more functions of the surgical tool assembly 200. Each drive disc 211 may be independently driven and / or cooperatively driven with one or more other drive discs 211 by one or more motors of the surgical robot and / or the robotic arm of the surgical robot. Further details regarding the surgical instrument assembly 200 can be found in U.S. patent application Ser. No. 15 / 847,297, entitled "SURGICAL INSTRUMENTS WITH DUAL ARTICULATION DRIVERS," which is incorporated by reference in its entirety.

[0045] Various embodiments disclosed herein may be utilized in connection with a robotic system 300 of the type shown in FIGS. 10-12, for example. FIG. 10 illustrates one type of master controller 301 that can be used with a robotic arm slave cart 310 of the type shown in FIG. 11. The master controller 301 and robotic arm slave cart 310, along with their individual components and control systems, are collectively referred to herein as the robotic system 300. Examples of such systems and devices are disclosed in U.S. Pat. No. 7,524,320, entitled "MECHANICAL ACTUATOR INTERFACE SYSTEM FOR ROBOTIC SURGICAL TOOLS," and U.S. Pat. No. 9,072,535, entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS," each of which is incorporated herein by reference in its entirety. Accordingly, details of such devices will not be described herein beyond what may be necessary to understand the various embodiments and forms of the present disclosure. As is known, the master controller 301 typically includes a master controller (generally designated 303 in FIG. 10) that is held and manipulated through space by a surgeon while the surgeon observes the procedure via a stereoscopic display 302. The master controller 301 typically includes a manual input device that preferably moves in multiple degrees of freedom and often also has an actuatable handle for actuating tools (e.g., closing grasping jaws, applying electrical potentials to electrodes, etc.).

[0046] As seen in FIG. 11 , in one form, the robotic arm cart 310 can be configured to operate one or more surgical tools, generally designated as 330. Various robotic surgical systems and methods utilizing a master controller and robotic arm cart configuration are disclosed in U.S. Pat. No. 6,132,368, entitled "MULTI-COMPONENT TELEPRESENCE SYSTEM AND METHOD," the entire disclosure of which is incorporated herein by reference. In various forms, the robotic arm cart 310 has a base 312, which, in the illustrated embodiment, can support a surgical tool. In various forms, the surgical tool(s) can each be supported by a series of manually articulating linkages, generally referred to as a setup joint 314 and a robotic manipulator 316. In various embodiments, the linkages and joint arrangements can facilitate rotation of the surgical tool about a point in space, as more fully described in U.S. Pat. No. 5,817,084, entitled "REMOTE CENTER POSITIONING DEVICE WITH FLEXIBLE DRIVE," the entire disclosure of which is incorporated herein by reference. This parallelogram arrangement limits rotation to pivoting about axis 322a, sometimes referred to as the pitch axis. The linkages supporting the parallelogram linkages are pivotally mounted to the set-up joint 314 ( FIG. 11 ), so the surgical tool additionally rotates about axis 322b, sometimes referred to as the yaw axis. The pitch and yaw axes 322a, 322b intersect at a remote center 324 aligned along the elongated shaft of the surgical tool. The surgical tool may have an additional actuated degree of freedom supported by the manipulator 316, including sliding movement of the surgical tool along the longitudinal axis "LT-LT." The surgical tool slides along tool axis LT-LT relative to the manipulator 316 (arrow 322c), while the remote center 324 remains fixed relative to the base 326 of the manipulator 316. Thus, the entire manipulator generally moves to reposition the remote center 324. The linkage 318 of the manipulator 316 may be driven by a series of motors 340.These motors actively move linkage 318 in response to commands from the control system processor. Motor 340 may also be used to manipulate the surgical tool. Alternative joint structures and setup configurations are also contemplated. Examples of other joints and setup devices are disclosed, for example, in U.S. Patent Application No. 5,878,193, entitled "AUTOMATED ENDOSCOPE SYSTEM FOR OPTIMAL POSITIONING," the entire disclosure of which is incorporated herein by reference. Furthermore, while data communication between robotic components and the processor of a robotic surgical system is described herein primarily with respect to communication between a surgical tool and master controller 301, it should be understood that similar communication may also occur between circuitry of a manipulator, a setup joint, an endoscope or other image capture device, etc., and the processor of a robotic surgical system for assessing component compatibility, identifying component type, communicating component calibrations (e.g., offsets), verifying component coupling with the robotic surgical system, etc. In accordance with at least one aspect, the various surgical instruments disclosed herein may be used in conjunction with other robotically controlled or automated surgical systems, and are not necessarily limited to use with the specific robotic system components shown in FIGS. 10-12 and described in the aforementioned references.

[0047] 13 shows a block diagram of a surgical system 1930 for use with one or more surgical instruments, tools, and / or robotic systems in accordance with one or more aspects of the present disclosure. The system 1930 includes a control circuit 1932. The control circuit 1932 includes a microcontroller 1933 having a processor 1934 and a storage medium, such as, for example, a memory 1935.

[0048] The motor assembly 1939 includes one or more motors driven by a motor driver. The motor assembly 1939 is operatively coupled to a drive assembly 1941 to drive or effect one or more motions in the end effector 1940. The drive assembly 1941 may include any number of components suitable for transmitting motion to the end effector 1940, such as, for example, one or more linkages, bars, tubes, and / or cables.

[0049] One or more of the sensors 1938 provide real-time feedback to the processor 1934 about one or more operating parameters monitored, for example, during a surgical procedure performed by the surgical system 1930. The operating parameters may be associated, for example, with a user performing the surgical procedure, the tissue being treated, and / or one or more components of the surgical system 1930. The sensors 1938 may comprise any suitable sensors, such as, for example, magnetic sensors such as Hall effect sensors, strain gauges, pressure sensors, inductive sensors such as eddy current sensors, resistive sensors, capacitive sensors, optical sensors, and / or any other suitable sensors.

[0050] Further to the above, in various configurations, the sensor 1938 may include sensors for detecting one or more conditions in the end effector 1940, including, but not limited to, a Hall effect or reed switch sensor, an optical sensor, a magnetic induction sensor, a force sensor, a pressure sensor, a piezoresistive film sensor, an ultrasonic sensor, an eddy current sensor, an accelerometer, a pulse oximetry sensor, a temperature sensor, a tissue thickness sensor such as a sensor configured to detect an electrical property of a tissue pathway (such as capacitance or resistance), or any combination thereof. As another example, without limitation, the sensor 1938 may include one or more sensors located at or around an articulation joint extending proximally from the end effector 1940. Such sensors may include, for example, a potentiometer, a capacitance sensor (slide potentiometer), a piezoresistive film sensor, a pressure sensor, or any other suitable sensor type. In some configurations, the sensor 1938 may include multiple sensors at multiple locations within the end effector 1940.

[0051] In certain aspects, system 1930 includes a feedback system 1952 that includes one or more devices for providing sensory feedback to a user. Such devices may include, for example, visual feedback devices (e.g., LCD display screens, touch screens, LED indicators), audible feedback devices (e.g., speakers, buzzers), or haptic feedback devices (e.g., haptic actuators).

[0052] Microcontroller 1933 may be programmed to perform various functions, such as precise control over the speed and position of drive assembly 1941. In one aspect, microcontroller 1933 may be any single-core or multi-core processor, such as those known by the trade name ARM Cortex from Texas Instruments. In one aspect, main microcontroller 1933 may be, for example, an LM4F230H5QR ARM Cortex-M4F processor core available from Texas Instruments, with on-chip memory of 256 KB of single-cycle flash memory or other non-volatile memory up to 40 MHz, a prefetch buffer to improve performance above 40 MHz, 32 KB of single-cycle SRAM, internal ROM with StellarisWare® software, 2 KB of EEPROM, one or more PWM modules, one or more QEI analog, and / or one or more 12-bit ADCs with 12 analog input channels, details of which are available in the product datasheet.

[0053] The microcontroller 1933 may be configured to calculate a response within the software of the microcontroller 1933. The calculated response is compared to 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 suitable adjusted value that balances the smooth and continuous nature of the simulated response with the measured response, which may detect external influences on the system.

[0054] Motor assembly 1939 includes one or more electric motors and one or more motor drivers. The electric motors may be in the form of brushed direct current (DC) motors with gearboxes and mechanical links to drive assembly 1941. In one aspect, the motor drivers may be A3941 available from Allegro Microsystems, Inc.

[0055] In various forms, the motor assembly 1939 includes a brushed DC drive motor having a maximum rotational speed of approximately 25,000 RPM. In other configurations, the motor assembly 1939 may include a brushless motor, a cordless motor, a synchronous motor, a stepper motor, or any other suitable electric motor. The motor driver may include, for example, an H-bridge driver with field effect transistors (FETs).

[0056] Motor 1939 may be powered by power supply 1942. In certain embodiments, power supply 1942 includes one or more batteries, which may include several battery cells connected in series, that may be used as a power source to power motor assembly 1939. Under certain circumstances, the battery cells of the power supply assembly may be replaceable and / or rechargeable. In at least one example, the battery cells may be lithium-ion batteries that may be connectable to and separable from the power supply assembly.

[0057] Further to the above, the end effector 1940 includes a first jaw 1921 and a second jaw 1931. At least one of the first jaw 1921 and the second jaw 1931 is movable relative to the other jaw during a closing motion that transitions the end effector 1940 from an open configuration to a closed configuration. The closing motion can cause the jaws 1921, 1931 to grasp tissue therebetween. In certain configurations, a sensor, such as, for example, a strain gauge or a micro-strain gauge, is configured to measure one or more parameters of the end effector 1940, such as, for example, the amplitude of strain exerted on one or both of the jaws 1921, 1931 during the closing motion, which can be indicative of the closing force applied to the jaws 1921, 1931. The measured strain is converted to a digital signal and provided, for example, to a processor 1934. Alternatively, or additionally, a sensor, such as, for example, a load sensor, may measure the closing and / or firing force applied to the jaws 1921, 1931.

[0058] In various configurations, a current sensor may be used to measure the current draw by the motor 1939. The force required to advance the drive assembly 1941 may correspond to the current drawn by the motor, for example. The measured force is converted to a digital signal and provided to the processor 1934.

[0059] In one form, a strain gauge sensor may be used, for example, to measure the force applied to tissue by the end effector 1940. A strain gauge may be coupled to the end effector 1940 to measure the force by the end effector 1940 on the tissue being treated. In one aspect, the strain gauge sensor may measure the amplitude or magnitude of strain on the jaws of the end effector 1940 during the closing movement, which may be indicative of tissue compression. The measured strain is converted to a digital signal and provided to the processor 1934.

[0060] Measurements of tissue compression, tissue thickness, and / or force required to close the end effector on the tissue, respectively, measured by sensor 1938 may be used by microcontroller 1933 to characterize a selected position of one or more components of drive assembly 1941 and / or a corresponding value of velocity of one or more components of drive assembly 1941. In one example, memory (e.g., memory 1935) may store techniques, formulas, and / or lookup tables that can be used by microcontroller 1933 in the evaluation.

[0061] System 1930 may include wired or wireless communication circuitry for communicating with, for example, a surgical hub (e.g., surgical hub 1953), a communications hub, and / or a robotic surgical hub. Further details regarding suitable interaction between system 1930 and surgical hub 1953 are disclosed in U.S. Patent Application No. 16 / 209,423, now U.S. Patent Application Publication No. 2019 / 0200981, entitled "METHOD OF COMPRESSING TISSUE WITHIN A STAPLING DEVICE AND SIMULTANEOUSLY DISPLAYING THE LOCATION OF THE TISSUE WITHIN THE JAWS," the entire disclosure of which is incorporated herein by reference.

[0062] In various aspects, the control circuitry 1932 may be configured to perform the various processes described herein. In particular aspects, the control circuitry 1932 may comprise a microcontroller comprising one or more processors (e.g., microprocessors, microcontrollers) coupled to at least one memory circuit. The memory circuitry stores machine-executable instructions that, when executed by the processor, cause the processor to execute the machine instructions to perform the various processes described herein. The processor may be any one of a number of single-core or multi-core processors known in the art. The memory circuitry may comprise volatile and non-volatile storage media. The processor may include an instruction processing unit and an arithmetic unit. The instruction processing unit may be configured to receive instructions from a memory circuit of the present disclosure.

[0063] Alternatively, in certain examples, the control circuitry 1932 may be in the form of a combinational logic circuit configured to perform the various processes described herein. The combinational logic circuit may comprise a finite state machine comprising combinational logic configured to receive data, process the data through combinational logic, and provide an output. Alternatively, in some examples, the control circuitry 1932 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 comprise a finite state machine. The sequential logic circuit may comprise, 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. In certain examples, the sequential logic circuit may be synchronous or asynchronous. In other examples, the control circuitry 1932 may comprise a combination of a processor (e.g., processor 1934) and a finite state machine that implements the various processes described herein. In other aspects, the finite state machine may include, for example, a combination of combinational logic and sequential logic.

[0064] 14 shows a block diagram of a surgical system 600 for use with one or more surgical instruments, tools, and / or robotic systems in accordance with one or more embodiments of the present disclosure. Surgical scheme 600 is similar in many respects to surgical scheme 1930', which, for the sake of brevity, will not be repeated at the same level of detail herein. For example, like surgical system 1930, surgical system 600 includes control circuitry including a microcontroller 620 with a processor 1934 and memory 1935, a sensor 630, and a power supply 628, which are similar to microcontroller 1933, processor 622, memory 624, and power supply 1942, respectively. Additionally, surgical system 600 includes multiple motors and corresponding drive assemblies that can be operated to perform various functions.

[0065] In certain examples, a first motor may be activated to perform a first function, a second motor may be activated to perform a second function, a third motor may be activated to perform a third function, a fourth motor may be activated to perform a fourth function, etc. In certain examples, multiple motor assemblies may be individually activated to produce, for example, a firing, closing, and / or articulation motion in the end effector 1940. The firing, closing, and / or articulation motion may be transmitted to the end effector 1940 via, for example, a shaft assembly.

[0066] In certain examples, the system 600 may include a firing motor 602. The firing motor 602 may be operably coupled to a firing motor drive assembly 604, which may be configured to transfer a firing motion generated by the motor 602 to the end effector, particularly to displace an I-beam element. In certain examples, the firing motion generated by the motor 602 may, for example, deploy staples from a staple cartridge into tissue captured by the end effector 1940 and / or advance a cutting blade of the I-beam element to cut the captured tissue. The I-beam element may be retracted by reversing the direction of the motor 602.

[0067] In certain examples, the system 600 may include a closure motor 603. The closure motor 603 may be operatively coupled to a closure motor drive assembly 605, which may be configured to transmit the closure motion generated by the motor 603 to the end effector 1940, specifically to displace a closure tube to close the anvil and compress tissue between the anvil and the staple cartridge. The closure motion may, for example, transition the end effector 1940 from an open configuration to an approximated configuration to capture tissue. The end effector 1940 may be transitioned to the open position by reversing the direction of the motor 603.

[0068] In certain examples, system 600 may include, for example, one or more articulation motors 606 a, 606 b. Motors 606 a, 606 b may be operatively coupled to corresponding articulation motor drive assemblies 608 a, 608 b, which may be configured to transfer articulation motion generated by motors 606 a, 606 b to an end effector. In certain examples, articulation motion may, for example, cause an end effector to articulate relative to a shaft.

[0069] As described above, system 600 may include multiple motors, which may be configured to perform various independent functions. In certain examples, multiple motors of a surgical instrument or tool may be activated individually or separately to perform one or more functions while the other motors remain stopped. For example, articulation motors 606 a, 606 b may be activated to articulate the end effector while firing motor 602 remains stopped. Alternatively, firing motor 602 may be activated to fire multiple staples and / or advance a cutting blade while articulation motor 606 remains stopped. Additionally, closure motor 603 may be activated simultaneously with firing motor 602 to distally advance a closure tube and I-beam element, as described in more detail herein below.

[0070] In certain examples, the system 600 may include a common control module 610 that can be used with multiple motors of a surgical instrument or tool. In certain examples, the common control module 610 may accommodate one of the multiple motors at a time. For example, the common control module 610 may be individually connectable and disconnectable to multiple motors of a robotic surgical instrument. In certain examples, the multiple motors of a surgical instrument or tool may share one or more common control modules, such as the common control module 610. In certain examples, the multiple motors of a surgical instrument or tool may be individually and selectively engaged with the common control module 610. In certain examples, the common control module 610 may be selectively switched from interfacing with one of the multiple motors of a surgical instrument or tool to interfacing with another of the multiple motors of a surgical instrument or tool.

[0071] In at least one example, common control module 610 may be selectively switched between operative engagement with articulation motors 606 a, 606 b and operative engagement with either firing motor 602 or closure motor 603. In at least one embodiment, as shown in FIGURE 14 , switch 614 may move or transition between multiple positions and / or states. For example, in a first position 616, switch 614 may electrically couple common control module 610 to firing motor 602, in a second position 617, switch 614 may electrically couple common control module 610 to closure motor 603, in a third position 618 a, for example, switch 614 may electrically couple common control module 610 to first articulation motor 606 a, and in a fourth position 618 b, switch 614 may electrically couple common control module 610 to second articulation motor 606 b. In certain examples, a separate common control module 610 may be electrically coupled to the firing motor 602, the closing motor 603, and the articulation motors 606 a, 606 b at the same time. In certain examples, the switch 614 may be a mechanical switch, an electromechanical switch, a solid-state switch, or any suitable switching mechanism.

[0072] Each of the motors 602, 603, 606a, 606b may be equipped with a torque sensor to measure the output torque on the shaft of the motor. The force on the end effector may be sensed in any conventional manner, such as by a force sensor outside the jaws or by a torque sensor on the motor that actuates the jaws.

[0073] 14, common control module 610 may include a motor driver 626, which may include one or more H-bridge FETs. Motor driver 626 may modulate power transferred from a power supply 628 to a motor coupled to common control module 610 based on input from, for example, a microcontroller 620 ("controller"). In certain examples, as described above, for example, microcontroller 620 may be used to determine the current drawn by a motor while the motor is coupled to common control module 610.

[0074] In various examples, processor 622 may control motor drivers 626 to control the position, direction of rotation, and / or speed of motors coupled to common control module 610. In certain examples, processor 622 may signal motor drivers 626 to stop and / or disable motors coupled to common control module 610.

[0075] In certain examples, memory 624 may include program instructions for controlling each of the motors of the surgical instrument 600 that are connectable to the common control module 610. For example, memory 624 may include program instructions for controlling the firing motor 602, the closing motor 603, and the articulation motors 606 a, 606 b. Such program instructions may cause processor 622 to control the firing, closing, and articulation functions according to inputs from algorithms or control programs of the surgical instruments or tools.

[0076] In certain examples, one or more mechanisms and / or sensors, such as, for example, sensor 630, may be used to alert processor 622 to program instructions to use in a particular setting. For example, sensor 630 may alert processor 622 to use program instructions associated with firing, closure, and articulation of the end effector. In certain examples, sensor 630 may comprise, for example, a position sensor that may be used to sense the position of switch 614. Thus, processor 622 may use program instructions associated with firing an I-beam of the end effector when, for example, it detects via sensor 630 that switch 614 is in first position 616; processor 622 may use program instructions associated with closing an anvil when, for example, it detects via sensor 630 that switch 614 is in second position 617; and processor 622 may use program instructions associated with articulation of the end effector when, for example, it detects via sensor 630 that switch 614 is in third position 618a or fourth position 618b.

[0077] In one aspect, the amount of compression applied to tissue may affect the desired firing velocity of a firing member, such as firing member 1900, during the firing stroke. The amount of time a surgeon selects to pre-compress tissue before firing is a valuable input to firing success. Therefore, it may be beneficial to establish modifiers for firing velocity or various other firing motion parameters based on parameters associated with applying compression to tissue.

[0078] In some embodiments, the parameter associated with applying compression may be the amount of elapsed time that an end effector, such as end effector 1300, has been in a clamped state. In some embodiments, the clamped state is defined as a state in which the end effector 1300 is in a closed configuration and the closure trigger 1032 is in an actuated position. In other embodiments, the clamped state is defined as a state in which the elongated channel 1310 and the anvil 2000 of the end effector 1300 are within a threshold distance of each other. In other embodiments, the clamped state is defined as a state in which the closure trigger 1032 has pivoted a threshold distance away from the unactuated position.

[0079] In various embodiments, the timer is utilized to measure the amount of time that elapses between, by way of example, when the end effector enters a clamped state and when a user activates a firing system, such as the firing drive system 1080 of a surgical instrument. In some embodiments, activation of the firing drive system 1080 is detected when the firing trigger 1130 is pivoted to an activated position, for example, using a position sensor or a Hall Effect sensor. In some embodiments, activation of the firing system is detected when the power supply 1090 supplies current or voltage to the motor 1082, as detected by a current sensor or voltage sensor, respectively.

[0080] According to the amount of elapsed time measured by the timer, a control system, such as handle circuit board 1100, may set a firing motion parameter of the firing system. In various embodiments, setting the firing motion parameter includes selecting a value for the firing motion parameter, for example, from a lookup table or based on a formula stored in memory. It should be understood that other embodiments are contemplated in which the control system is similar to controller 1933 and includes a processor, such as processor 1934, and a memory, such as memory 1935. Other embodiments are contemplated in which the control system is similar to controller 620 or any other suitable control system described elsewhere herein.

[0081] In some embodiments, the firing motion parameter includes the duty cycle of a motor, such as motor 1082, that drives the firing member. In some embodiments, the firing motion parameter includes the speed of the motor. In some embodiments, the firing motion parameter includes the current supplied to the motor from a power source, such as, by way of example, power supply 1090, power supply 1942, or power supply 628. In some embodiments, the firing motion parameter includes the voltage supplied to the motor. In some embodiments, the firing motion parameter includes the velocity of the firing member. In some embodiments, the firing motion includes the acceleration of the firing member. In some embodiments, the firing motion parameter includes the firing force on the firing member. In some embodiments, the firing motion parameter includes any suitable parameter associated with the firing system described elsewhere herein.

[0082] In various embodiments, setting the firing motion parameters of the firing system includes adjusting default firing motion parameters according to the amount of elapsed time measured by the timer. In various embodiments, the default firing motion parameters are stored in memory and retrieved by the control system. In various other embodiments, the default firing motion parameters include user-defined default firing motion parameters.

[0083] Referring now to FIG. 15 , a graph 18000 is provided in accordance with at least one aspect of the present disclosure. In various embodiments, aspects of graph 18000 may be stored in a memory, such as memory 1935, and retrieved by a control system. For example, one or more portions of graph 18000 may be stored in the form of one or more equations, a lookup table, and / or any other format suitable for representing the relationship illustrated by graph 18000. As seen in FIG. 15 , graph 18000 illustrates a relationship between firing motion parameter modifications 18002 of default firing motion parameters and an elapsed time 18004 since the end effector of the surgical instrument entered a clamped state. Various techniques may be implemented to measure the time elapsed since the clamped state was entered. In one example, a timer is started when the end effector reaches the clamped state. In various examples, as described in more detail elsewhere in this disclosure, the end effector of the surgical instrument is operable to grasp tissue between the jaws of the end effector. At least one of the jaws may be moved relative to the other jaw toward the clamped state. After achieving the clamped state, the clinician activates a firing system which deploys staples into the clamped tissue and, in some instances, is responsible for advancing a cutting member through the tissue.

[0084] When the control system detects that the firing system has been actuated, the control system identifies a point along correction curve 18006 of graph 18000 and adjusts the default firing motion parameters according to the corresponding value from correction curve 18006. Activation may be detected, for example, based on one or more sensor readings. For example, actuation detection may be based on detecting movement of a trigger or depression of an actuation button. Additionally or alternatively, actuation detection may be based on detecting initial movement of one or more components of the firing system, such as, for example, a firing member, such as firing member 1900.

[0085] In some embodiments, the default firing motion parameters may include, by way of example, a default duty cycle of a motor, such as motor 1082. In some embodiments, the default firing motion parameters may include a default current supplied to the motor. In some embodiments, the default firing motion parameters may include a default voltage applied to the motor. In some embodiments, the default firing motion parameters may include a default speed at which the motor drives the firing member. Other firing motion parameters are described elsewhere herein. Based on the length of time measured between the end effector reaching the clamped state and the firing system being activated, the control system may modify the default firing motion parameters to adjusted firing motion parameters. In one embodiment, a user may activate the firing system immediately after the end effector reaches the clamped state, i.e., at point 18008 on correction curve 18006. Thus, the control system may modify the default firing motion parameters according to the value identified at point 18008 along correction curve 18006.

[0086] In some embodiments, point 18008 corresponds to a value less than 1. Utilizing a modifier less than 1 prevents the firing system from driving the firing member with default parameters if the tissue is not given a sufficient amount of time to relax when the end effector enters the clamped state. In one embodiment, using point 18008, which corresponds to a default speed of V1 and a value less than 1, the control system causes the motor to drive the firing member at an adjusted speed of V2, which is less than V1. Thus, utilizing graph 18000 may encourage the clinician to allow the tissue a sufficient amount of time to relax, so that the firing member is not driven using firing motion parameters that are less than the default firing motion parameter values. Other embodiments are envisioned in which point 18008 corresponds to a value of 1 or greater than 1.

[0087] As can be seen on graph 18000, a threshold 18010 is provided that corresponds to a point along correction curve 18006 at which the firing system may be driven using default firing motion parameters. In some embodiments, the control system may provide audible, tactile, visual, etc. feedback to the clinician when the amount of time at threshold 18010 is reached or exceeded to inform the clinician that a sufficient amount of time has passed to allow the default firing motion parameters to be utilized.

[0088] In various embodiments, the correction curve 18006 may be represented by an equation defined by: Y=C(A * log(t+1)+B) where A and B are constants, C is a default fire motion parameter, t is time, and Y is an adjusted fire motion parameter. In various embodiments, the constants A and B are stored in memory and are retrievable by the control system. In various embodiments, the constants A and B are provided by a user at an input interface. In one aspect, the constant B corresponds to the correction value at point 18008. In one embodiment where constant A is 1, constant B is 0.25, and the default fire motion parameter C is the fire rate V1, the following lookup table may be stored in memory:

[0089] [Table 1]

[0090] Thus, in the particular example where the firing motion parameter is firing velocity (e.g., the velocity of a firing member resulting in a firing stroke of a firing system), graph 18000 provides an algorithm that modifies the velocity of the firing member according to the amount of time that has elapsed since the end effector reached the clamped state. Note that the foregoing equations, values, and tables are merely examples that represent methods for performing dynamic modification of default parameters. Other equations and / or other suitable forms for representing dynamic modification over time may be implemented.

[0091] In various embodiments, the control system may dynamically adjust the firing motion parameters after the firing system is activated. In some embodiments, the control system may continuously adjust the firing motion parameters. In some embodiments, the control system may discretely adjust the firing motion parameters, such as adjusting the firing motion parameters every second or every few seconds. In some embodiments, the firing motion parameters may continue to be adjusted according to the correction curve 18006. In one embodiment utilizing the above table, the firing system is activated after 4 seconds, which causes the firing system to drive the firing member at an adjusted firing rate of 0.95V1. One second into the firing stroke, the control system may adjust the adjusted firing rate to 1.03V1 (the 5-second point in the above table). Two seconds into the firing stroke, the control system may adjust the firing rate to 1.09V1 (the 6-second point in the table). Thus, the control system may dynamically adjust the firing motion parameters utilized by the firing system based on the amount of elapsed time the end effector has been in the clamped state, taking into account the time before the firing system is activated and the time after the firing system is activated.

[0092] Referring now to FIG. 16 , a graph 18100 is provided in accordance with at least one aspect of the present disclosure. In various examples, aspects of the graph 18100 may be stored in a memory, such as memory 1935, and retrieved by a control system. In various other embodiments, one or more portions of the graph 18100 may be stored in memory in the form of one or more equations, a lookup table, or any other form suitable for representing the relationship illustrated by the graph 18100. As seen in FIG. 16 , the graph 18100 illustrates a relationship between a firing motion parameter modification 18102 of the default firing motion parameters and an elapsed time 18104 since the end effector entered a clamped state. Various techniques may be implemented to measure the elapsed time since the clamped state was entered. In one example, a timer is started when the end effector reaches the clamped state. In various examples, as described in more detail elsewhere in this disclosure, the end effector of the surgical instrument is operable to grasp tissue between the jaws of the end effector. At least one of the jaws may be moved relative to the other jaw toward the clamped state. After achieving the clamped state, the clinician activates a firing system which deploys staples into the clamped tissue and, in some instances, is responsible for advancing a cutting member through the tissue.

[0093] When the control system detects that the firing system has been actuated, the control system identifies a point along correction curve 18106 of graph 18100 and adjusts the default firing motion parameters according to the corresponding value from correction curve 18006. Activation may be detected, for example, based on one or more sensor readings. For example, actuation detection may be based on detecting movement of a trigger or depression of an actuation button. Additionally or alternatively, actuation detection may be based on detecting initial movement of one or more components of the firing system, such as, for example, a firing member, such as firing member 1900.

[0094] In various embodiments, point 18108 corresponds to a value greater than 1. In various other embodiments, point 18108 corresponds to a value of 1. In one embodiment, with point 18108 corresponding to a default speed of V1 and a 1.5 correction, the control system may cause the motor to drive the firing member at an adjusted speed of 1.5V1. In another embodiment, with point 18108 corresponding to a default speed of V1 and a 1 correction, the control system may cause the motor to drive the firing member at a default speed of V1.

[0095] As can be seen in graph 18100, correction curve 18106 has a negative slope, resulting in an adjusted firing motion parameter that decreases over time. In various embodiments, where the value at point 18108 is greater than 1, a threshold 18110 is provided along the curve at which the firing system will be driven using the default firing motion parameter. In some embodiments, the control system may provide audible, tactile, visual, etc. feedback to the clinician when the amount of time at threshold 18110 is reached or exceeded to inform the clinician that a sufficient amount of time has passed at which the default firing motion parameter will be utilized. In various embodiments, graph 18100 may include a threshold 18112 at which the firing parameter no longer decreases.

[0096] In various embodiments, the correction curve 18106 may be represented by an equation defined by: Y=-A * t+(B+C) where A and B are constants, C is a default fire motion parameter, t is time, and Y is an adjusted fire motion parameter. In various embodiments, the constants A and B are stored in memory and are retrievable by the control system. In various embodiments, the constants A and B are provided by a user at an input interface. In one embodiment where point 18108 is desired to be the default fire motion parameter, C is equal to 0. In one embodiment where constant A is 2, constant B is 6, and the default fire motion parameter C is a fire rate V1, the following lookup table may be stored in memory:

[0097] [Table 2]

[0098] Thus, the foregoing graph 18100 provides an algorithm that reduces the velocity of the firing member according to the amount of time that has elapsed since the end effector reached the clamped state. Note that the foregoing equations, values, and tables are merely examples that represent methods for performing dynamic modification of default parameters. Other equations and / or other suitable forms for representing dynamic modification over time may be implemented.

[0099] In various embodiments, the control system may dynamically adjust the firing motion parameters after the firing system is activated. In some embodiments, the control system may continuously adjust the firing motion parameters. In some embodiments, the control system may discretely adjust the firing motion parameters, such as adjusting the firing motion parameters every second or every few seconds. In some embodiments, the firing motion parameters may continue to be adjusted according to the correction curve 18106 on the graph. In one embodiment utilizing the aforementioned table, the firing system is activated after four seconds, which causes the firing system to drive the firing member at an adjusted velocity of V1-2. One second into the firing stroke, the control system may adjust the adjusted firing velocity to V1-4 (the five-second point on the table). Two seconds into the firing stroke, the control system may adjust the firing velocity to V1-6 (the six-second point on the table). Thus, the control system may dynamically adjust the firing motion parameters utilized by the firing system based on the amount of elapsed time the end effector has been in the clamped state, taking into account the time before the firing system is activated and the time after the firing system is activated.

[0100] In various embodiments, the control system may utilize a different graph / lookup table after the firing system is activated. In one embodiment utilizing the aforementioned table, the firing system is activated after 4 seconds, causing the firing system to drive the firing member at an adjusted velocity of V1-2. Once the firing system is activated, the control system may utilize a different graph / lookup table, such as graph 18000. Using the exemplary graph from above, at 1 second into the firing stroke, the control system may adjust the adjusted firing velocity to 1.03V1 (the 5-second point on the exemplary table associated with graph 18000). Thus, the control system may alternate between decreasing and increasing firing motion parameter adjustments.

[0101] In various other embodiments, the graph and / or lookup table is provided according to a correction curve that is parabolic. In various other embodiments, the graph and / or lookup table is provided according to a correction curve that is exponential. In various other embodiments,

[0102]

number

[0103] 17 , a method 18200 for controlling a surgical instrument is provided in accordance with at least one aspect of the present disclosure. The method 18200 includes detecting 18202, at a first time, that an end effector of the surgical instrument has reached a clamped state. In one embodiment, the circuit board 1100 detects when the end effector 1300 has reached the clamped state using a position sensor that can sense when the closure trigger 1032 reaches an actuated position. In one embodiment, the circuit board 1100 detects when the end effector 1300 has reached the clamped state using a Hall Effect sensor that can sense when the anvil 2000 is within a threshold distance from the elongated channel 1310. In various embodiments, the circuit board 1100 detects when the end effector 1300 has reached the clamped state using any number of sensors that detect the position of components associated with the closure system 3000, such as, for example, the position of the closure shuttle 1250, the position of the closure link 1038, or the position of the distal closure tube segment 3030.

[0104] The method 18200 further includes detecting 18204 an actuation of the firing system of the surgical instrument at a second time. In one exemplary embodiment, the circuit board 1100 detects actuation of the firing drive system 1080 when the firing trigger 1130 is pivoted to an actuated position. In one embodiment, actuation of the firing drive system 1080 is detected when the circuit board 1100 detects current provided to the motor 1082 from the power supply 1090 via a current sensor.

[0105] The method 18200 further includes setting 18206 a firing motion parameter of the firing system based on the elapsed time from the first time point to the second time point. In various embodiments, the circuit board 1100 may use a timer to measure the amount of time elapsed between the end effector 1300 reaching the clamped state and the firing drive system 1080 being actuated. In some embodiments, the circuit board 1100 may retrieve the firing motion parameter from a lookup table stored in a memory, such as memory 1935, according to the amount of time elapsed. In some embodiments, the circuit board 1100 may retrieve a correction value from a graph, such as graphs 18000, 18100, or a lookup table stored in memory, according to the amount of time elapsed, which may be used to adjust the default firing motion parameter. In one embodiment, the firing motion parameter may include a duty cycle of the motor 1082. In one embodiment, the firing motion parameter may include a speed of the motor 1082. In some embodiments, setting the firing motion parameter may include setting multiple firing motion parameters.

[0106] The method 18200 further includes driving 18208 the firing member through a firing stroke with the firing system using the firing motion parameters. In some embodiments, the circuit board 1100 can cause the motor 1082 of the firing drive system 1080 to drive the firing member 1900 through a firing stroke using the firing motion parameters, thereby causing the firing member 1900 to deploy staples removably stored within the staple cartridge 1301.

[0107] Thus, the above-described method 18200 provides the clinician with the freedom to select how long they want to maintain the end effector in the clamped state before activating the firing system. Based on the amount of time elapsed in the clamped state, the control system automatically selects appropriate firing motion parameters for the firing system. In one aspect, "automatically" refers to the control system's ability to select firing motion parameters without user input.

[0108] In various embodiments, the method 18200 optionally further includes dynamically adjusting 18210 the firing motion parameters during the firing stroke based on the elapsed time from the first time point to the current time point. In some embodiments, the circuit board 1100 may use a timer to measure the amount of time elapsed between the end effector reaching the clamped state and the current time point during the firing stroke and dynamically adjust the firing motion parameters. In one embodiment, a user may maintain the end effector in the clamped state for 5 seconds before activating the firing system, and the circuit board 1100 may set the firing motion parameters according to a value found in a lookup table corresponding to being in the clamped state for 5 seconds. As an example, during a firing stroke, such as 3 seconds into the firing stroke, the control system may refer to the same or a different lookup table and a value corresponding to being in the clamped state for 8 seconds (5 seconds before activation of the firing system + 3 seconds into the firing stroke). Thus, the control system may dynamically adjust the firing motion parameters according to the amount of time elapsed that tissue has been clamped by the end effector.

[0109] In another embodiment, a user may maintain the end effector in a clamped state for five seconds before activating the firing system, and circuit board 1100 may set the firing motion parameters according to a correction value corresponding to being in the clamped state for five seconds, such as a correction value determined from FIG. 15 or 16. During the firing stroke, for example, three seconds into the firing stroke, the control system may view the same graph (FIG. 15 or 16) and the corresponding correction value for being in the clamped state for eight seconds (five seconds before activation of the firing system plus three seconds into the firing stroke). Thus, the control system may utilize the correction curve to continuously adjust the firing motion parameters according to the length of time elapsed that tissue has been clamped by the end effector.

[0110] In some scenarios, a clinician may transition the end effector to a clamping state to clamp tissue. After a period of time, the clinician may decide they want to reposition the end effector to a different position on the tissue, or the clinician unintentionally or intentionally loosens their grip on the closure actuator. Thus, the clinician transitions the end effector from the clamping state to the unclamping state and re-clamps the tissue in the new position. Because the tissue is already clamped before the clinician repositions it, less clamping time may be required to allow the tissue to fully relax before performing the firing stroke. Therefore, an algorithm that considers unclamping and re-clamping tissue, such as unclamping and re-clamping the same tissue that has already been given an opportunity to relax, is desirable.

[0111] 18 , a graph 18250 generated by an algorithm is provided in accordance with at least one aspect of the present disclosure. In various examples, the algorithm may be stored in a memory, such as memory 1935, and executed by a processor, such as processor 1934. As seen in FIG. 18 , the graph 18250 illustrates the relationship between firing motion parameter modifications 18252 of the default firing motion parameters and the elapsed time 18254 that the end effector entered the clamped state, taking into account the elapsed time that the end effector transitioned from and back to the clamped state, as described in more detail below.

[0112] During operation, when a user transitions the end effector to the clamped state, a timer is started. Additionally, the algorithm implements a first correction curve to track the firing motion parameter corrections implemented relative to the default firing motion parameters to generate adjusted firing motion parameters. In various embodiments, the first correction curve may be a linear equation, a logarithmic equation, a parabolic equation, or a logarithmic equation.

[0113]

number

[0114] At some point after the end effector reaches the clamped state but before the firing system is actuated, the user may elect to temporarily transition the end effector out of the clamped state to reposition the end effector. Thus, the control system detects that the end effector has transitioned out of the clamped state and implements a second correction curve that is different from the first correction curve. In various embodiments, the second correction curve may be a linear equation, a logarithmic equation, a parabolic equation, or a linear or logarithmic equation.

[0115]

number

[0116] In some embodiments, the control system detects that the end effector 1300 has transitioned from the clamped state using a position sensor that can sense when the closure trigger 1032 has moved away from the actuated position. In one embodiment, the control system detects that the end effector 1300 has transitioned from the clamped state using a Hall Effect sensor that can sense when the anvil 2000 has moved a threshold distance from the elongated channel 1310. In various embodiments, the control system detects that the end effector 1300 has transitioned from the clamped state using any number of sensors that detect the position of components associated with the closure system 3000, such as, by way of example, the position of the closure shuttle 1250, the position of the closure link 1038, or the position of the distal closure tube segment 3030.

[0117] 18 , at time t1, the control system detects that the end effector transitioned from the clamped state at point 18259 on the first correction curve 18256. Based on the detection, the control system may start a second timer to measure how long the end effector has been out of the clamped state and implement the second correction curve 18260. As seen in FIG. 18 , the second correction curve 18260 adjusts the value associated with the correction point 18259 from the point along the first correction curve 18256 when the end effector transitioned from the clamped state. In some embodiments, the second correction curve 18260 may be a negative correction curve, thereby decreasing the adjustment to the default firing motion parameters provided by the first correction curve 18256. In various other embodiments, the second correction curve 18260 may be a positive correction curve, thereby increasing adjustments to the default firing motion parameters when the first correction curve was a decreasing correction curve, similar to the correction curve 18106. It should be understood that the firing system cannot be actuated while the second correction curve 18260 is implemented because the end effector is not in a clamped state.

[0118] At a time after the end effector transitions from the clamped state, the end effector can be returned to the clamped state. Thus, the control system detects that the end effector has returned to the clamped state and implements a third correction curve that is different from the second correction curve. In various embodiments, the third correction curve can be the same as the first correction curve. In various embodiments, the third correction curve can be different from the first correction curve. In various embodiments, the third correction curve can be calculated using a linear equation, a logarithmic equation, a parabolic equation, or a linear equation.

[0119]

number

[0120] 18 , at time t2, the control system detects that the end effector has returned to the clamped state at point 18261 on the second correction curve 18260. Based on the detection, the control system may start a third timer to measure how long the end effector has been in the clamped state and implement the third correction curve 18262. As seen in FIG. 18 , the third correction curve 18262 adjusts the value associated with correction point 18261 from the point along the second correction curve 18260 when the end effector has returned to the clamped state. In one embodiment, when a user actuates the firing system, the control system identifies a point along the third correction curve 18262 according to the determined elapsed time to be used to modify the default firing motion parameters.

[0121] Thus, the above-described algorithm allows a clinician to transition the end effector into and out of the clamped state without completely resetting the amount of time required to clamp tissue and receive the benefit of the firing motion parameter modification. While the algorithm considers the time the end effector is out of the clamped state, it also considers the time the end effector is already clamped on tissue. It should be understood that the provided graph 18250 is merely exemplary and may vary depending on the number of times the user transitions the end effector into and out of the clamped state, the amount of time the end effector is out of the clamped state, and whether the end effector is transitioned to an unclamped state. In scenarios where the end effector is not transitioned to an unclamped state after point 18258, the algorithm simply implements a first correction curve, such as first correction curve 18256, when determining the firing motion parameter modification to use when the firing system is actuated.

[0122] 19 , a method 18300 for controlling a surgical instrument is provided in accordance with at least one aspect of the present disclosure. The method 18300 includes detecting 18302, at a first time, that an end effector of the surgical instrument has reached a clamped state. In one embodiment, the circuit board 1100 detects when the end effector 1300 has reached the clamped state using a position sensor that can sense when the closure trigger 1032 reaches an actuated position. In one embodiment, the circuit board 1100 detects when the end effector 1300 has reached the clamped state using a Hall Effect sensor that can sense when the anvil 2000 is within a threshold distance from the elongated channel 1310. In various embodiments, the circuit board 1100 detects when the end effector 1300 has reached the clamped state using any number of sensors that detect the position of components associated with the closure system 3000, such as, for example, the position of the closure shuttle 1250, the position of the closure link 1038, or the position of the distal closure tube segment 3030.

[0123] The method 18300 further includes detecting 18304 that the end effector of the surgical instrument has transitioned from the clamped state at a second time. In one embodiment, the control system detects that the end effector 1300 has transitioned from the clamped state using a Hall Effect sensor that can sense when the anvil 2000 has moved a threshold distance from the elongated channel 1310. In various embodiments, the control system detects that the end effector 1300 has transitioned from the clamped state using any number of sensors that detect the position of components associated with the closure system 3000, such as, for example, the position of the closure shuttle 1250, the position of the closure link 1038, or the position of the distal closure tube segment 3030.

[0124] The method 18300 further includes detecting that the end effector has returned to the clamped state at a third time 18306. In various embodiments, the control system may detect that the end effector has returned to the clamped state using the various sensors described above with respect to block 18302.

[0125] The method 18300 further includes detecting 18308 actuation of the firing system of the surgical instrument at a fourth time. In one exemplary embodiment, the circuit board 1100 detects actuation of the firing drive system 1080 when the firing trigger 1130 is pivoted to an actuated position. In one embodiment, actuation of the firing drive system 1080 is detected when the circuit board 1100 detects current provided to the motor 1082 from the power supply 1090 via a current sensor.

[0126] The method 18300 further includes setting 18310 fire motion parameters of the firing system based on a first elapsed time from the first time point to the second time point, a second elapsed time from the second time point to the third time point, and a third elapsed time from the third time point to the fourth time point. In various embodiments, the circuit board 1100 may use a timer to measure the amount of time elapsed from the first time point to the second time point, the second time point to the third time point, and the third time point to the fourth time point. In some embodiments, the circuit board 1100 may retrieve the fire motion parameters from a lookup table stored in a memory, such as memory 1935, according to the amount of time elapsed. In some embodiments, the circuit board 1100 may implement an algorithm, such as the algorithm described above with respect to the graph 18250, to determine correction values ​​that can be used to adjust the default fire motion parameters.

[0127] In one embodiment, the firing motion parameters may include a duty cycle of the motor 1082. In one embodiment, the firing motion parameters may include a speed of the motor 1082. In some embodiments, setting the firing motion parameters may include setting multiple firing motion parameters.

[0128] The method 18300 further includes driving 18312 the firing member through a firing stroke with the firing system using the firing motion parameters. In some embodiments, the circuit board 1100 can cause the motor 1082 of the firing drive system 1080 to drive the firing member 1900 through a firing stroke using the firing motion parameters, thereby causing the firing member 1900 to deploy staples removably stored within the staple cartridge 1301.

[0129] Thus, the above-described method 18300 provides the clinician with the freedom to choose how long they want to maintain the end effector in a clamped state before actuating the firing system, and also allows the clinician to unclamp and reclamp tissue without the accumulated correction from the first correction curve being completely ignored. Based on the amount of elapsed time, the control system automatically selects appropriate firing motion parameters for the firing system. In one aspect, "automatically" refers to the control system's ability to select firing motion parameters without user input.

[0130] In various embodiments, the method 18300 optionally further includes dynamically adjusting 18314 the firing motion parameter during the firing stroke based on the elapsed time from the first time point to the current time point. In some embodiments, the circuit board 1100 may use a timer to measure the amount of time elapsed from the end effector reaching the clamped state to the current time point during the firing stroke and dynamically adjust the firing motion parameter. In one embodiment, referring to FIG. 18 , in a scenario where the clinician activates the firing system after time t2, the control system may continue to modify the firing motion parameter during the firing stroke according to the third modification curve 18262. Thus, the control system may utilize the modification curve to dynamically adjust the firing motion parameter according to the amount of time elapsed that tissue has been clamped by the end effector.

[0131] As referenced above, the amount of compression applied to tissue can affect the desired firing velocity of a firing member, such as firing member 1900, during the firing stroke. When an end effector, such as end effector 1300, transitions from an open state to a clamped state, the end effector can reach a partially clamped state. In one aspect, the partially clamped state is defined as a state between the open state and the clamped state in which the end effector initially contacts tissue positioned therein. In one aspect, the partially clamped state is defined as a state in which the anvil of the end effector is within a threshold distance of the elongated channel of the end effector. In one aspect, the partially clamped state is defined as a state in which the closure trigger has moved a threshold amount from an unactuated state toward an actuated state. In one aspect, the partially clamped state is defined as a state in which the firing member involved in closure of the end effector has moved a threshold linear distance.

[0132] In the partially clamped state, the end effector may begin to apply pressure to the tissue positioned therein, which may cause fluid within the tissue to begin evacuating before the end effector reaches the clamped state. Once the end effector reaches the clamped state, fluid within the tissue may continue to evacuate from the tissue positioned between the anvil and the elongated channel of the end effector, further stabilizing the tissue in preparation for stapling and optionally cutting. Thus, the desired firing rate of the firing member may depend, among other factors, on factors affecting tissue stabilization.

[0133] 20 , a graph 18350 is provided in accordance with at least one aspect of the present disclosure illustrating closure trigger stroke 18352 versus time 18354. As shown at t0, a closure trigger, such as closure trigger 1032, is in an unactuated position. In one aspect, the unactuated position of the closure trigger may correspond to an open state of an end effector, such as end effector 1300. In some embodiments, the position of the closure trigger may be monitored by a control system, such as circuit board 1100, using any number of sensors described elsewhere herein.

[0134] From t0 to t1, the closure trigger is pivoted from the unactuated position toward the actuated position, which transitions the end effector from the open state to the clamped state. At t1, the end effector reaches a partial clamped state, which, as described above, may be the state where the end effector first contacts tissue within the end effector. In some embodiments, the end effector may include a pressure sensor that can detect initial contact with tissue as the end effector transitions to the clamped state. In various embodiments, the inflection point of the load curve is used as the tissue contact or tissue compression onset point. Once it is detected that the end effector has reached the partial clamped state, the control system determines whether the end effector has reached the partial clamped state t before a firing system, such as firing drive system 1080, is actuated. pc A timer may be started to measure the amount of time that is within In one aspect, determining the inflection of the tissue load versus time curve (tissue creep settling) may be used to determine the time of tissue settling or completed tissue compression.

[0135] In various other embodiments, the closure system may include a motor-driven closure system, such as closure motor drive assembly 605, having a closure motor, such as closure motor 603. With a motor-driven closure system, the control system may determine initial tissue contact by monitoring the current provided to the closure motor as a way of determining the magnitude of the clamp load on the jaws of the end effector. In one aspect, a spike in the current provided to the closure motor indicates initial tissue contact, which may indicate that the end effector has reached a partial clamp state.

[0136] From t1 to t2, the closure trigger may continue to pivot toward the actuated state, which continues to drive the end effector toward the clamped state. As the end effector transitions toward the clamped state, the anvil of the end effector may apply pressure to tissue captured within the end effector to evacuate fluids within the tissue and prepare the tissue for cutting and stapling.

[0137] At t2, the closure trigger reaches an actuated state corresponding to the end effector reaching a clamped state. In various embodiments, the control system may utilize various sensors, such as those described elsewhere herein, to detect that the closure trigger has reached an actuated position and / or that the end effector has reached a clamped state. Once the end effector has reached the clamped state, the control system may determine whether the end effector has reached the clamped state t before the firing system is actuated. c A second timer may be started to measure the amount of time that has elapsed.

[0138] From t2 to t3, the end effector remains in the clamped state, allowing fluid within the tissue to drain and further stabilize the tissue before cutting and stapling. In one aspect, the control system can monitor this tissue creep by monitoring the amount of pressure applied to the tissue by the end effector over time. In one aspect, after the end effector reaches the clamped state, the pressure detected by the pressure sensor can continuously decrease as fluid moves away from the tissue clamped within the end effector. By monitoring this change in pressure over time, the control system can determine when the tissue within the end effector has stabilized. In some embodiments, the tissue can be stabilized when the change in pressure detected by the pressure sensor over time is substantially zero. In some embodiments, the tissue can be stabilized when the change in pressure over time is less than a threshold rate of change over time. In some embodiments, the control system can determine that the tissue is stabilized after a threshold amount of time has elapsed since the end effector reached the clamped state. In some embodiments, the control system may determine that the tissue has stabilized after a threshold amount of time has elapsed since the end effector reached a partial clamped state.

[0139] At t3, the control system may detect actuation of the firing system. In some embodiments, the control system detects actuation of the firing system by detecting that the firing trigger 1130 has been pivoted to an actuated position. In some embodiments, the control system detects actuation of the firing system by detecting that the power supply 1090 has supplied current or voltage to the motor 1082. Other embodiments of how the control system may detect actuation of the firing system are described elsewhere herein. Upon detecting actuation of the firing system, the control system may set firing motion parameters for the firing system based on various factors measured by the control system from t0 to t3. In various embodiments, the firing motion parameters may be based on the elapsed time between t1 and t2, the elapsed time from t2 to t3, or a combination thereof.

[0140] In various embodiments, after setting the firing motion parameters for the firing system, the control system may use the firing motion parameters to drive the firing member through a firing stroke with the firing system. In some embodiments, the firing system may use the firing motion parameters to control a motor to drive the firing member through a firing stroke. In one embodiment, the firing motion parameters include a current supplied to the motor. In one embodiment, the firing motion parameters include a voltage supplied to the motor. In one embodiment, the firing motion parameters include a duty cycle of the motor. In one embodiment, the firing motion parameters include a speed of the motor. In one embodiment, the firing motion parameters include a velocity of the firing member. Other exemplary firing motion parameters are described elsewhere herein.

[0141] In various embodiments, during the firing stroke, the control system may dynamically adjust the firing motion parameters. In one aspect, the control system may continue to monitor tissue stabilization and continue to adjust the firing motion parameters as the tissue becomes more stable. In some embodiments, the control system dynamically adjusts the firing motion parameters based on the time elapsed from t1 to the current time of the firing stroke. In some embodiments, the control system dynamically adjusts the firing motion parameters based on the time elapsed from t2 to the current time of the firing stroke, i.e., the tissue stabilization time t s In some embodiments, the control system dynamically adjusts the firing motion parameters based on the time elapsed from t to the current time of the firing stroke. In some embodiments, the control system dynamically adjusts the firing motion parameters based on the time elapsed from t, t, and t to the current time of the firing stroke. Thus, the firing motion parameters are dynamically adjusted during the firing stroke as the tissue becomes more stable.

[0142] 21 , a method 18400 for controlling a surgical instrument is provided in accordance with at least one aspect of the present disclosure. The method 18400 includes detecting 18402, at a first time, that an end effector of the surgical instrument has moved toward a clamped state. In one embodiment, the circuit board 1100 detects that the end effector 1300 has moved toward the clamped state using a position sensor capable of sensing when the closure trigger 1032 is moving toward an actuated position. In one embodiment, the circuit board 1100 detects that the end effector 1300 has moved toward the clamped state using a Hall Effect sensor capable of sensing that the anvil 2000 has moved relative to the elongated channel 1310. In various embodiments, the circuit board 1100 detects that the end effector has moved toward the clamped state using any number of sensors that detect the position of components associated with the closure system 3000, such as, for example, the position of the closure shuttle 1250, the position of the closure link 1038, or the position of the distal closure tube segment 3030.

[0143] The method 18400 further includes detecting that the end effector has reached the clamped state at a second time 18404. In various embodiments, the control system may detect that the end effector has reached the clamped state using various sensors described elsewhere herein.

[0144] The method 18400 further includes detecting 18406 an actuation of the firing system of the surgical instrument at a third time. In one exemplary embodiment, the circuit board 1100 detects the actuation of the firing drive system 1080 when the firing trigger 1130 is pivoted to an actuated position. In one embodiment, the actuation of the firing drive system 1080 is detected when the circuit board 1100 detects current provided to the motor 1082 from the power supply 1090 via a current sensor.

[0145] The method 18400 further includes setting 18408 firing motion parameters of the firing system based on a first elapsed time from the first time point to the second time point and a second elapsed time from the second time point to a third time point. In various embodiments, the circuit board 1100 may use a timer to measure the amount of time elapsed from when the end effector begins moving toward the clamped state, when the clamped state is reached, and when the firing system is activated. In some embodiments, the circuit board 1100 may retrieve firing motion parameters from a lookup table stored in a memory, such as memory 1935, according to the amount of time elapsed. In some embodiments, the circuit board 1100 may retrieve correction values ​​from a graph or lookup table according to the amount of time elapsed that can be used to adjust the default firing motion parameters. In one embodiment, the firing motion parameters may include a duty cycle of the motor 1082. In one embodiment, the firing motion parameters may include a speed of the motor 1082. In some embodiments, setting the firing motion parameters may include setting multiple firing motion parameters.

[0146] The method 18400 further includes driving 18410 the firing member through a firing stroke with the firing system using the firing motion parameters. In some embodiments, the circuit board 1100 can cause the motor 1082 of the firing drive system 1080 to drive the firing member 1900 through a firing stroke using the firing motion parameters, thereby causing the firing member 1900 to deploy staples removably stored within the staple cartridge 1301.

[0147] Thus, the above-described method 18400 provides the clinician with the freedom to select how quickly or slowly they want the end effector to transition to a clamped state and how long they want the end effector to remain in the clamped state before activating the firing system. In one aspect, the closure speed effectively acts as part of the clamp timing and also as a measure of the magnitude of tissue compression because tissue is viscoelastic. Based on the amount of elapsed time, the control system automatically selects appropriate firing motion parameters for the firing system. In one aspect, "automatically" refers to the control system's ability to select firing motion parameters without user input.

[0148] In various embodiments, the method 18400 optionally further includes dynamically adjusting 18412 the firing motion parameters during the firing stroke based on the elapsed time from the second time point to the current time point. In some embodiments, the circuit board 1100 may use a timer to measure the amount of time elapsed between the end effector reaching the clamped state and the current time point during the firing stroke and dynamically adjust the firing motion parameters. Thus, the control system may dynamically adjust the firing motion parameters according to the amount of time elapsed after the tissue has been clamped and stabilized by the end effector.

[0149] 22 , a method 18450 for controlling a surgical instrument is provided in accordance with at least one aspect of the present disclosure. The method 18450 includes detecting 18452 that an end effector of the surgical instrument has moved toward a clamped state. In one embodiment, the circuit board 1100 detects that the end effector 1300 has moved toward a clamped state using a position sensor capable of sensing when the closure trigger 1032 is moving toward an actuated position. In one embodiment, the circuit board 1100 detects when the end effector 1300 has moved toward a clamped state using a Hall Effect sensor capable of sensing movement of the anvil 2000 relative to the elongated channel 1310. In various embodiments, the circuit board 1100 detects when the end effector has moved toward a clamped state using any number of sensors that detect the positions of components associated with the closure system 3000, such as the position of the closure shuttle 1250, the position of the closure link 1038, or the position of the distal closure tube segment 3030, by way of example.

[0150] The method 18450 further includes detecting 18454 that the jaws of the end effector contact tissue at a first time while the end effector is transitioning to the clamping state. In various embodiments, the control system may utilize a pressure sensor to detect initial contact between the anvil 2000 of the end effector 1300 and tissue. In some embodiments, the control system may detect initial contact between the anvil 2000 and tissue using various other sensors described elsewhere herein.

[0151] The method 18450 further includes detecting that the end effector has reached a clamped state at a second time 18456. In various embodiments, the control system may detect that the end effector has reached a clamped state using various sensors described elsewhere herein.

[0152] The method 18450 further includes detecting 18458 actuation of the firing system of the surgical instrument at a third time. In one embodiment, the circuit board 1100 detects actuation of the firing drive system 1080 when the firing trigger 1130 is pivoted to an actuated position. In one embodiment, actuation of the firing drive system 1080 is detected when the circuit board 1100 detects current provided to the motor 1082 from the power source 1090 via a current sensor.

[0153] The method 18450 further includes setting 18460 firing motion parameters of the firing system based on the first elapsed time from the first time point to the second time point and from the second time point to a third time point. In various embodiments, the circuit board 1100 may use a timer to measure the amount of time elapsed from when the end effector first contacts tissue and reaches a clamped state to when the firing system is activated. In some embodiments, the circuit board 1100 may retrieve firing motion parameters from a lookup table stored in a memory, such as memory 1935, according to the amount of time elapsed. In some embodiments, the circuit board 1100 may retrieve correction values ​​from a graph or lookup table according to the amount of time elapsed that can be used to adjust the default firing motion parameters. In one embodiment, the firing motion parameters may include a duty cycle of the motor 1082. In one embodiment, the firing motion parameters may include a speed of the motor 1082. In some embodiments, setting the firing motion parameters may include setting multiple firing motion parameters.

[0154] The method 18450 further includes driving 18462 the firing member through a firing stroke with the firing system using the firing motion parameters. In some embodiments, the circuit board 1100 can cause the motor 1082 of the firing drive system 1080 to drive the firing member 1900 through a firing stroke using the firing motion parameters, thereby causing the firing member 1900 to deploy staples removably stored within the staple cartridge 1301.

[0155] Thus, the above-described method 18450 provides the clinician with the freedom to choose how long they want to apply pressure to the tissue before actuating the firing system, both when the end effector first applies pressure in a partially clamped state and when the end effector reaches a clamped state. Based on the amount of elapsed time, the control system automatically selects appropriate firing motion parameters for the firing system. In one aspect, "automatically" refers to the control system's ability to select firing motion parameters without user input.

[0156] In one aspect, the portion of the total clamping time includes the portion of the closure stroke where the closure system is fully actuated, such as beyond partial clamping, or clamps slowly enough and properly enough to induce a creep effect. This would allow the surgeon to utilize known techniques of slow clamping or repetitive clamping (high pressure followed by low pressure repeatedly when urging the end effector into clamping). In this way, the user is prompted to use what has worked for them in the past, and the algorithm counts or further improves upon that technique. In various embodiments, feedback regarding the speed or magnitude of this slow or repetitive clamping is provided to the user on the display, allowing the user to create more repeatable results from patient to patient.

[0157] In various embodiments, the method 18450 optionally further includes dynamically adjusting 18464 the firing motion parameters during the firing stroke based on the elapsed time from the second time point to the current time point. In some embodiments, the circuit board 1100 may use a timer to measure the amount of time elapsed between the end effector reaching the clamped state and the current time point during the firing stroke and dynamically adjust the firing motion parameters. Thus, the control system may dynamically adjust the firing motion parameters according to the amount of time elapsed after the tissue has been clamped and stabilized by the end effector.

[0158] In one aspect, the firing motion parameters of the firing system can be set according to the amount of compression applied to the tissue prior to actuation of the firing system. In one embodiment, when the precompression time is t1 (lower precompression threshold), the initial firing velocity of the firing member can be a constant value, such as V1. In one embodiment, t1 comprises 5 seconds and V1 comprises 6 mm / sec. When the precompression time is between t1 and t2 (intermediate precompression threshold range), the initial firing velocity can be a function expressed as: Y=(A+B(tC)) where Y is the initial firing velocity, t is the precompression time, and A, B, and C are constants. In some embodiments, t comprises 15 seconds, A is 6, B is 1.6, and C is 5, so at 10 seconds of precompression, as an example, the initial firing velocity is 14 mm / sec. When the precompression time is greater than t (the upper precompression threshold), the initial firing velocity can be a constant value, such as V. In some embodiments, V comprises 22 mm / sec. Thus, firing motion parameters can vary according to the amount of precompression applied to the tissue prior to actuation of the firing system.

[0159] In various embodiments, the articulation angle of the end effector is utilized along with other parameters described herein, such as clamping time, clamping speed, tissue pressure level, etc., to determine appropriate firing motion parameters for the firing system. Referring to FIG. 1 , interchangeable shaft assembly 1200 can define a shaft axis extending from its proximal end to its distal end. Additionally, end effector 1300 can define an end effector axis extending from its proximal end to its distal end. In one aspect, the end effector is considered to be in a “home position” when the end effector axis is aligned with the shaft axis, as seen in FIG. 1 . In some embodiments, a control system, such as circuit board 1100, can detect the angle of the end effector away from the home position when selecting firing motion parameters for the firing system. In various embodiments, the control system can detect the angle of articulation using various sensors, encoders, etc., described elsewhere herein. When the end effector is articulated, slowing down the velocity and reducing the firing load can help minimize tip travel of the end effector as well as reduce stall.

[0160] In various embodiments, the firing motion parameters may be adjusted by a specific percentage for each degree of articulation the end effector is away from the home position. In one embodiment, the firing motion parameters may be decreased by 1% for each degree of articulation. In one embodiment, the firing motion parameters may be decreased by more than 1% for each degree of articulation. In some embodiments, the firing motion parameters may be adjusted the further the end effector is articulated away from the home position, i.e., change nonlinearly.

[0161] In one aspect, rather than adjusting the firing motion parameters, the control system may require additional clamp time on the tissue before allowing actuation of the firing system. In some embodiments, the surgical instrument may include a lockout that prevents actuation of the firing system before a required amount of clamp time has elapsed, as determined by the control system from the articulation angle. In one embodiment, when the end effector is in the home position, the control system may require a first amount of clamp time t1 before enabling the firing system. In some embodiments, the first amount of clamp time t1 comprises 15 seconds of clamp time. When the end effector is articulated at a first angle θ1° from the home position, the control system may require an additional amount of clamp time t2 in addition to the first amount of clamp time t1 before enabling the firing system. In some embodiments, the first angle θ1 comprises 45°, and the additional clamp time comprises 5 seconds of clamp time.

[0162] 23 , a method 18500 for controlling a surgical instrument is provided in accordance with at least one aspect of the present disclosure. The method 18500 includes detecting 18502, at a first time, that an end effector of the surgical instrument has reached a clamped state. In one embodiment, the circuit board 1100 detects that the end effector 1300 has reached the clamped state using a position sensor that can sense when the closure trigger 1032 reaches an actuated position. In one embodiment, the circuit board 1100 detects that the end effector 1300 has reached the clamped state using a Hall Effect sensor that can sense when the anvil 2000 is within a threshold distance from the elongated channel 1310. In various embodiments, the circuit board 1100 detects that the end effector has reached the clamped state using any number of sensors that detect the position of components associated with the closure system 3000, such as, for example, the position of the closure shuttle 1250, the position of the closure link 1038, or the position of the distal closure tube segment 3030.

[0163] The method 18500 further includes detecting 18504, at a second time, an actuation of the firing system of the surgical instrument. In one embodiment, the circuit board 1100 detects the actuation of the firing drive system 1080 when the firing trigger 1130 is pivoted to an actuated position. In one embodiment, the actuation of the firing drive system 1080 is detected when the circuit board 1100 detects current provided to the motor 1082 from the power supply 1090 via a current sensor.

[0164] The method 18500 further includes detecting an actuation angle of the end effector 18506. In one embodiment, the circuit board 1100 can detect the articulation angle of the end effector by detecting the angle of the end effector relative to the elongate shaft using any number of sensors or encoders described elsewhere herein.

[0165] The method 18500 further includes setting 18508 a firing motion parameter of the firing system based on the first elapsed time from the first time point to the second time point and the articulation. In various embodiments, the circuit board 1100 may use a timer to measure the amount of time elapsed from when the end effector reaches the clamped state to when the firing system is actuated. In some embodiments, the circuit board 1100 may retrieve the firing motion parameter from a lookup table stored in a memory, such as memory 1935, according to the amount of time elapsed and the articulation angle. In some embodiments, the circuit board 1100 may retrieve a correction value from a graph or lookup table according to the amount of time elapsed and the articulation angle, which may be used to adjust the default firing motion parameter. In one embodiment, the firing motion parameter may include a duty cycle of the motor 1082. In one embodiment, the firing motion parameter may include a speed of the motor 1082. In some embodiments, setting the firing motion parameter may include setting a plurality of firing motion parameters.

[0166] The method 18500 further includes driving 18510 the firing member through a firing stroke with the firing system using the firing motion parameters. In some embodiments, the circuit board 1100 can cause the motor 1082 of the firing drive system 1080 to drive the firing member 1900 through a firing stroke using the firing motion parameters, thereby causing the firing member 1900 to deploy staples removably stored within the staple cartridge 1301.

[0167] Thus, the above-described method 18500 provides the clinician with the freedom to choose how long they want to apply pressure to the tissue in a clamped state and at what angle they want the end effector to be before actuating the firing system. Based on the amount of time elapsed and the articulation angle, the control system automatically selects the appropriate firing motion parameters for the firing system. In one aspect, "automatically" refers to the control system's ability to select the firing motion parameters without user input.

[0168] In various embodiments, the method 18500 optionally further includes dynamically adjusting 18512 the firing motion parameters during the firing stroke based on the elapsed time from the first time point to the current time point. In some embodiments, the circuit board 1100 may use a timer to measure the amount of time elapsed from the end effector reaching the clamped state to the current time point during the firing stroke and dynamically adjust the firing motion parameters. Thus, the control system may dynamically adjust the firing motion parameters according to the amount of time elapsed that tissue has been clamped and stabilized by the end effector.

[0169] 24 , a method 18550 for controlling a surgical instrument is provided in accordance with at least one aspect of the present disclosure. The method 18550 includes, at a first time, detecting 18502 that an end effector of the surgical instrument has moved toward a clamped state. In one embodiment, the circuit board 1100 detects that the end effector 1300 has moved toward the clamped state using a position sensor capable of sensing when the closure trigger 1032 is moving toward an actuated position. In one embodiment, the circuit board 1100 detects when the end effector 1300 has moved toward the clamped state using a Hall Effect sensor capable of sensing movement of the anvil 2000 relative to the elongated channel 1310. In various embodiments, the circuit board 1100 detects when the end effector 1300 has moved toward the clamped state using any number of sensors that detect the position of components associated with the closure system 3000, such as, for example, the position of the closure shuttle 1250, the position of the closure link 1038, or the position of the distal closure tube segment 3030.

[0170] The method 18550 further includes detecting 18554 a first parameter associated with the end effector moving toward a clamped state. In one embodiment, the first parameter includes a time taken to reach the clamped state. In one embodiment, the first parameter includes a time taken to reach a partial clamped state. In one embodiment, the first parameter includes a time taken to reach the clamped state from a partial clamped state. In one embodiment, the first parameter includes a speed at which the end effector transitions to the clamped state. In one embodiment, the first parameter includes a speed at which the end effector transitions to the clamped state. In one embodiment, the first parameter includes an amount of pressure applied to tissue within the end effector as the end effector transitions to the clamped state. In one embodiment, the first parameter includes an amount of elapsed time from when the end effector first applies pressure to the tissue to when the end effector reaches the clamped state. In various embodiments, the first parameter includes any combination of the aforementioned parameters or other parameters associated with the end effector transitioning to the clamped state, as described elsewhere herein.

[0171] The method 18550 further includes detecting that the end effector has reached the clamped state 18556. In various embodiments, the control system detects that the end effector has reached the clamped state using any number of sensors or encoders described elsewhere herein.

[0172] The method 18550 further includes detecting 18558 a second parameter associated with the end effector being in a clamped state. In one embodiment, the second parameter includes an elapsed time that the end effector is in the clamped state until actuation of a firing system of the surgical instrument. In one embodiment, the second parameter includes an articulation angle of the end effector. In one embodiment, the second parameter includes a rate of change of pressure applied to tissue within the end effector. In various embodiments, the second parameter includes any combination of the foregoing parameters or other parameters associated with the end effector being in a clamped state, as described elsewhere herein.

[0173] The method 18550 further includes detecting 18560 actuation of a firing system of the surgical instrument. In one embodiment, the circuit board 1100 detects actuation of the firing drive system 1080 when the firing trigger 1130 is pivoted to an actuated position. In one embodiment, actuation of the firing drive system 1080 is detected when the circuit board 1100 detects current provided to the motor 1082 from the power supply 1090 via a current sensor.

[0174] The method 18550 further includes setting 18552 a firing motion parameter of the firing system based on the first parameter and the second parameter. In some embodiments, the circuit board 1100 may retrieve the firing motion parameter from a lookup table stored in a memory, such as memory 1935, according to the first parameter and the second parameter. In some embodiments, the circuit board 1100 may retrieve a correction value from a graph or lookup table according to the first parameter and the second parameter that may be used to adjust the default firing motion parameter. In one embodiment, the firing motion parameter may include a duty cycle of the motor 1082. In one embodiment, the firing motion parameter may include a speed of the motor 1082. In some embodiments, setting the firing motion parameter may include setting a plurality of firing motion parameters.

[0175] The method 18550 further includes driving 18564 the firing member through a firing stroke with the firing system using the firing motion parameters. In some embodiments, the circuit board 1100 can cause the motor 1082 of the firing drive system 1080 to drive the firing member 1900 through a firing stroke using the firing motion parameters, thereby causing the firing member 1900 to deploy staples removably stored within the staple cartridge 1301.

[0176] Thus, the above-described method 18550 provides the clinician with the freedom to manipulate the end effector in a number of ways to select the end effector prior to actuating the firing system. Based on the detected parameters, the control system automatically selects appropriate firing motion parameters for the firing system. In one aspect, "automatically" refers to the control system's ability to select the firing motion parameters without user input.

[0177] In various embodiments, the method 18550 optionally further includes dynamically adjusting 18566 the firing motion parameters during the firing stroke based on the amount of time elapsed since the end effector reached the clamped state to the current time. In some embodiments, the circuit board 1100 may use a timer to measure the amount of time elapsed since the end effector reached the clamped state to the current time during the firing stroke and dynamically adjust the firing motion parameters. Thus, the control system may dynamically adjust the firing motion parameters according to the amount of time elapsed since the tissue has been clamped and stabilized by the end effector.

[0178] During a surgical procedure, a clinician may transition the end effector to a clamping state to capture tissue within the end effector. While clamped, fluid may be allowed to exit the clamped tissue, thus stabilizing the tissue in preparation for cutting and stapling. Additionally, as described elsewhere herein, a timer may be started so that appropriate firing motion parameters can be utilized when the firing system is actuated. However, prior to actuating the firing system, the clinician may determine that they wish to reposition the end effector to a new location on the tissue that is more suitable for cutting and stapling. To accomplish this, the clinician may transition the end effector from the clamping state and re-clamp the tissue at the new location on the tissue.

[0179] In some examples, when the end effector is transitioned away from the clamping state, the timer may be reset, and when the end effector is returned to the clamping state, the timer may be restarted as if it were the first time the tissue was clamped. However, in some examples, when the end effector is transitioned away from the clamping state by less than a threshold amount, the timer may be restarted as if the end effector were still in the clamping state. Thus, the firing motion parameters may be selected based not only on the elapsed time the tissue is held in the clamping state, but also on the time at which the end effector transitions from the clamping state to less than the threshold amount. Thus, the control system may allow the clinician to modify the position of the end effector without losing accumulated clamping time before repositioning the tissue.

[0180] 25 , a graph 18600 is provided in accordance with at least one aspect of the present disclosure. The graph shows a closed position of the end effector 18602 over time 18604. In some embodiments, the closed position can be a position of the closure trigger 1032 between an unactuated position and an actuated position.

[0181] At t0, the anvil 2000 is in the open state, which may correspond to the closure trigger being in the unactuated position. From t0 to t1, the anvil 2000 is moved toward the clamped state using the closure trigger 1032. At t1, the control system detects that the end effector has reached the clamped state and starts a timer, as described elsewhere herein.

[0182] At t1, the clinician determines that they wish to reposition the end effector to a new position better suited for cutting and stapling. Thus, as seen after t1, the anvil 2000 moves from the clamped state toward the unclamped state. As the anvil 2000 moves from the unclamped state, the control system may keep a timer running until the control system detects that the anvil 2000 has moved a threshold amount 18606 away from the elongated channel 1310. In various embodiments, the threshold amount may be stored in memory and retrieved by the control system. In various embodiments, the threshold amount may be user-defined and entered in an input interface. In various embodiments, the control system may detect the position of the anvil 2000 relative to the elongated channel 1310 using any number of sensors, such as those described elsewhere herein. In various embodiments, the threshold amount 18606 may be the distance the anvil 2000 moves from the elongated channel 1310 while still maintaining contact with tissue positioned within the end effector. Thus, despite being out of clamped state, in the partial clamped state the anvil 2000 is still applying pressure to the tissue and causing fluid to be expelled.

[0183] At t2, the control system detects that the anvil 2000 has transitioned a threshold amount away from the elongate channel 1310 and therefore resets the timer. From t2 to t3, the clinician continues to move the anvil 2000 away from the elongate channel 1310. During the time from t2 to t3, the timer is not running. At t3, the clinician begins to move the anvil 2000 back toward the clamping state. At t4, the anvil 2000 reaches the threshold amount from the elongate channel 1310, but the timer does not restart. However, various embodiments are envisioned in which the timer restarts when the anvil 2000 is within the threshold amount from the elongate channel 1310. Various other embodiments are envisioned in which the timer restarts when the anvil 2000 contacts tissue before reaching the clamping state.

[0184] At t5, the anvil 2000 is returned to the clamped state and the timer is restarted. At this time, the clinician may maintain the end effector in the clamped state until they wish to activate the firing system. When the firing system is activated, the firing system only considers the second elapsed time, not the first elapsed time, when the end effector transitions away from the clamped state by a threshold amount.

[0185] 26 , a method 18650 for controlling a surgical instrument is provided in accordance with at least one aspect of the present disclosure. The method 18650 includes detecting 18652 that an end effector of the surgical instrument has reached a clamped state. In one embodiment, the circuit board 1100 detects that the end effector 1300 has reached the clamped state using a position sensor that can sense when the closure trigger 1032 reaches an actuated position. In one embodiment, the circuit board 1100 detects that the end effector 1300 has reached the clamped state using a Hall Effect sensor that can sense when the anvil 2000 is within a threshold distance from the elongated channel 1310. In various embodiments, the circuit board 1100 detects that the end effector 1300 has reached the clamped state using any number of sensors that detect the position of components associated with the closure system 3000, such as, for example, the position of the closure shuttle 1250, the position of the closure link 1038, or the position of the distal closure tube segment 3030.

[0186] Method 18650 further includes starting 18654 a timer based on the end effector reaching the clamped state. In some embodiments, circuit board 1100 can measure the elapsed time the end effector is in the clamped state until the control system detects actuation of the firing system. In one embodiment, after starting the timer in 18654, the control system detects actuation of the firing system. Thus, method 18650 can set firing motion parameters of the firing system based on the elapsed time, similar to that described for method 18200.

[0187] The method 18650 further includes detecting that the end effector has transitioned from the clamped state 18656. In some embodiments, the control system may detect that the end effector has transitioned away from the clamped state using any suitable sensor described elsewhere herein.

[0188] The method 18650 further includes determining 18658 whether the end effector has transitioned from the clamped state by a threshold amount. In some embodiments, the control system determines whether the end effector has transitioned the threshold amount by comparing the distance between the anvil 2000 and the elongate channel 1310 to a threshold. In some embodiments, the control system determines whether the end effector has transitioned the threshold amount by comparing the distance the closure trigger has traveled from the actuated position.

[0189] Based on the control system determining that the end effector has transitioned from the clamped state by the threshold amount, the method 18650 proceeds to resetting 18660 a timer. In some embodiments, resetting the timer includes resetting the timer back to 0. In some embodiments, resetting the timer may include setting the timer to a value other than 0.

[0190] The method 18650 further includes detecting that the end effector has returned to the clamped state 18662. In some embodiments, the control system may detect that the end effector has returned to the clamped state using any number of sensors described elsewhere herein.

[0191] The method 18650 further includes restarting the timer based on the end effector returning to the clamped state 18664. In some embodiments, the control system may restart the reset timer based on detecting that the end effector has returned to the clamped state, similar to that seen at t5 in FIG.

[0192] After restarting 18664 the timer, the user may elect to again transition the end effector out of the clamped state and reposition the end effector. Accordingly, the method may again proceed to detecting 18656 the end effector transitioning away from the clamped state, as described above. Additionally, after restarting the timer, the method 18650 further includes detecting 18666 an actuation of a firing system of the surgical instrument. In some embodiments, the circuit board 1100 detects actuation of the firing drive system 1080 when the firing trigger 1130 is pivoted to the actuated position. In one embodiment, actuation of the firing drive system 1080 is detected when the circuit board 1100 detects current provided to the motor 1082 from the power source 1090 via a current sensor.

[0193] The method 18650 further includes setting 18668 a firing motion parameter of the firing system based on the amount of time elapsed between restarting the timer and actuating the firing system. In various embodiments, the circuit board 1100 may query the timer to determine the amount of time elapsed since restarting the timer and when the firing system was actuated. In some embodiments, the circuit board 1100 may retrieve the firing motion parameter from a lookup table stored in a memory, such as memory 1935, according to the amount of time elapsed. In some embodiments, the circuit board 1100 may retrieve a correction value from a graph or lookup table according to the amount of time elapsed, which may be used to adjust the default firing motion parameter. In one embodiment, the firing motion parameter may include a duty cycle of the motor 1082. In one embodiment, the firing motion parameter may include a speed of the motor 1082. In some embodiments, setting the firing motion parameter may include setting multiple firing motion parameters.

[0194] The method 18650 further includes driving 18678 the firing member through a firing stroke with the firing system using the firing motion parameters. In some embodiments, the circuit board 1100 can cause the motor 1082 of the firing drive system 1080 to drive the firing member 1900 through a firing stroke using the firing motion parameters, thereby causing the firing member 1900 to deploy staples removably stored within the staple cartridge 1301.

[0195] In various embodiments, the method 18650 optionally further includes dynamically adjusting 18680 the firing motion parameters during the firing stroke based on the amount of time elapsed since the end effector reached the clamped state to the current time. In some embodiments, the circuit board 1100 may use a timer to measure the amount of time elapsed since the end effector reached the clamped state to the current time during the firing stroke and dynamically adjust the firing motion parameters. In some embodiments, the elapsed time is measured only after the end effector returns to the clamped state. In some embodiments, the elapsed time is measured since the end effector first reached the clamped state. Thus, the control system may dynamically adjust the firing motion parameters according to the amount of time elapsed since the tissue has been clamped and stabilized by the end effector.

[0196] Based on the control system determining that the end effector has not transitioned from the clamped state by the threshold amount, the method 18650 proceeds to maintaining a timer 18670. In some embodiments, maintaining the timer includes allowing the timer to continue running and measure the elapsed time since the end effector reached the clamped state.

[0197] The method 18650 further includes detecting that the end effector has returned to the clamped state 18672. In some embodiments, the control system may detect that the end effector has returned to the clamped state using any number of sensors described elsewhere herein.

[0198] After detecting 18672 that the end effector has returned to the clamped state, the user may choose to again transition the end effector out of the clamped state and reposition the end effector. Thus, the method may again proceed to detecting 18656 that the end effector has transitioned away from the clamped state, as described above. Additionally, after detecting 18672 that the end effector has returned to the clamped state, the method 18650 further includes detecting 18674 an actuation of a firing system of the surgical instrument. In some embodiments, the circuit board 1100 detects actuation of the firing drive system 1080 when the firing trigger 1130 is pivoted to the actuated position. In one embodiment, actuation of the firing drive system 1080 is detected when the circuit board 1100 detects current provided to the motor 1082 from the power source 1090 via a current sensor.

[0199] The method 18650 further includes setting 18676 a firing motion parameter of the firing system based on the elapsed time from the start of the timer to the actuation of the firing system. In various embodiments, the circuit board 1100 may query the timer to determine the amount of time elapsed since the start of the timer and when the firing system was actuated. In some embodiments, the circuit board 1100 may retrieve the firing motion parameter from a lookup table stored in a memory, such as memory 1935, according to the amount of time elapsed. In some embodiments, the circuit board 1100 may retrieve a correction value from a graph or lookup table according to the amount of time elapsed that can be used to adjust the default firing motion parameter. In one embodiment, the firing motion parameter may include a duty cycle of the motor 1082. In one embodiment, the firing motion parameter may include a speed of the motor 1082. In some embodiments, setting the firing motion parameter may include setting multiple firing motion parameters. In various embodiments, setting the firing motion parameter may be based on various other parameters described elsewhere herein, such as, by way of example, an articulation angle, a time from initiation of tissue contact, a velocity of moving toward a clamped state, or a combination thereof.

[0200] Similar to above, the method 18650 includes driving 18678 the firing member through a firing stroke with the firing system using the firing motion parameters, and dynamically adjusting 18680 the firing motion parameters during the firing stroke based on the elapsed time from when the end effector reached the clamped state to the current time. In some embodiments, the elapsed time is measured only after the end effector returns to the clamped state. In some embodiments, the elapsed time is measured from when the end effector first reached the clamped state.

[0201] Thus, the above-described method 18650 provides the clinician with the freedom to manipulate multiple ways of selecting an end effector before actuating the firing system, while also allowing the end effector to transition out of a clamped state without potentially losing the benefit of accumulated clamping time already accrued. Based on the detected parameters, the control system automatically selects appropriate firing motion parameters for the firing system. In one aspect, "automatically" refers to the control system's ability to select the firing motion parameters without user input.

[0202] Clamping systems utilizing position-controlled closure suffer from the fact that after the end effector is placed in a clamped state, the closing stroke operates to generate a specific force against tissue captured within the end effector. This specific force applied to the tissue decreases over time as tissue creep thins the tissue. For example, with reference to FIGS. 27 and 28 , a response profile 4000 from a clamping system utilizing position-controlled closure according to at least one embodiment of the present disclosure is provided. At t0, the end effector starts in an open state, during which the closing force 4002 applied by the end effector to the tissue is zero. From t0 to t1, the end effector is transitioned toward a clamped state by the closure member, which gradually increases the closing force 4002 applied to the tissue. At t1, the closure member reaches the end of its closing stroke, which corresponds to the end effector reaching the clamped state. In the clamped state, the closing force 4002 is equal to the maximum closing force FTC maxPC to reach.

[0203] The problem with these clamping systems is that they do not have the ability to continue advancing their closure members once they have completed the closure stroke, and therefore the force applied to the tissue decreases over time as fluid drains from the clamped tissue. For example, as can be seen in Figures 27 and 28, the maximum closure force FTC maxPC is applied to the tissue at t1, the closure force 4002 gradually decreases over time due to tissue creep / tissue thinning. At t2, the firing system of the surgical instrument is actuated, causing the closure force 4002 to suddenly decrease.

[0204] Referring to Figure 27, FTC maxPC As a result of the reduction in the closure force 4002 after reaching FTC, the firing force 4004 of a firing drive, such as the firing motor drive assembly 604 of the surgical instrument, decreases to FTC maxPC Force greater than FTF maxPC This large firing force places great stress on a firing motor, such as firing motor 602 of the firing drive.

[0205] Some attempts have been made to store energy in a spring or other mechanical storage means and then allow the clamping system to continue advancing, but these means also reduce the force as the tissue thins, but not rapidly. The preferred method is to hold the load constant, or even slightly "overload" the tissue with each adjustment, allowing it to creep and bring the tissue to its thinnest, stable state as quickly, uniformly, and repeatably as possible. This preferred approach may result in better surgical outcomes and less stress on the firing system.

[0206] In one aspect, the load control of the closure system allows the closure load, and therefore the clamping force, to be maintained at a high level, improving pre-fire compression of the tissue and ultimately resulting in lower firing forces. Viscoelastic creep of the tissue is maximized by the force magnitude, force duration, and rate at which the force is applied.

[0207] 29-31 , an end effector 4050 of a surgical instrument 4051 is provided in accordance with at least one aspect of the present disclosure. The end effector 4050 includes an elongate channel 4052 similar in many respects to elongate channel 1310 and an anvil 4054 similar in many respects to anvil 2000 and similar in many respects to elongate channel 4052. The surgical instrument 4051 includes a closure ring 4056 that is axially movable relative to the end effector 4050 between a proximal position shown in FIG. 29 and a distal position shown in FIG. 30 . In various embodiments, the closure ring 4056 is part of a motor-driven closure system, such as closure motor drive assembly 605, and is drivable between the proximal and distal positions by a motor, such as closure motor 603. In various embodiments, the closure ring 4056 is part of a manually actuated closure system, such as the closure system 3000, and is actuable between a proximal position and a distal position in response to a manual input, such as rotation of the closure trigger 1032 by a clinician.

[0208] The surgical instrument 4051 further includes an articulation joint 4060 that rotatably connects the end effector 4050 to the elongate shaft of the surgical instrument, allowing the end effector 4050 to rotate relative to the elongate shaft into a plurality of articulated positions away from a central axis extending through the center of the elongate shaft. The surgical instrument 4051 further includes a spine 4062 configured to provide structural support to the surgical instrument 4051 and protect various internal components of the surgical instrument 4051.

[0209] In operation, the closure ring 4056 is driven from a proximal position toward a distal position by a closure system, such as a motor-driven closure system or a manually driven closure system. As the closure ring 4056 is driven toward the distal position, it cams into engagement with a ramp 4058 formed on the proximal end of the anvil 4054, thereby camming the anvil 4054 toward a clamping state to grasp tissue with the end effector, as shown in FIG. 30 . In some embodiments, the closure ring 4056 is similar to the distal closure tube segment described in U.S. Pat. No. 11,324,501, the entirety of which is incorporated herein by reference. In various embodiments, the end effector 4050 includes a spring that biases the anvil 4054 toward the open position as the closure ring 4056 moves toward the proximal position.

[0210] In some embodiments, the clamped state is defined as the end effector 1300 being in a closed configuration and the closure trigger 1032 being in an actuated position. In other embodiments, the clamped state is defined as the elongated channel 1310 and the anvil 2000 of the end effector 1300 being within a threshold distance of each other. In other embodiments, the clamped state is defined as the closure trigger 1032 being pivoted a threshold distance away from the unactuated position.

[0211] In other embodiments, the closure system moves the elongate channel toward the anvil to achieve the closed position. In still other embodiments, the closure system moves the anvil and the elongate channel toward each other to achieve the closed position. Some embodiments described by the present disclosure include closure systems comprising a movable anvil and a fixed elongate channel. Nevertheless, it is readily understood that such embodiments may equally be implemented using a movable elongate channel and a fixed anvil, or a movable elongate channel and a movable anvil.

[0212] 32, a graph 4100 is provided illustrating the differences between a position-controlled closure system and a force-controlled closure system, according to at least one embodiment of the present disclosure. The top graph 4102 illustrates the position of the respective closure members of each system over time, as described in more detail below. The bottom graph 4104 illustrates the relationship between the closure loads applied by the respective end effectors over time.

[0213] In a position-controlled closure system, the closure member moves between a first position, corresponding to the end effector being in an open state, and a second position, corresponding to the end effector being in a clamped state. Referring to the top graph 4102, at time t0, the closure member starts at the first position FP, corresponding to the end effector being in an open state. When the end effector is in the open state, no force is applied to tissue captured within the end effector, as seen in the bottom graph 4104.

[0214] The closure member is in a second position SP represented by line 4106. PC As the closure member moves toward the second position SP, the end effector transitions toward the clamped state, increasing the closure force applied by the end effector, represented by line 4108. At t, the closure member is at the second position SP PC, which corresponds to the end effector being in a clamped state. As can be seen in graph 4104 below, in the clamped state, the end effector reaches a maximum closing force FTC max is applied to the tissue.

[0215] When the closure member is no longer in the second position SP PC Since the tissue cannot advance beyond t, the force applied to the tissue begins to decrease as a result of tissue thinning and tissue creep. From t to t, the tissue force 4108 decreases to FTC max At t3, the firing system is activated, causing a further rapid reduction in the applied force.

[0216] As referenced above, utilizing a load-controlled closure system allows the closure load, and therefore the clamping force, to remain at an elevated level, improving pre-fire compression of the tissue. In various embodiments, the surgical instrument 4051 is utilized to provide such load control. In some embodiments, a control system such as the controller 620 may control the closure of the end effector 4050 by the closure ring 4056 according to a force sensed by a sensor, such as any suitable sensor described elsewhere herein, such as a force sensor or a current sensor, as described in more detail below. It should be understood that the control system may be any suitable control system described elsewhere herein, such as the circuit board 1100 or the controller 1933, by way of example.

[0217] Referring to the top graph 4102, at time t0, the closure ring 4056 begins at a proximal position PP, which corresponds to the end effector 4050 being in an open state, i.e., the anvil 4054 being spaced apart from the elongated channel 4052, as seen in Figure 29. When the end effector 4050 is in an open state, no force is applied to tissue captured within the end effector 4050, as seen in the bottom graph 4104.

[0218] The closure ring 4056 is positioned at a distal position DP 1 , represented by line 4110 . LC, the end effector transitions toward a clamped state, increasing the closure force applied by the end effector, represented by line 4112. As can be seen in graph 4100, it should be understood that lines 4106 and 4110 overlap, and lines 4108 and 4112 overlap, and are therefore represented as a single line for simplicity. At t1, the closure ring 4056 is in a proximal position PP and a distal position DP, corresponding to the end effector 4050 being in a partially clamped state. LC Intermediate position IP LC As can be seen in graph 4104 below, in the partially clamped state, the end effector 4050 reaches a maximum closing force FTC max Further advancement of the closure ring 4056 results in a greater FTC than that represented in the graph 4104 below. max Please understand that this will result in:

[0219] In one aspect, the partially clamped state is defined as a state between the open state and the clamped state in which the end effector initially contacts tissue positioned therein. In one aspect, the partially clamped state is defined as a state in which the anvil of the end effector is within a threshold distance of the elongated channel of the end effector. In one aspect, the partially clamped state is defined as a state in which the closure trigger has moved a threshold amount from the unactuated state toward the actuated state. In one aspect, the partially clamped state is defined as a state in which a firing member involved in closure of the end effector has moved a threshold linear distance.

[0220] Intermediate position IP LC At intermediate position IP , the control system stops the advancement of the closure ring 4056. In various embodiments, LC corresponds to a position a threshold distance away from the proximal position PP. In various embodiments, the intermediate position IP LCcorresponds to a position where a threshold amount of force is applied to the tissue. In some embodiments, the threshold amount of force is stored in a memory, such as memory 1935, and is retrievable by the control system. In some embodiments, the threshold amount of force is provided by a user at an input interface. In some embodiments, the intermediate position IP LC corresponds to a predetermined distance on the ramp 4058 of the anvil 4054.

[0221] In the partial clamp state, the control system monitors the force applied by the anvil 4054 by querying or receiving a signal from a sensor. In various embodiments, the sensor comprises a force sensor positioned on the end effector to directly measure the force applied to the tissue. In various embodiments, the sensor includes a current sensor that measures the amount of current supplied to the closure motor to determine the closure force.

[0222] After the event occurs, the control system LC In various embodiments, the event includes the control system detecting a threshold amount of time that has elapsed since the closure ring 4056 was stopped. In various embodiments, the event includes the control system detecting a decrease in the force applied by the anvil 4054. In various embodiments, the event includes the control system detecting a decrease in the force applied by the anvil 4054 when the force applied by the anvil 4054 reaches a maximum closure force FTC. max The method includes detecting a threshold amount drop from the reference voltage.

[0223] As seen in the top graph 4102 and bottom graph 4104, the control system continuously monitors the force applied by the end effector 4050 and discretely advances 4110 the closure ring 4056. Specifically, as seen at times t2, t3, t4, and t5 in the top graph 4102, the control system discretely advances the closure ring 4112 such that the closure force 4112 applied by the end effector remains constant, or at least substantially constant. In one embodiment, the control system monitors the force 4112 to determine if the FTC maxAt t2, the closure system drives the closure ring 4056 4110 so that the closure ring 4056 remains at t2. max is achieved, the control system again stops the advancement of the closure ring 4056, and the control system again monitors the event as described above, and upon the occurrence of the event, for example, again at t3, continues advancing the closure ring 4056. In various other embodiments, rather than advancing the closure ring in discrete increments, the control system continuously moves the closure ring 4056 at a velocity such that the force 4112 applied by the end effector remains constant, or at least substantially constant.

[0224] The control system determines whether the closure ring 4056 is in the distal position DP 1 shown in the graph 4102 above at time t6. LC The above-described stopping and advancing of the closure ring 4056 continues until it reaches the distal position DP LC , a user can actuate a firing system, such as firing motor drive assembly 604, to drive a firing member, such as firing member 1900, using a motor, such as firing motor 602, to cut and deploy staples from a staple cartridge, such as staple cartridge 1301, positioned within end effector 4050. In various embodiments, the control system provides tactile, visual, auditory, or any other suitable feedback to indicate when closure ring 4056 is in distal position DP LC In various embodiments, the closure ring 4056 may be positioned at the distal position DP LC When this threshold is reached, the user may wait a certain amount of time before actuating the firing system, giving the end effector 4050 an opportunity to apply additional force to tissue. In various other embodiments, the control system may require a threshold amount of time to elapse before enabling the firing system. In some embodiments, the control system may provide tactile, auditory, or visual feedback once the threshold amount of time has elapsed to inform the clinician that the firing system may be actuated.

[0225] 33 and 34 , a response profile 4200 from a clamping system, such as a clamping system utilizing a closure ring 4056 and utilizing load-controlled closure, is shown. At t0, an end effector, such as end effector 4050, begins in an open state, during which the closure force 4202 applied by the end effector to tissue is zero. From t0 to t1, the end effector is transitioned toward a clamped state by a closure member, such as closure ring 4056, thereby gradually increasing the closure force 4202. At t1, the closure member reaches an intermediate position IP 1 , which corresponds to the end effector reaching a partially clamped state. LC In the partially clamped state, the closing force 4202 is equal to the maximum closing force FTC max reaches.

[0226] As can be seen in Figures 33 and 34, and as described above, the maximum amount of force FTC maxLC is applied to the tissue at t1, the closure element applies a maximum amount of force FTC maxLC At t2, the closure member may be advanced discretely or continuously so that the distal position DP LC 34, the firing force 4204 of the firing drive of the surgical instrument is max The force FTF is less than the force maxLC , as well as reaching the launch force FTF for the position control closure system, as described above and shown in FIG. maxPC The force-controlled closure system therefore reduces the firing force required by the firing system and may extend the life of the firing system. The force-controlled closure system brings the tissue to its thinnest stable state as quickly, uniformly, and repeatably as possible, resulting in better surgical outcomes.

[0227] As described above, a load controlled closure system utilizing the end effector 4050 utilizes a closure ring 4056 that is discretely or continuously advanced so that the load provided by the end effector can be maintained at a maximum value for an extended period of time prior to actuation of the firing system. In various other embodiments, the present disclosure provides load controlled closure systems that discretely or continuously advance a closure member during at least a portion of the firing stroke to maintain a constant, or at least substantially constant, closure load during at least a portion of the firing stroke.

[0228] 32, at time t0, the closure ring 4056 begins at a proximal position PP, which corresponds to the end effector 4050 being in the open state, i.e., the anvil 4054 being spaced apart from the elongated channel 4052, as seen in FIG. 29. When the end effector 4050 is in the open state, no force is applied to tissue captured within the end effector 4050, as seen in the bottom graph 4104.

[0229] The closure ring 4056 is positioned at a distal position DP represented by line 4114. CC , the end effector transitions toward a clamped state, increasing the closure force applied by the end effector, represented by line 4116. As can be seen in graph 4100, line 4114 overlaps with lines 4110 and 4106, and line 4116 overlaps with lines 4112 and 4108, and therefore is represented as a single line for simplicity. At t1, the closure ring 4056 is in a proximal position PP and a distal position DP, corresponding to the end effector 4050 being in a partially clamped state. CC Intermediate position IP CC As can be seen in graph 4104 below, in the partially clamped state, the end effector 4050 reaches a maximum closing force FTC max Further advancement of the closure ring 4056 results in a greater FTC than that represented in the graph 4104 below. max Please understand that this will result in:

[0230] Intermediate position IP CC At intermediate position IP , the control system stops the advancement of the closure ring 4056. In various embodiments, CC corresponds to a position a threshold distance away from the proximal position PP. In various embodiments, the intermediate position IP CC corresponds to the position where the threshold amount of force is applied to the tissue. In some embodiments, the threshold amount of force is stored in a memory, such as memory 1935, and is retrievable by the control system. In some embodiments, the threshold amount of force is stored in a look-up table in memory or is a value retrievable from memory. In some embodiments, the threshold amount of force is provided by a user at an input interface. In some embodiments, the intermediate position IP CC corresponds to a predetermined distance on the ramp 4058 of the anvil 4054.

[0231] In the partial clamp state, the control system monitors the force applied by the anvil 4054 by querying or receiving a signal from a sensor. In various embodiments, the sensor comprises a force sensor positioned on one or more portions of the closure system and / or end effector to measure the force applied to tissue by the end effector. In various embodiments, the sensor includes a current sensor that measures the amount of current supplied to the closure motor to determine the closure force.

[0232] As referenced above, after the occurrence of an event or condition, the control system controls the closure system to close the distal location DP CC In various embodiments, the event includes the control system detecting a threshold amount of time elapsed since the closure ring 4056 was stopped. In various embodiments, the event includes the control system detecting a decrease in the force applied by the anvil 4054. In various embodiments, the event includes the control system detecting a decrease in the force applied by the anvil 4054 when the force applied by the anvil 4054 reaches a maximum closure force FTC max The method includes detecting a threshold amount drop from the reference voltage.

[0233] As can be seen in the upper graph 4102 and the lower graph 4104, the control system continuously monitors the force applied by the end effector 4050 and discretely advances 4114 the closure ring 4056. Specifically, from time t to t in the upper graph 4102, 10 As can be seen, the control system discretely advances the closure ring such that the closure force 4116 applied by the end effector remains constant, or at least substantially constant. It should be understood that between t2 and t7, lines 4114 and 4110 overlap, and lines 4116 and 4112 overlap, and are therefore represented as a single line for simplicity.

[0234] In one embodiment, the control system is configured to control the force 4116 to the FTC max At time t2, the closure system drives the closure ring 4056 4114 so that the FTC max is achieved, the control system again causes the closure ring 4056 to stop advancing, and the control system again monitors the event as described above, and upon the occurrence of the event, e.g., again at t3, continues advancing the closure ring 4056. In various other embodiments, rather than advancing the closure ring in discrete increments, the control system moves the closure ring continuously at a velocity that causes the force 4112 applied by the end effector to remain constant, or at least substantially constant.

[0235] The control system determines whether the closure ring is in its distal position DP CC The stopping and advancing of the closure ring 4056 continues as described above until the firing system is activated at time t6, which is before the closure ring 4056 reaches the distal position DP 1 . When the firing system is activated, the control system moves the closure ring 4056 to the distal position DP 2 , as described above. CC , resulting in simultaneous movement of the closure system and the firing member of the firing system. The continued advancement of the closure ring increases the force 4116 applied by the end effector during at least a portion of the firing stroke. max Maintain it.

[0236] 35 and 36 , a response profile 4300 is provided from a clamping system, such as a clamping system utilizing a closure ring 4056 and utilizing load-controlled closure during a portion of the firing stroke, in accordance with at least one embodiment of the present disclosure. At t0, an end effector, such as end effector 4050, begins in an open state, during which the closure force 4302 applied by the end effector to tissue is zero. From t0 to t1, the end effector is transitioned toward a clamped state by a closure member, such as closure ring 4056, which gradually increases the closure force 4302. At t1, the closure member reaches an intermediate position IP , corresponding to the end effector reaching a partially clamped state. CC In the partially clamped state, the closing force 4302 is equal to the maximum closing force FTC max reaches.

[0237] As can be seen in Figures 35 and 36, and as mentioned above, the maximum amount of force FTC maxCC is applied to the tissue at t1, the closure element applies a maximum amount of force FTC maxCC At t2, the firing system is actuated. As shown in FIGS. 35 and 36, the closure member exerts a maximum closure force FTC on the tissue during at least a portion of the firing stroke. maxCC To maintain the DP CC As seen in FIG. 36, the firing force 4304 of the surgical instrument firing drive is maxCC The force FTF is less than maxCC, which is also less than the firing force FTFmaxPC for a position-controlled closure system, as described above and shown in FIG. 27 . In various embodiments, the continuous advancement of the closure member during at least a portion of the firing stroke can also result in a firing force profile that differs from the firing force profile for a load-controlled closure system in which the closure member reaches its distal position before actuation of the firing system. Thus, the load-controlled closure system can reduce the firing force required by the firing system and extend the life of the firing system. The load-controlled closure system brings the tissue to its thinnest plateau as quickly, uniformly, and repeatably as possible, resulting in better surgical outcomes.

[0238] 37 , a method 4350 for controlling a surgical instrument is provided in accordance with at least one aspect of the present disclosure. The method 4350 includes driving 4352 a closure member of a closure system from a first position toward a second position to transition the end effector to a clamped state. In some embodiments, a control system, such as the controller 620, controls a motor, such as the closure motor 603 of a motor-powered closure system, such as the closure motor drive assembly 605, to drive the closure member from a first position, such as a proximal position PP, toward an intermediate position IP. LC or intermediate position IP CC A closure member, such as closure ring 4056, can be driven toward a second position, such as a clamping state, to capture tissue within the end effector and apply a force to the tissue.

[0239] The method 4350 further includes detecting 4354 a closure load applied to the tissue by the end effector based on the closure member being in the second position. In various embodiments, the control system utilizes a force sensor or a current sensor to detect the force applied by the end effector with the closure member in the second position. In some embodiments, the closure force can be a maximum closure force applied to the tissue, as described elsewhere herein.

[0240] The method 4350 further includes driving 4356 the closure member from the second position toward the third position to maintain the closure load on the tissue. In various embodiments, as described elsewhere herein, the control system may control the closure system to discretely or continuously move a closure member, such as the closure ring 4056, to maintain a constant, or at least substantially constant, closure load on the tissue.

[0241] The method 4350 further includes driving 4358 the firing member through a firing stroke with a firing system based on the closure member reaching the third position. In various embodiments, as described elsewhere herein, the control system can control a motor, such as firing motor 602 of a firing system, such as firing motor drive assembly 604, to drive a firing member, such as firing member 1900, through a firing stroke. In some embodiments, driving the firing member deploys staples from a staple cartridge, such as staple cartridge 1301. In various embodiments, the third position of the closure member is reached by a DP LC In various embodiments, the third position of the closure member includes a distal position DP CC and the like.

[0242] The method 4350 optionally further includes driving the closure member from the third position toward the fourth position to maintain a closure load against the tissue during at least a portion of the firing stroke 4360. In various embodiments, as described above, when the firing system is actuated, the closure member is positioned in the distal position DP CC The fourth position may be at a position proximal to that distal position, such as distal position DP 1 . Thus, the control system may continue to control the closure system to discretely or continuously advance the closure member during at least a portion of the firing stroke to maintain the closure load constant, or at least substantially constant. In various embodiments, the fourth position may be at a distal position DP 1 . CC In various embodiments, the fourth position corresponds to a distal position DP CC, corresponds to a position proximal to the closure member. In various embodiments, the closure member moves through the entire firing stroke. In some embodiments, the closure member and firing member complete their respective strokes simultaneously, or at least substantially simultaneously. In various embodiments, the closure member completes its closing stroke before the firing member completes its firing stroke. In various embodiments, the firing member completes its closing stroke before the closure member completes its closing stroke.

[0243] During the closing stroke of the surgical instrument, it is desirable for all tissue layers to be captured within the jaws of the end effector so that all of the tissue layers are captured within the staple line for any given resection. During end effector closure, excessive clamping speed can cause tissue layers to be pushed out of the end effector, ultimately resulting in a suboptimal staple line seal. This tissue flow during clamping can also shift the desired resection location on the tissue within the end effector, such as pushing tissue away from the distal tip of the end effector, ultimately requiring additional firing of the surgical instrument. Managing this clamping speed can help maintain the desired resection location of the tissue within the end effector.

[0244] In various embodiments, a surgical instrument including an end effector and a clamping system, such as the closure motor drive assembly 605, may be utilized to clamp tissue during a clamping stroke. A sensor, such as any suitable sensor described elsewhere herein, may be utilized to monitor the amount of clamping force applied by the end effector during the clamping stroke. During the clamping process, a control system (e.g., controller 620) coupled to the sensor may monitor the load curve, predict the expected tissue load, and compare the predicted tissue load to a closure load threshold.

[0245] In some embodiments, if the predicted load is expected to reach or exceed the closure load threshold, the control system causes the closure system to slow down the closure speed, allowing tissue relaxation while clamping and maintaining the desired tissue within the jaws of the end effector. In various embodiments, the closure load threshold is stored in a memory, such as memory 624, and readable by the control system. In various embodiments, the closure load threshold is user-defined by a user in an input interface.

[0246] In some embodiments, when the predicted load is expected to reach or exceed the closure load threshold, the control system causes the closure system to intermittently pause the clamping stroke to allow tissue relaxation while clamping and maintaining the desired tissue within the jaws of the end effector. In various embodiments, when the predicted load is expected to reach or exceed the closure load threshold, the control system causes the closure system to intermittently pause and slow the clamping stroke to allow tissue relaxation while clamping and maintaining the desired tissue within the jaws of the end effector.

[0247] In some embodiments, when the control system causes the end effector to pause its clamping stroke, the control system causes the jaws to maintain a clamping force for a period of time. In various embodiments, the period is a predetermined period of time. In various embodiments, the period of time is a variable period of time. In some embodiments, the variable period of time is based on a rate of change of the clamp load. In some embodiments, the variable period of time is based on a predicted amount that the closure load is expected to exceed a closure load threshold, such as when the closure stroke is complete. In various embodiments, the variable period of time is based on a gap between the anvil and the elongated channel of the end effector. In various embodiments, the variable period of time is based on a type of staple cartridge removably positioned within the end effector. In various embodiments, the variable period of time is based on a magnitude of the closure load. In various embodiments, the variable period of time is based on an amount of time elapsed since the end effector first contacted tissue during the clamping stroke. In various embodiments, the variable period of time is based on an amount of time elapsed since a user activated a secondary closure system of the surgical instrument.

[0248] In various embodiments, the period is an adaptation period. In various embodiments, the adaptation period is based on the position of the anvil relative to the elongate channel. In various embodiments, the adaptation period is based on the success and failure of previous clamping strokes. In some embodiments, the success and failure of previous clamping strokes are stored in a memory, such as memory 624, and can be retrieved by the control system to set the variable period. In various embodiments, the adaptation period is based on a technique used by a clinician to manually manipulate or position the end effector. In various embodiments, the adaptation period is based on output from a surgical hub, such as the surgical hub described in U.S. Patent Application Publication No. 2020 / 0078070, which is incorporated herein by reference in its entirety. In various embodiments, the adaptation period is based on output from a multispectral imaging system, such as the imaging system described in U.S. Patent No. 11,369,366, which is incorporated herein by reference in its entirety.

[0249] After a predetermined period of time has elapsed, the control system may cause the end effector to retry its clamping stroke at a speed that manages tissue flow. In various other embodiments, the speed is a set speed. In various embodiments, the speed is a stepped speed. In various embodiments, the speed is a reduced speed compared to the speed before the end effector paused its clamping stroke. In various embodiments, the speed is the same speed compared to the speed before the end effector paused its clamping stroke.

[0250] 38 , a method 4370 for controlling a surgical instrument is provided in accordance with at least one aspect of the present disclosure. The method 4370 includes driving 4372 an end effector with a motor toward a clamped state. In various embodiments, a control system, such as controller 620, sends a control signal to a motor, such as closure motor 603, to a closure system, such as closure motor drive assembly 605, to drive an end effector, such as end effector 1300, toward the clamped state.

[0251] The method 4370 further includes detecting 4374 a closing load applied by the end effector to the tissue based on the end effector moving toward the clamped state. In various embodiments, the control system detects the closing load applied by the end effector to the tissue using a sensor, such as any suitable sensor described elsewhere herein. In some embodiments, the sensor comprises a force sensor that detects the amount of force the end effector applies to the tissue. In some embodiments, the sensor comprises a current sensor that senses the amount of current applied to the motor.

[0252] The method 4370 further includes predicting 4376 an expected closing load based on the detected closing load. In various embodiments, the control system may predict the expected closing load based on a rate of change of the closing load. In various embodiments, the control system may predict the expected closing load based on a trajectory of the closing load. In various embodiments, the control system may predict the expected closing load based on various sensor readings obtained from the sensors.

[0253] The method 4370 further includes comparing 4378 the predicted closure load to a closure load threshold. In some embodiments, the control system may compare the predicted closure load to the closure load threshold to determine whether the predicted closure load will reach or exceed the closure load threshold. In various embodiments, the control system may determine whether the predicted closure load will reach or exceed the closure load threshold before the end effector reaches the clamped state. In various embodiments, the closure load threshold is stored in a memory, such as memory 624, and readable by the control system. In various embodiments, the closure load threshold is user-defined by a user in an input interface.

[0254] The method 4370 further includes controlling 4380 the motor based on the comparison. In various embodiments, based on the results of the comparison, the control system may send a control signal to the motor. In some embodiments, the control system sends a control signal to the motor if the predicted closure load is expected to reach or exceed the closure load threshold before the completion of the closure stroke. In some embodiments, the control system sends a control signal to the motor if the predicted closure load is expected to reach or exceed the closure load threshold before the anvil reaches a threshold distance from the elongate channel. In some embodiments, the control signal decreases the speed of the motor, thereby slowing the rate at which the end effector transitions to the clamping state. In some embodiments, the control signal pauses the motor, thereby stopping the end effector from transitioning to the clamping state. In various embodiments, if the predicted closure load is expected to reach or exceed the closure load threshold, the control system may allow the end effector to continue applying a load to the tissue. In such embodiments, the control system may predict the time at which the closure load threshold will be exceeded and control the motor at the predicted time accordingly. Thus, rather than reacting when the control system detects that the closure load threshold has been exceeded, the control system predicts and plans for when the closure load threshold will be reached or exceeded. Such planning and prediction allows the control system to devise a suitable response before the closure load threshold is reached or exceeded.

[0255] In various embodiments, based on the control system reducing the motor speed, the control system predicts an expected closure load as the end effector transitions to the clamped state and continues to compare the predicted closure load to the closure load threshold. If the control system again detects that the predicted closure load is expected to reach or exceed the closure load threshold before the end effector reaches the clamped state, the control system further reduces the motor speed so that the predicted closure load remains below the closure load threshold. In various other embodiments, the control system pauses the motor and resumes moving the end effector toward the clamped state after a period of time. Thus, method 4370 is an iterative method for maintaining tissue within the end effector.

[0256] The method 4370 further includes maintaining 4382 the end effector at the current position for a period of time. In various embodiments, when the control system sends a control signal to the motor to stop the end effector from transitioning toward the clamped state, the control system maintains the jaws of the end effector at its current position for a period of time. In various embodiments, the period of time includes a predetermined period of time. In various embodiments, the period of time includes a variable period of time, as described elsewhere herein. In various embodiments, the period of time includes an adaptive period of time, as described elsewhere herein.

[0257] The method 4370 further includes resuming advancement of the end effector towards the clamped state based on the elapsed time 4384. In various embodiments, after a period of time has elapsed, the control system causes the motor to resume advancement of the end effector towards the clamped state utilizing the closed drive system.

[0258] In various embodiments, similar to the above, after the control system resumes advancing the end effector toward the clamped state, the control system continues to predict the expected closure load as the end effector transitions to the clamped state and compares the predicted closure load to the closure load threshold. If the control system again detects that the predicted closure load is expected to reach or exceed the closure load threshold before the end effector reaches the clamped state, the control system again stops the end effector from transitioning toward the clamped state and waits a period of time. In various other embodiments, the control system slows the motor if the control system is already paused and resumes moving the end effector toward the clamped state. Thus, method 4370 is an iterative method for maintaining tissue within the end effector.

[0259] 39, a graph 4500 illustrating a target and response profile of a motor is shown, in accordance with at least one aspect of the present disclosure. The graph 4500 shows a control metric relative to the position of the closure member, as described in more detail below. In some embodiments, the control metric includes the speed of the motor. In some embodiments, the control metric includes the PWM of the motor.

[0260] During operation, a control system, such as controller 620, sets target control metrics for motors, such as any number of motors described elsewhere herein, to drive functions of the surgical instrument. In various embodiments, the motors include a firing motor, such as firing motor 602, that drives a firing member, such as firing member 1900, through a firing stroke. In various embodiments, the motors include a closure motor, such as closure motor 603, that drives a closure member, such as closure ring 4056, through a closure stroke.

[0261] 39 , at a firing member position d0, such as its unfired position, the control system sets a first target control metric 4502 for the motor. In response to the first target control metric 4502, the motor rises 4504 toward the first target control metric 4502, eventually reaching a first response control metric 4506 that is less than the first target control metric 4502 at a position d1 in the firing stroke of the firing member. The control system maintains the motor's first target control metric 4502 until the firing member reaches a position d2 in the firing stroke, at which point the control system sets a second target control metric 4508 for the motor. In response to the second target control metric 4508, the motor rises 4510 toward the second target control metric 4508, eventually reaching a second response control metric 4512 that is less than the second target control metric 4508 at a position d3 in the firing stroke of the firing member.

[0262] Due to various external factors, such as frictional losses in the system and / or thick tissue positioned within the surgical instrument's end effector, the firing member's response control metric decreases 4514 despite the control system maintaining the second target control metric 4508. In response to the downward sloping response profile, to optimize the system and avoid driving the motor at a target control metric that cannot be achieved, the control system sets target control metrics 4516, 4518 that decrease at positions d4 and d5 of the firing stroke, respectively. The reduction in the target control metric prevents the motor from over-operating. Thus, the control system dynamically adjusts the target control metric to a more appropriate target control metric based on the motor's response profile.

[0263] During the aforementioned setting of a target profile for driving a motor, any number of sensors may be utilized by the control system to determine the actual response profile of the motor. In some embodiments, an analog signal indicative of the response profile may be fed back to a processor, such as processor 622 of the control system, to make any necessary adjustments to the target control metrics. Upon receiving the analog signal, the processor converts the analog signal to a digital signal using an integrating A / D converter so that the processor can process the signal indicative of the response profile. In one aspect, servo motors controlled by the processor must utilize digital signals and do not operate on analog signals. However, these A / D conversions within the processor require computational cycles and resources that the processor could deploy elsewhere, thus limiting the speed at which the processor operates. Therefore, it is desirable to provide a digital signal to the processor so that the processor can focus its resources on other tasks.

[0264] In various embodiments, the A / D converter is located upstream of the processor, such as before the processor's input. The upstream A / D converter receives any number of analog signals from sensors through the surgical instrument and converts these signals to digital signals. These digital signals are provided to the processor, allowing the processor to make any necessary adjustments without having to allocate bandwidth to perform the A / D conversion itself.

[0265] In some embodiments, the input signal to the A / D converter comprises a ramped analog signal 4520 as shown in Figure 40. In various embodiments, the A / D converter converts the analog signal 4520 into a PWM digital signal 4522 according to the peaks 4524 and valleys 4526 of the output signal 4521 of the analog signal 4520 reaching limits 4525, 4527 that couple to the output signal 4521. As shown in Figure 40, the input signal to the A / D converter transitions low when the peak 4524 reaches the upper limit 4525 and transitions high when the valley 4526 reaches the lower limit 4527. Furthermore, the length of the PWM signal is controlled according to the time elapsed between the peak 4524 and the valley 4526.

[0266] In various embodiments, the analog signal provided to the A / D converter includes an analog speed signal. In some embodiments, the analog speed signal indicates the speed of the motor. The A / D converter converts this signal to a digital signal and provides the converted signal to the processor. In various embodiments, the analog speed signal may be generated using a one-wire tachometer speed sense. In some embodiments, the one-wire tachometer speed sense measures the speed of the motor's shaft. In various embodiments, the analog speed signal is generated by using a varistor that may monitor voltage spikes applied to the motor. In various embodiments, the analog speed signal is generated using a PWM angle-based sensor that determines the rate of change of the motor's speed. In various embodiments, the analog speed signal is generated using a raw signal from a sensor with a comparator circuit that may be used to determine the motor's speed.

[0267] In various embodiments, a resistive slide sensor is disposed on one or both of an anvil, such as anvil 2000, and an elongated channel, such as elongated channel 1310, or an end effector, such as end effector 1300, to determine the relative and / or absolute position of a firing member, such as firing member 1900, during a firing stroke. Based on the sensed position and a timer, an analog signal indicative of the velocity of the firing member may be generated and provided to an A / D converter. In various embodiments, the resistive slide sensor(s) determine the rate of change of resistance to generate a signal indicative of the velocity of the firing member. In some embodiments, a slope detector is utilized to determine the rate of change. In some embodiments, a differential amplifier is utilized to determine the rate of change.

[0268] In various embodiments, an analog signal indicative of the speed of the motor is generated based on variations in sound emitted from the motor. In some embodiments, the sound variations are detected by a microphone. In some embodiments, the sound variations are detected by a sound card. In some embodiments, the sound variations are generated and / or amplified by placing a component, such as a card, within the motor assembly. In various embodiments, the analog signal indicative of the speed of the motor is generated using a strobe speed sensor.

[0269] As described elsewhere herein, a closure system may utilize a motor to drive the end effector of a surgical instrument into a clamping state to capture tissue within the end effector. As the effector transitions to the clamping state, the anvil of the end effector contacts the tissue. The resulting impact can slow motor output and, in some cases, even stall the motor. In another aspect, a firing system may utilize a motor to drive a firing member of a surgical instrument through a firing stroke to cut tissue captured within the end effector and deploy staples from a staple cartridge positioned within the end effector. Similarly, when the firing member impacts the tissue and staple driver, motor output can slow and stall. In such a scenario, higher torque from the motor is required, which would stall a standard motor. Therefore, adding inertia to the motor is desirable to compensate for losses associated with the high torque requirement. Additionally, adding inertia to the motor(s) is desirable to compensate for losses associated with a 25% motor speed loss.

[0270] 41 , a motor 4400 is provided in accordance with at least one aspect of the present disclosure. The motor 4400 includes a housing 4402, an output shaft 4404, a first contact 4406, and a second contact 4408. In various embodiments, a first wire from a power source couples to the first contact 4406 and a second wire from the power source couples to the second contact 4408. In one aspect, to rotate the output shaft 4404 in a first clockwise direction, the power source provides positive polarity to the first contact 4406 and negative polarity to the second contact 4408. To rotate the output shaft 4404 in a second counterclockwise direction, the power source provides negative polarity to the first contact 4406 and positive polarity to the second contact 4408.

[0271] 41 , the output shaft 4404 includes a first end 4410 extending from a first side of the housing 4402 and a second end 4412 extending from a second side of the housing 4402. In various embodiments, a gear 4414 is coupled to the first end 4410 of the output shaft 4404. In some embodiments, the gear 4414 is in mechanical communication with a motor gearbox (“MGB”) downstream of the motor 4400 such that the motor 4400 can drive a function of the surgical instrument. In some embodiments, the function is to transition the end effector between an open state and a clamped state. In some embodiments, the function is to drive a firing member through a firing stroke. In various embodiments, gear 4414 is constructed from a metal such as tungsten, platinum, hafnium, tantalum, rhenium, osmium, iridium, gold, mercury, thallium, lead, or any other suitable transition or post-transition metal to add inertia to motor 4400 to compensate for inertial losses when operating motor 4400. In various embodiments, a ring or flywheel 4416 is coupled to second end 4412 of output shaft 4404 to add further inertia to motor 4400 to compensate for inertial losses when operating motor 4400. In various embodiments, ring 4416 is constructed from a metal such as tungsten, platinum, hafnium, tantalum, rhenium, osmium, iridium, gold, mercury, thallium, lead, or any other suitable transition or post-transition metal.

[0272] 42, a graph 4450 is provided illustrating the current motor versus improved motor 4400, in accordance with at least one aspect of the present disclosure. In operation, the current motor operates at 75% motor speed 4452 and 75% inertial speed 4454. When the current motor encounters thick tissue, the inertial resistance I from the thick tissue increases. T 4456 stalls the motor speed 4452 and inertia speed 4454 of the current motor. In the improved motor 4400, the motor 4400 TIt may operate at a higher speed 4458 (100%) and a higher inertia speed 4460 (100%) so that the inertia from 4456 does not cause the motor to stall.

[0273] 43 , a graph 4600 illustrating the current motor for the improved motor 4400 is provided, in accordance with at least one aspect of the present disclosure. In operation, the current motor operates to perform the functions of the end effector, such as driving the firing member through the firing stroke, cutting tissue, deploying staples, etc. As shown in graph 4600, the inertia 4602 of the current motor is I from t0 to t1. Cmax At t1, the firing member encounters resistance, such as thick tissue, that causes the current motor to lose inertia. After t1, the current motor reaches I Cmax I Cmax Resistance is again encountered at t2 before reaching t3. This attempted climb and resistance continues as the motor drives the firing member through the firing stroke from t2, at t3, t4, and t5, etc. The motor ultimately stalls at t6 because it is unable to fully recover inertia during the firing stroke before encountering additional resistance at t3, t4, and t5.

[0274] The improved motor 4400 allows the motor 4400 to encounter additional resistance before stalling. As shown in graph 4600, the inertia 4604 of the motor 4400 varies from t0 to t1, with I Cmax Greater than I Imax As with current motors, the firing member encounters resistance as motor 4400 drives it through its firing stroke, such as from t1 to t5. However, due to the additional inertia added to the system, motor 4400 does not stall until t7, which is a time later than t6. Thus, improved motor 4400 can withstand greater resistance than current motors.

[0275] In various embodiments, a control system, such as controller 620, can control motor 4400 to induce vibrations in the closure system and / or firing system, thereby driving fluid within the tissue away from the tissue. Methods of such vibration control are described in U.S. Patent Application Publication No. 2021 / 0059773, which is incorporated herein by reference in its entirety. In various embodiments, the control system can vibrate or pulse the closure and / or firing system to induce fluid movement from the tissue, thus providing relief to the motor during its operation.

[0276] In some instances, it may be beneficial to control a firing system, such as firing motor drive assembly 604, based on various types of feedback received by sensors, such as any suitable sensors described elsewhere herein. In some embodiments, the feedback includes the selected staple cartridge reload, the articulation angle of the end effector, the amount of precompression applied to the tissue prior to firing the firing system, or various combinations thereof. In one aspect, the clamp and precompression feedback, along with the reload selection and articulation angle, predicts the firing load. Thus, the control system can compensate for the predicted firing load based on these parameters.

[0277] In various embodiments, a control system, such as controller 620, may predict the firing load based on one or more of the aforementioned parameters. Before enabling the firing system, the control system may predict whether the firing load is outside of an expected range. In various embodiments, the expected range is stored in a memory, such as memory 624, and retrievable by the control system. In various embodiments, the expected range is user-defined. In one aspect, if the predicted firing load is outside of the expected range, the control system may cause a closure system, such as closure motor drive assembly 605, to continue advancing a closure member, such as closure ring 4056, to increase the closure force, thereby decreasing the predicted firing load. The closure force may be increased until the predicted firing load is within range.

[0278] In various embodiments, the control system provides feedback to the clinician, such as feedback on a display, to inform the clinician if the predicted firing load cannot be brought within range. In such embodiments, the control system may suggest corrective action, such as suggesting a more appropriate staple cartridge reload, a different articulation angle, or any other suitable corrective action to reduce the predicted firing load.

[0279] In some aspects, the predicted firing load is used to assign an initial firing velocity of a firing member, such as firing member 1900. During the firing stroke of the firing member, the control system discretely or continuously advances a closure member, such as closure ring 4056, as described elsewhere herein to reduce the firing load experienced by the firing system.

[0280] It is often desirable to adapt both the closure system and the firing system during a surgical cutting and stapling procedure. In one aspect, adapting both systems based on input obtained before and / or during the surgical stapling and severing procedure optimizes the systems, ensures proper parameters are utilized, and results in a better surgical outcome. Additionally, it is desirable to adapt the firing system both before and / or during actuation of the firing system based on monitored input received while the closure system transitions the end effector of the surgical instrument into a clamping state.

[0281] 44 , a method 4700 for controlling a surgical instrument is provided in accordance with at least one aspect of the present disclosure. The method 4700 includes receiving 4702 a first input. In various embodiments, the first input includes a user-provided input at an input interface. In various embodiments, the first input includes an input received from a sensor within the surgical instrument, such as any suitable sensor described elsewhere herein. In some embodiments, the received input includes a type of staple cartridge positioned within the end effector. In various embodiments, the surgical instrument includes a radio frequency identification (“RFID”) scanner in operative communication with a control system of the surgical instrument, such as controller 620, and the staple cartridge includes an RFID tag. The RFID scanner can interrogate the RFID tag to enable the control system to determine the type of staple cartridge positioned within the end effector.

[0282] In various embodiments, the received input includes a parameter associated with an end effector, such as end effector 1300, transitioning to a clamped state. In some embodiments, the parameter includes an amount of time it takes for a closure system, such as closure motor drive assembly 605, to transition the end effector to a clamped state. In some embodiments, the parameter includes an amount of time it takes for the closure system to transition the end effector to a partially clamped state. In some embodiments, the parameter includes a load the end effector is applying to tissue within the jaws of the end effector. In some embodiments, the received input includes a parameter associated with tissue captured within the end effector. In some embodiments, the parameter includes an impedance of the tissue. In some embodiments, the parameter includes a rate of change of force applied to the tissue. In some embodiments, the parameter includes a type of tissue captured by the end effector.

[0283] Method 4700 further includes setting 4704 a first parameter of the motor-powered closure system based on the received first input. In various embodiments, the control system may utilize the received input(s) to set a parameter of the motor-powered closure system, such as closure motor drive assembly 605. In some embodiments, the control system compares the received input(s) to a predetermined value stored in a memory, such as memory 624, to determine the first parameter. In some embodiments, the first parameter includes a speed of a closure motor, such as closure motor 603. In some embodiments, the first parameter includes a duty cycle to the closure motor. In some embodiments, the first parameter includes an amount of current or voltage supplied to the closure motor from a power source, such as power source 628. Other parameters for motor-powered closure systems are described elsewhere herein. Thus, the control system can adapt the closure system according to the received input.

[0284] The method 4700 further includes driving the end effector toward the clamped state with a motor-powered closing system using the first parameters 4706. In various embodiments, the control system can send a control signal to the closing motor to cause the motor-powered closing system, such as the closing motor drive assembly 605, to drive the end effector toward the clamped state using the first parameters.

[0285] Method 4700 further includes monitoring 4708 a second parameter associated with the end effector transitioning toward a clamped state. In various embodiments, the control system may query any number of sensors within the surgical instrument, such as, by way of example, a force sensor or a pressure sensor, to monitor the parameter associated with the end effector transitioning toward a clamped state. In various embodiments, the second parameter includes an amount of time it takes to transition the end effector to the clamped state. In various embodiments, the second parameter includes a speed at which the end effector transitions to the clamped state. In various embodiments, the second parameter includes an amount of force applied to tissue captured within the end effector. In various embodiments, the second parameter includes an amount of time it takes to transition the end effector to a partially clamped state. Other parameters associated with the end effector transitioning to a clamped state are described elsewhere herein. In various embodiments, method 4700 further includes dynamically adjusting the first parameter based on the monitored second parameter. Thus, the control system can adapt the closure system based on the monitored inputs as the end effector transitions to the clamped state.

[0286] The method 4700 further includes receiving 4710 a second input. In various embodiments, the second input includes a user-provided input at an input interface. In various embodiments, the second input includes an input received from a sensor within the surgical instrument, such as any suitable sensor described elsewhere herein. In some embodiments, the received input includes a type of staple cartridge positioned within the end effector. In various embodiments, the surgical instrument includes an RFID scanner in operative communication with a control system, such as the surgical instrument's controller 620, and the staple cartridge includes an RFID tag. The RFID scanner can interrogate the RFID tag so that the control system can determine the type of staple cartridge positioned within the end effector.

[0287] The method 4700 further includes setting 4712 a third parameter of the motor-powered firing system based on the received second input and the monitored second parameter. In various embodiments, the control system may utilize the received input(s) and the monitored parameter of the end effector moving to the clamped state to set a parameter of the motor-powered firing system, such as the firing motor drive assembly 604. In some embodiments, the control system compares the received input(s) and the monitored parameter to a predetermined value stored in a memory, such as memory 624, to determine the third parameter. In some embodiments, the third parameter includes a speed of a firing motor, such as the firing motor 602. In some embodiments, the third parameter includes a duty cycle to the firing motor. In some embodiments, the third parameter includes an amount of current or voltage provided to the firing motor from a power source, such as the power source 628. Other parameters of the motor-powered firing system are described elsewhere herein. Thus, the control system may adapt the firing system according to the received input and the input obtained while the end effector is transitioning to the clamped state.

[0288] The method 4700 further includes driving 4714 the firing member with a motor-powered firing system toward the fired position using the third parameter. In various embodiments, the control system can send a control signal to a firing motor to cause the motor-powered firing system, such as firing motor drive assembly 604, to drive a firing member, such as firing member 1900, toward the fired position thereby deploying staples removably stored within a staple cartridge, such as staple cartridge 1301.

[0289] In some embodiments, the control system is configured to drive the firing member toward the fired position at a time after the motor-powered closure system places the end effector in the clamped state. In various other embodiments, the control system is configured to drive the firing member toward the fired position when the control system drives the end effector toward the clamped state. In such embodiments, the firing system and the closure system are operated simultaneously or in an overlapping manner by the control system. Such simultaneous operation allows the control system to monitor parameters associated with closure of the end effector and adapt the firing system based on these monitored parameters. In various embodiments, the control system may monitor parameters associated with driving the firing member, such as firing force, and adapt the closure system based on these monitored parameters. Thus, the control system may dynamically adapt one system according to inputs received from the other system while both systems are operating.

[0290] Method 4700 optionally further includes dynamically adjusting 4716 the third parameter as the firing member moves toward the fired position. In various embodiments, the control system monitors parameters associated with the clamping system or the firing system and dynamically adjusts or adapts the third parameter accordingly. In some embodiments, the control system adapts the third parameter based on how long the end effector has been in a clamped state. In some embodiments, the control system adapts the third parameter based on how long the end effector has been in a partially clamped state. In some embodiments, the control system adapts the third parameter based on a rate of change of force applied to tissue within the jaws of the end effector. In some embodiments, the control system adapts the third parameter based on a force firing the firing member. In some embodiments, the control system adapts the third parameter based on a parameter associated with the end effector transitioning toward the clamped state, as described above. Thus, the control system can dynamically adjust the firing system during the firing stroke of the firing member.

[0291] In some examples, when the closure system is actuated in a position-controlled fashion, as discussed elsewhere herein, the load applied to the tissue by the end effector decreases based on both tissue creep and other shaft actuation systems that are similarly oriented as the closure system. This relationship not only influences the load control of the closure system to balance the loads, but can also be used as a measure of the firing system load condition. Therefore, this relationship can be used to determine optimal firing parameters, such as the optimal advancement speed of a firing member, such as firing member 1900. Furthermore, this relationship can be used to determine the timing and length of pauses in the wait cycle for a firing member, such as firing member 1900, during its firing stroke.

[0292] Additionally, the tissue type and / or its disease state may be detected based on tissue creep and clamping pressure during closure of the end effector. The detected tissue type and / or its disease state may be further used to control the advancement rate of the firing member to minimize tearing and loading of the tissue. Thus, the present disclosure provides, among other things, a means for controlling the advancement rate of the firing system based on the closure load and tissue type of the control system, as described in more detail below.

[0293] In various embodiments, a surgical instrument including an end effector and a clamping system, such as closure motor drive assembly 605, is utilized to clamp tissue during a clamping stroke. A sensor, such as any number of sensors described elsewhere herein, may be utilized to monitor the load applied by the end effector during the clamping stroke. In various embodiments, the sensor measures the load applied by the end effector by measuring the current through a closure motor, such as closure motor 603 of the clamping system. In various other embodiments, the sensor measures the load applied by the end effector using a force sensor positioned on at least one of the jaws of the end effector. During the clamping process, a control system, such as controller 620, queries the sensor to determine the clamp load and uses the determined load to set firing parameters of a firing system, such as firing motor drive assembly 604.

[0294] In some embodiments, the control system sets the firing parameters based on the amount of current delivered to the closure motor during the clamping stroke. In some embodiments, the control system sets the firing parameters based on the rate at which current is delivered to the closure motor during the clamping stroke. In some embodiments, the control system sets the firing parameters based on a comparison of the maximum current supplied to the motor to a current threshold or thresholds. In some embodiments, the current threshold(s) are stored in a memory, such as memory 624, and are retrievable by the control system. In some embodiments, the current threshold(s) are user-defined in an input interface. In various embodiments, the control system sets the firing parameters based on the amount of time current is delivered to the closure motor.

[0295] In various embodiments, the control system also determines the tissue type or disease state of the tissue captured within the end effector. In some embodiments, once the end effector reaches the clamped state, the control system utilizes sensors, such as force or current sensors, to determine the rate of change of force applied to the tissue by the end effector. In some embodiments, the clamped state is defined as the end effector 1300 being in a closed configuration and the closure trigger 1032 being in an actuated position. In other embodiments, the clamped state is defined as the elongated channel 1310 and the anvil 2000 of the end effector 1300 being within a threshold distance of each other. In other embodiments, the clamped state is defined as the closure trigger 1032 being pivoted a threshold distance away from the unactuated position.

[0296] In some embodiments, when the end effector transitions to the clamping state, the control system utilizes a sensor, such as a force sensor or a current sensor, to determine the rate of change of force applied to tissue by the end effector. The control system compares the determined rate of change to rates of change associated with tissue types / disease states stored in a memory, such as memory 624. In one embodiment, the control system detects that the rate of change of force captured at the end effector is a first rate of change. The control system compares the first rate of change to rates of change stored in the memory, each stored rate of change corresponding to a tissue type and / or disease state of a different type of tissue. Based on the comparison, the control system can identify the type and / or disease state of tissue captured within the end effector.

[0297] Based on at least one of the determined clamp load applied to the tissue and the determined tissue type / disease state, the control system sets firing parameters of the firing system. In various embodiments, setting the firing parameters of the firing system includes setting a duty cycle of a motor of the firing system. In various embodiments, setting the firing parameters of the firing system includes setting a speed of the motor of the firing system. In various embodiments, setting the firing parameters of the firing system includes controlling an amount of current delivered to the motor of the firing system.

[0298] In one aspect, after the control system sets the firing parameters of the firing system, the control system may cause the firing system to drive a firing member, such as firing member 1900, through a firing stroke using a firing motor, such as firing motor 602. In some embodiments, the control system continues to monitor the current through the closure motor during the firing stroke and dynamically adjusts the firing parameters based on the monitored current. In various other embodiments, the control system monitors the elapsed time the end effector has been in the clamped state and dynamically adjusts the firing parameters based on the elapsed time. In various other embodiments, the control system monitors the elapsed time since the end effector first contacted tissue when the end effector transitioned to the clamped state and dynamically adjusts the firing parameters based on the elapsed time. In some embodiments, the control system may pause the advancement of the firing member based on a comparison of the current through the closure motor to a closure load threshold.

[0299] 45 , a method 5000 for controlling a surgical instrument is provided in accordance with at least one aspect of the present disclosure. Method 5000 includes driving a motor-powered closure system to transition an end effector to a clamped state 5002. In various embodiments, a control system, such as controller 620, can send a control signal to a closure motor, such as closure motor 603, of a motor-powered closure system, such as closure motor drive assembly 605, to cause the motor-powered closure system to transition an end effector, such as end effector 1300, to the clamped state.

[0300] The method 5000 further includes detecting 5004 a current through a motor of the motor-powered closing system. In various embodiments, a sensor, such as any number of sensors described elsewhere herein, may monitor the current provided to the closing motor 603 from a power source, such as power source 628.

[0301] The method 5000 further includes setting 5006 a firing parameter of a motor-powered firing system based on the detected current. In various embodiments, the control system may utilize the detected current through the motor, as described elsewhere herein, to set a firing parameter of a motor-powered firing system, such as firing motor drive assembly 604. In some embodiments, the firing parameter includes a duty cycle of a firing motor, such as firing motor 602. In various embodiments, the firing parameter includes a speed of the firing motor.

[0302] The method 5000 further includes driving 5008 a firing member with a motor-powered firing system through a firing stroke using the firing parameters. In various embodiments, the control system can use the firing motor 602 and the firing parameters to cause the motor-powered firing system to drive a firing member, such as firing member 1900, through a firing stroke. In some embodiments, the firing stroke of the firing member deploys staples removably stored in a staple cartridge, such as staple cartridge 1301 removably positioned in the end effector, into tissue captured by the end effector.

[0303] Method 5000 optionally further includes dynamically adjusting 5010 firing parameters during the firing stroke. In various embodiments, the control system continues to monitor the current through the closure motor during the firing stroke and dynamically adjusts the firing parameters based on the monitored current. In various embodiments, the control system measures the elapsed time from when the end effector first contacts tissue while transitioning to the clamped state and adjusts the firing parameters based on the elapsed time. In various embodiments, the control system measures the elapsed time from when the end effector reaches the clamped state and adjusts the firing parameters based on the elapsed time.

[0304] 46 , a method 5100 for controlling a surgical instrument is provided in accordance with at least one aspect of the present disclosure. The method 5100 includes driving a motor-powered closure system to transition an end effector to a clamped state 5102. In various embodiments, a control system, such as controller 620, can send a control signal to a closure motor, such as closure motor 603, of a motor-powered closure system, such as closure motor drive assembly 605, to cause the motor-powered closure system to transition an end effector, such as end effector 1300, to the clamped state.

[0305] The method 5100 further includes detecting 5104 the load applied by the end effector to the tissue. In various embodiments, a sensor, such as any number of sensors described elsewhere herein, monitors the current provided to the closure motor 603 from a power source, such as power source 628, to measure the load applied by the end effector to the tissue. In various embodiments, a force sensor positioned on the end effector measures the load applied by the end effector. In various embodiments, the control system queries or receives a signal from the sensor to determine the load applied by the end effector to the tissue.

[0306] The method 5100 further includes determining 5106 a rate of change of the load applied by the end effector to the tissue. In various embodiments, the control system monitors readings from the sensor over time to determine the rate of change of the load over time. In various embodiments, the control system determines the rate of change as the end effector transitions toward a clamped state. In various embodiments, the control system determines the rate of change after the end effector reaches the clamped state. In various embodiments, the control system determines the rate of change as the end effector is transitioning to the clamped state and after the end effector reaches the clamped state.

[0307] The method 5100 further includes determining a tissue type of the tissue based on the determined rate of change 5108. In various embodiments, the control system may determine the tissue type and / or disease state of the tissue by comparing the determined rate of change to rates of change stored in memory, as described in more detail elsewhere herein, the stored rates of change corresponding to different types of tissue and / or disease states of tissue.

[0308] The method 5100 further includes setting 5110 firing parameters of a motor-powered firing system based on the determined tissue type. In various embodiments, the control system may utilize the determined tissue type to set firing parameters of a motor-powered firing system, such as firing motor drive assembly 604. In some embodiments, the firing parameters include a duty cycle of a firing motor, such as firing motor 602. In various embodiments, the firing parameters include a speed of the firing motor. In various embodiments, the firing parameters include parameters suitable for cutting and stapling the determined type of tissue.

[0309] The method 5100 further includes driving 5112 a firing member with a motor-powered firing system through a firing stroke using the firing parameters. In various embodiments, the control system can use the firing motor 602 and the firing parameters to cause the motor-powered firing system to drive a firing member, such as firing member 1900, through a firing stroke. In some embodiments, the firing stroke of the firing member deploys staples removably stored in a staple cartridge, such as staple cartridge 1301, removably positioned within the end effector, into tissue captured by the end effector.

[0310] Method 5100 optionally further includes dynamically adjusting 5114 firing parameters during the firing stroke. In various embodiments, the control system monitors current through a closure motor of the closure system during the firing stroke and adjusts firing parameters based on the monitored current. In various embodiments, the control system measures the elapsed time from when the end effector first contacts tissue while transitioning to the clamped state and adjusts firing parameters based on the elapsed time. In various embodiments, the control system measures the elapsed time from when the end effector reaches the clamped state and adjusts firing parameters based on the elapsed time.

[0311] Some surgical instruments have a portion of the stroke requiring a first level of compression and benefit from a second portion having a different level of tissue compression. In some embodiments, the force of a motorized clamp arm of an ultrasonic surgical instrument similar to the ultrasonic instrument described in U.S. Pat. No. 10,842,523, incorporated herein by reference in its entirety, benefits from increased compression when the system is ready to cut, but a lower level when the system is tissue welding. In some other embodiments, RF energy activation of an electrosurgical instrument similar to the electrosurgical instrument described in U.S. Pat. No. 10,842,523, incorporated herein by reference in its entirety, benefits from first compression at the beginning of welding, but lower compression at the end of welding to balance tissue heating and tissue adhesion. In some other embodiments, a stapler, such as any of the surgical stapling instruments described elsewhere herein, benefits from better tissue stability from higher compression at the beginning of firing member staple deployment, but the same compression combined with anvil pressure can translate into higher friction and firing force (FTF) in the latter portion of the stroke.

[0312] Surgical staplers utilize different types of staple cartridges depending on the thickness of the tissue to be cut and stapled. As an example, during stomach surgery, the tissue thickness increases as portions of the stomach are resected. Thus, clinicians use sequential cartridges to increase the tissue thickness. In one aspect, the clamping system is adapted to account for the increased thickness as it fires and / or reduce the motor speed to prevent tissue flow and / or stalling as it enters the thicker tissue. In various embodiments, a control system, such as controller 620, determines the tissue thickness based on the tissue gap between the anvil and the elongated channel of the end effector when the end effector reaches the clamping state. In various embodiments, the control system includes a radio frequency identification (RFID) scanner that scans an RFID tag on an inserted staple cartridge to determine the thickness of the tissue to be cut. Based on the determined tissue thickness, the control system sets the firing speed of the firing system.

[0313] In various embodiments, the control system dynamically adjusts the firing system of the surgical instrument based on, among other things, the stroke position of the firing member, the time since activation of the firing system, the time since activation of an electrosurgical system such as a generator, the time since activation of an ultrasonic system such as an ultrasonic generator, the load measured on the firing activation system, or a combination thereof. Based on the foregoing parameters, the control system can dynamically adjust the surgical instrument as tissue is cut and / or sealed to provide the appropriate tissue force.

[0314] In various embodiments, the control system causes a closure motor, such as closure motor 603, to apply a first force to tissue captured within the end effector. In some embodiments, in the context of an ultrasonic surgical instrument, the control system causes the closure motor to apply the first force before the ultrasonic blade begins cutting and welding tissue. In some embodiments, in the context of an electrosurgical instrument, the control system causes the closure motor to apply the first force when the electrosurgical instrument begins applying energy to tissue. In some embodiments, in the context of a surgical stapling instrument, the control system causes the closure motor to apply the first force when a firing member, such as firing member 1900, begins to move through a staple firing stroke.

[0315] While applying the first force, the control system monitors for the occurrence of a predetermined event. Based on detecting the predetermined event, the control system causes the closure motor to apply a second force different from the first force. In various embodiments, the control system utilizes a sensor, such as any number of sensors described elsewhere herein, to monitor the predetermined event. In various embodiments, in the context of an ultrasonic surgical instrument, the predetermined event includes an ultrasonic blade of the ultrasonic surgical instrument beginning to weld tissue. In some embodiments, the control system detects that the ultrasonic blade has begun to weld tissue by detecting actuation of a trigger on the ultrasonic instrument. In some embodiments, the control system detects that the ultrasonic blade has begun to weld tissue by detecting current being provided to the ultrasonic transducer. In some embodiments, the control system detects that the ultrasonic blade has begun to weld tissue by utilizing a sensor to detect a change in tissue impedance.

[0316] In various embodiments, in the context of an electrosurgical instrument, the predetermined event includes the electrosurgical instrument ceasing to apply energy to tissue. In some embodiments, the control system detects the cessation of energy utilizing a sensor that detects current flow to an electrode in the end effector of the electrosurgical instrument. In some embodiments, the control system detects the cessation of energy utilizing a sensor to detect energy being provided to the electrosurgical instrument by an electrosurgical generator. In one aspect, reducing the force at the end of the welding process balances tissue heating and tissue fixation, resulting in a better surgical outcome.

[0317] In various embodiments, in the context of a surgical stapling instrument, the predetermined event includes the firing member reaching a predetermined point along the firing stroke. In some embodiments, the control system detects that the firing member has reached the predetermined point using a position sensor, such as any number of position sensors described elsewhere herein. In some embodiments, the predetermined position includes a predetermined position away from a starting position of the firing member. In some embodiments, the predetermined position includes a predetermined position away from an ending position of the firing member. In one aspect, reducing the force at the end of the firing stroke results in lower friction and lower firing forces, resulting in better surgical outcomes.

[0318] In some embodiments, the second force is greater than the first force. In some embodiments, the second force is less than the first force. In some embodiments, the control system gradually transitions the end effector from the first force to the second force. In some embodiments, the control system rapidly transitions the end effector from the first force to the second force.

[0319] 47 , a method 5150 for controlling a surgical instrument is provided in accordance with at least one aspect of the present disclosure. In various embodiments, the method 5150 includes driving 5152 an end effector of the surgical instrument to apply a first force to tissue using a closure system. In some embodiments, a control system, such as controller 620, drives a closure motor, such as closure motor 603 of a closure system, such as closure motor drive assembly 605, to cause an end effector, such as end effector 1300, to apply the first force to tissue.

[0320] The method 5150 further includes detecting 5154 the occurrence of a predetermined event associated with the operation of a different surgical system of the surgical instrument. In some embodiments, in the context of an ultrasonic instrument, the different surgical system includes an ultrasonic drive system including an ultrasonic blade, and the predetermined event includes the ultrasonic blade beginning to cut and weld tissue. In some embodiments, in the context of an electrosurgical instrument, the different surgical system includes an electrosurgical system including electrodes that apply energy to tissue, and the predetermined event includes the electrodes ceasing to apply energy to tissue. In some embodiments, in the context of a surgical stapling instrument, the different surgical system includes a firing system, such as firing motor drive assembly 604, and the predetermined event includes the firing member reaching a predetermined position along the firing stroke. In various embodiments, the control system detects the above-mentioned predetermined events using any number of sensors described elsewhere herein.

[0321] The method 5150 further includes driving the end effector to apply a second force to the tissue 5156, the second force being different from the first force. In various embodiments, based on the detection of the predetermined event, the control system may control the closure system to adjust the closure force applied by the end effector. In various embodiments, the second force is less than the first force. In various embodiments, the second force is greater than the first force. In some embodiments, the control system gradually transitions the end effector from the first force to the second force. In some embodiments, the control system rapidly transitions the end effector from the first force to the second force. In one aspect, varying the force applied by the end effector results in better surgical outcomes.

[0322] In one aspect, as a firing member, such as firing member 1900, is driven through the firing stroke, an upper flange, such as anvil engagement tab 1924, and a lower flange, such as lower channel engagement tab 1926, engage the jaws of the end effector. The engagement between the upper / lower flanges and the end effector distributes the load applied by the end effector to both the upper / lower flanges and a closure system, such as closure motor drive assembly 605. In other words, before advancing the firing member through the firing stroke, the closure system contributes to the closure load applied to the tissue. As the firing member traverses through the firing stroke, the firing member “relieves” the load on the closure system, distributing the load between the two systems of the surgical instrument. In various embodiments, the control system can detect how much load is being applied to the tissue by the closure system during the firing stroke. In some embodiments, the control system detects how much load is being applied by the closure system using a current sensor that detects the current through a closure motor, such as closure motor 603 of the closure system. Based on the detected current, the control system can adjust the current supplied to the closure motor to maintain or adjust the closure load applied by the closure system and firing member collectively during the firing stroke. In one aspect, as described elsewhere herein, the control system can adjust the closure load applied by the closure system by controlling the position of the closure ring 4056 during the firing stroke.

[0323] During operation of the surgical instrument, a user may transition an end effector, such as end effector 1300, from an open state to a clamped state using a clamping system, such as closure system 3000 or closure motor drive assembly 605, by way of example. As the end effector transitions toward the clamped state, it may reach a partially clamped state intermediate between the open and clamped states. In some embodiments, the partially clamped state is defined as the state where the end effector first contacts and begins to apply force to tissue. In some embodiments, the partially clamped state is defined as the state where the anvil of the end effector is within a threshold distance from the elongated channel of the end effector. After reaching the partially clamped state, the end effector may continue to transition toward the clamped state. In some examples, it may be desirable to provide non-visual feedback to the clinician indicating how long the end effector has been in the partially clamped and / or clamped state. Providing non-visual feedback helps the clinician stay focused on the task at hand without having to look at a visual indicator, such as an external display, to determine how long the end effector has been in the partially clamped or clamped state.

[0324] In various embodiments, the surgical instrument includes a control system, such as the circuit board 1100 or the controller 620, that generates a tactile response repeatably at predetermined beat cycles to provide feedback to the clinician regarding the time since the end effector reached the partial and / or clamped state. In some embodiments, the amplitude of the vibrations is minimized every cycle or every few cycles to provide the user with "visibility" regarding the number of cycles that have elapsed, so that they can ascertain how long the end effector has been in the partial and / or clamped state.

[0325] In some embodiments, the clinician transitions the end effector into the clamped state using a motor-driven closure system, such as closure motor drive assembly 605. The control system may detect that the end effector has reached the clamped state using any number of sensors described elsewhere herein, such as, by way of example, Hall-effect sensors. Based on the detection, the control system may operate the haptic device at a predetermined frequency, such as every second, with each vibration decreasing in magnitude by a predetermined amount, such as 50% per pulse. Thus, the clinician may ascertain how long the end effector has been in the clamped state based on noticeable and decreasing feedback from the haptic device until the firing system is activated.

[0326] In various embodiments, the control system may provide haptic feedback using a motor of the surgical instrument. In some embodiments, after detecting that the end effector has reached a clamped and / or partially clamped state, the control system, such as controller 620, may trigger a 200 ms forward and 200 ms reverse inrush of current through a closure motor, such as closure motor 603, to induce slight movement of the motor pinion gear. This inward and outward current inrush causes noticeable handle movement that is detectable by the clinician but does not substantially move the closure drive train. In various other embodiments where the surgical instrument does not include a closure motor, the control system triggers inrush and reverse inrush of current through the firing motor to generate haptic feedback. In various embodiments, the control system regulates the inrush / reverse current flow to the motor to provide decreasing feedback to the clinician, notifying the clinician of the amount of time that has elapsed since the end effector reached a partially clamped or clamped state. In some embodiments, as time passes, the control circuitry decreases the amount of time the forward and reverse inrush currents through the motor. In some embodiments, over time, the control circuit reduces the intensity of the forward and reverse inrush currents through the motor.

[0327] It is often desirable to adapt one drive system of a surgical instrument according to measurements obtained while monitoring a second drive system of the surgical instrument. For example, a control system of a surgical instrument may monitor one or more parameters associated with operating a first drive system of the surgical instrument. Such monitoring allows the control system to determine information regarding the type of tissue being worked by the surgical instrument. Based on the monitored parameter(s), the surgical instrument may adjust or adapt one or more parameters of a second, different drive system of the surgical instrument. Such adaptation allows the control system to ensure that appropriate, optimal parameters of the second drive system are utilized according to information obtained when operating the first drive system.

[0328] In some examples, a surgical stapling instrument can be utilized by a clinician to cut and staple tissue captured within the jaws of the end effector. In some embodiments, the surgical stapling instrument can be similar to surgical instrument 1010 or any other suitable surgical instrument described elsewhere herein. In operation, a clinician can actuate a closure system, such as closure system 3000 or closure motor drive assembly 605, to move an end effector, such as end effector 1300, toward a clamped state. By way of example, a control system, such as circuit board 1100 or controller 620, can be in operative communication with sensors of the surgical instrument to monitor parameters associated with the end effector moving toward a clamped state. In some embodiments, the parameters include a clamp load applied to tissue by the end effector. In various other embodiments, the parameters include an amount of time it takes to reach a clamped state. In various other embodiments, the parameters include an amount of time it takes to reach a partial clamped state. In various other embodiments, the parameters include an amount of time the end effector remains in a clamped state prior to actuation of the second drive system. In various other embodiments, the parameter includes a speed at which the end effector moves toward the clamped state. In various other embodiments, the parameter includes a rate of change of force applied to tissue by the end effector.

[0329] Based on the parameters monitored by the control system via the sensors, the control system sets parameters of a second drive system, such as a firing system of the surgical instrument. In some embodiments, setting the parameters of the second drive system includes, by way of example, setting firing parameters of a firing system, such as firing drive system 1080 or firing motor drive assembly 604. In some embodiments, setting the parameters of the second drive system includes, by way of example, setting parameters of a motor, such as motor 1082 or firing motor 602, that drives a firing member, such as firing member 1900, through a firing stroke. In some embodiments, the motor parameters include a motor duty cycle. In some embodiments, the firing parameters include a motor speed. In some embodiments, the firing parameters include an amount of current or voltage supplied to the motor from a power source. In some embodiments, setting the firing parameters of the second drive system includes setting multiple parameters of the second drive system.

[0330] In various other embodiments, the control system monitors parameters associated with a second drive system, such as a firing system, to set parameters for a first drive system, such as a closure system. In some embodiments, the control system monitors parameters associated with driving the firing member through a firing stroke, such as, for example, the firing load on the firing member, the amount of current applied to the motor, or the speed of the motor. Based on the monitored parameters, the control system sets the parameters of the first drive system. In some embodiments, setting the parameters of the first drive system includes setting a clamping load of the end effector. Thus, based on the parameter(s) monitored during firing of the surgical instrument, the control system can effect a change in the clamping system of the surgical instrument. In some embodiments, this change can include changing the clamping load applied to tissue by the end effector during and / or after the firing stroke of the firing system.

[0331] In some examples, a clinician may utilize an electrosurgical instrument similar to that described in U.S. Patent No. 10,842,523, the entirety of which is incorporated herein by reference, to weld and cut tissue captured within the jaws of the end effector. During operation, the clinician may activate the closure system of the electrosurgical instrument to move the clamp arms toward a clamped state. By way of example, a control system, such as the circuit board 1100 or the controller 620, may be in operative communication with sensors of the electrosurgical instrument to monitor parameters associated with the end effector moving toward a clamped state, similar to those described herein above with respect to a surgical stapling instrument. In various embodiments, the control system may monitor parameters associated with the end effector applying energy to tissue. In some embodiments, the parameters associated with the end effector applying energy to tissue include the magnitude of energy applied to tissue via the electrodes. In some embodiments, the parameters associated with the end effector applying energy to tissue include the amount of time the end effector has been applying energy to tissue via the electrodes. In some embodiments, the parameter associated with the end effector applying energy to tissue comprises an impedance of the tissue, hi some embodiments, the parameter associated with the end effector applying energy to tissue comprises a rate of change of the impedance of the tissue.

[0332] Based on the parameters monitored by the control system, via the sensors, the control system may set parameters of a second drive system, such as a cutting system or clamping system, of the electrosurgical instrument. In some embodiments, setting the parameters of the second drive system includes setting firing parameters of the cutting system. In some embodiments, setting the firing parameters of the cutting system includes setting parameters for a motor that drives the cutting member through a cutting stroke. In some embodiments, the motor parameters include a motor duty cycle. In some embodiments, the firing parameters include a motor speed. In some embodiments, the firing parameters include an amount of current or voltage supplied to the motor from the power source. In some embodiments, setting the firing parameters of the second drive system includes setting multiple parameters of the second drive system.

[0333] In various embodiments, setting the parameters of the second drive system includes setting parameters of a closure system. In some embodiments, setting the parameters of the closure system includes an amount of force applied to tissue. In some embodiments, setting the parameters of the closure system includes a rate of change of force applied to tissue. In some embodiments, setting the parameters of the closure system includes a speed at which the end effector moves toward a clamped state. Various other parameters related to clamping systems are described elsewhere herein.

[0334] In some examples, an ultrasonic instrument similar to that described in U.S. Patent No. 10,842,523, the entirety of which is incorporated herein by reference, may be utilized by a clinician to sever tissue captured within the jaws of the end effector. During operation, the clinician may actuate the closure system of the ultrasonic instrument to move the clamp arms toward a clamped state. By way of example, a control system such as the circuit board 1100 or the controller 620 may be in operative communication with sensors of the ultrasonic instrument to monitor parameters associated with the end effector moving toward a clamped state, similar to those described herein above with respect to surgical stapling instruments and electrosurgical instruments.

[0335] In various embodiments, the control system may monitor parameters associated with the end effector applying energy to tissue. In some embodiments, the parameters associated with the end effector applying energy to tissue include a magnitude of energy applied to the tissue via the ultrasonic blade. In some embodiments, the parameters associated with the end effector applying energy to tissue include an amount of time the end effector has been applying energy to the tissue via the ultrasonic blade. In some embodiments, the parameters associated with the end effector applying energy to tissue include an impedance of the tissue. In some embodiments, the parameters associated with the end effector applying energy to tissue include a rate of change of the impedance of the tissue. In various embodiments, the parameters associated with the end effector applying energy to tissue include a frequency of the ultrasonic blade.

[0336] Based on the parameters monitored by the control system via the sensors, the control system may set parameters of a second drive system, such as an ultrasonic drive system or clamping system of the ultrasonic instrument. In some embodiments, setting the parameters of the second drive system includes setting parameters of the ultrasonic drive system. In some embodiments, setting firing parameters of the ultrasonic drive system includes setting parameters of an ultrasonic transducer that vibrates the ultrasonic blade to cut tissue. In some embodiments, the motor parameters include a duty cycle of the motor. In some embodiments, the parameters include a frequency of the ultrasonic blade. In some embodiments, the parameters include an amount of current or voltage supplied from a power source to the transducer. In some embodiments, setting the parameters of the second drive system includes setting multiple parameters of the second drive system.

[0337] In various embodiments, setting the parameters of the second drive system includes setting parameters of a closure system. In some embodiments, setting the parameters of the closure system includes an amount of force applied to tissue. In some embodiments, setting the parameters of the closure system includes a rate of change of force applied to tissue. In some embodiments, setting the parameters of the closure system includes a speed at which the end effector moves toward a clamped state. Various other parameters related to clamping systems are described elsewhere herein.

[0338] 48 , a method 5200 for controlling a surgical instrument is provided in accordance with at least one aspect of the present disclosure. The method 5200 includes detecting 5202 actuation of a first drive system of the surgical instrument. In various embodiments, the control system, such as the controller 620, may detect actuation of the first drive system utilizing any number of sensors described elsewhere, such as, by way of example, a current sensor or a position sensor. In some embodiments, the control system detects actuation of the first drive system by monitoring the position of an actuator, such as, by way of example, the closure trigger 1032 or the firing trigger 1130. In various embodiments, the surgical instrument includes a surgical stapling instrument, such as the surgical instrument 1010. In various embodiments, the surgical instrument includes an electrosurgical instrument. In various embodiments, the surgical instrument includes an ultrasonic blade.

[0339] The method 5200 further includes driving 5204 a first function of an end effector of the surgical instrument using the first drive system. In various embodiments, the first function includes transitioning jaws of the end effector toward a clamping position. In various embodiments, the first function includes applying energy to tissue positioned within the end effector with an energy delivery component. In various embodiments, the energy delivery component comprises an ultrasonic blade. In various embodiments, the energy delivery component comprises an electrode. In various embodiments, the first function includes driving a firing member to deploy staples removably stored within a staple cartridge positioned within the end effector.

[0340] The method 5200 further includes monitoring 5206 a first parameter associated with the first function. In various embodiments, the first parameter may be monitored by the control system using any number of sensors described elsewhere herein. In various embodiments, the first parameter includes a load applied by the jaws to tissue positioned within the end effector. In various embodiments, the first parameter includes an amount of time energy is applied to tissue using an energy delivery component. In various embodiments, the first parameter includes a rate of change of tissue impedance. In various embodiments, the first parameter includes a velocity of a firing member or cutting member through the end effector. In various embodiments, the first parameter includes a current or voltage supplied to a motor or ultrasonic transducer of the surgical instrument.

[0341] The method 5200 further includes setting 5208 a second parameter associated with a second function of the end effector based on the monitored first parameter. In various embodiments, the control system utilizes the monitored first parameter to set a second parameter associated with the second function of the end effector. In various embodiments, the control system compares the monitored parameter to data stored in a memory, such as memory 624, to set the second parameter. In various embodiments, the second function includes driving a firing member toward a firing position to deploy staples removably stored in the staple cartridge. In various embodiments, the second function includes transitioning the jaws toward a clamping position. In various embodiments, the second function includes applying energy to tissue positioned within the end effector with an energy delivery component. In various embodiments, the energy delivery component comprises an ultrasonic blade. In various embodiments, the energy delivery component comprises an electrode.

[0342] The method 5200 further includes driving 5210 a second function of the end effector of the surgical instrument using the second drive system. In various embodiments, the control system sends a control signal to the second drive system causing the second drive system to drive the second function utilizing the second parameter. Thus, the above-described method 5200 adapts one drive system according to monitored parameters from a second, separate, different drive system of the surgical instrument. Such adaptation results in better surgical outcomes, such as cleaner cuts, because the control system dynamically utilizes acquired information to modify parameters associated with different drive systems of the same surgical instrument.

[0343] Referring now to FIG. 49 , a table illustrating the resection performance of various staple cartridges is provided in accordance with at least one embodiment of the present disclosure. As seen in FIG. 49 , parameters associated with different staple cartridges of different colors are provided. The staple cartridges include a first color (color A), a second color (color B), a third color (color C), a fourth color (color D), and a fifth color (color E). Each of the staple cartridges can include at least one parameter that is different from the other staple cartridges. As one example, the color A cartridge includes staples having a first unformed staple height, and the color B cartridge includes staples having a second unformed staple height that is higher than the first unformed staple height. As another example, the color A cartridge includes staples made of a first material, and the color B cartridge includes staples made of a second material that is different from the first material. As another example, a color A cartridge contains staples having a first wire diameter, and a color B cartridge contains staples having a second wire diameter. Various other parameters associated with staple cartridges are described elsewhere herein. It is understood that different colors are merely visual representations of staple cartridges having different configurations. In certain embodiments, instead of color, different staple cartridges may equally be represented using any suitable identifying or distinguishing characteristic.

[0344] Each staple cartridge is designed for a minimum (indicated) use, a maximum (design) use, and an overstress use. Each use corresponds to a recommended tissue type and a recommended tissue thickness. As an example, the minimum (indicated) use for a color A staple cartridge is for type A tissue and a corresponding tissue thickness t1.

[0345] As shown in FIG. 49, the color A staple cartridge is designed for use with a first tissue type (Type A) and a second tissue type (Type B) and with tissue in the tissue thickness range of t1 to t3. The color B staple cartridge is designed for use with a third tissue type (Type C) and with tissue in the tissue thickness range of t4 to t6. The color C staple cartridge is designed for use with a third tissue type (Type C) and with tissue in the tissue thickness range of t7 to t9. The color D staple cartridge is designed for use with a third tissue type (Type C) and with tissue in the tissue thickness range of t 10 ~t 12 Color E staple cartridges are designed for use with tissue within the tissue thickness range of 100 mm. Color E staple cartridges are designed for use with a third tissue type (Type C) and 100 mm. 13 ~t 15 The endoscopic catheter is designed for use with tissue within a tissue thickness range of 1000 nm to 1500 nm.

[0346] In various embodiments, the tissue thickness values ​​(minimum / maximum / overstress) of the staple cartridge of color B are greater than the respective tissue thickness values ​​of the staple cartridge of color A. Similarly, the tissue thickness values ​​of the staple cartridge of color C are greater than the respective tissue thickness values ​​of the staple cartridge of color B. Similarly, the tissue thickness values ​​of the staple cartridge of color D are greater than the respective tissue thickness values ​​of the staple cartridge of color C. Similarly, the tissue thickness values ​​of the staple cartridge of color E are greater than the respective tissue thickness values ​​of the staple cartridge of color D.

[0347] In various embodiments, the first tissue type (Type A) comprises jejunal tissue, the second tissue type (Type B) comprises colonic tissue, and the third tissue type (Type C) comprises gastric tissue. In various embodiments, the minimum design specifications (t4, t7, t 10 , and t 13 ) and maximum design usage (t5, t8, t 11 , and t 14 ) tissue thickness is determined by the overstress design use of the lower cartridge (t3, t6, t9, and t 12) In operation, the clinician can select the appropriate staple cartridge to use according to the data provided in the table of FIG.

[0348] 50, a graph 6000 illustrates the force to fire ("FTF") of a firing member at various velocities, in accordance with at least one embodiment of the present disclosure. Graph 6000 illustrates, by way of example, four examples of a motor, such as motor 1082 or motor 602, driving a firing member, such as firing member 1900, through similar types of tissue.

[0349] In two examples 6002 and 6004, the motor drove the firing member at a first velocity V1 through the firing stroke. In two other examples 6006 and 6008, the motor drove the firing member at a second velocity V2 through the firing stroke, the second velocity V2 being slower than the first firing velocity V1. As shown in FIG. 50 , for examples 6002 and 6004, by driving the firing member at the first velocity V1, the firing stroke was completed in approximately a first amount of time t1 using a first general firing force profile. Meanwhile, in examples 6006 and 6008, by driving the firing member at the second velocity V2, the firing stroke was completed in approximately a second amount of time t2, longer than the first amount of time t1, due to the slower velocity and second general firing force profile. As can be seen in graph 600, due to the slower velocity, the maximum firing force for cases 6006, 6008 was less than the maximum firing force for cases 6002, 6004. Thus, firing velocity plays a factor in firing force throughout the firing stroke.

[0350] Firing force is a significant issue, causing limitations in articulation, shaft size, and even resulting staple height. Higher firing forces, requiring more metal and support, result in less control over staple height. It would be beneficial to utilize tissue creep and firing stroke pause to depress the FTF during the firing stroke.

[0351] 51 , a graph 6050 illustrating the effect of pause on FTF is provided, in accordance with at least one embodiment of the present disclosure. Graph 6050 illustrates firing load on a firing member, such as firing member 1900, versus the displacement of the firing member through a firing stroke, as described in more detail below.

[0352] In various examples, the firing system drives the firing member through a firing stroke to not only sever tissue captured between the jaws of the end effector, but also deploy staples removably stored within the staple cartridge. Referring to FIG. 51 , the firing member begins at an unfired position d0 prior to the initiation of the firing stroke. Upon initiation of the firing stroke, such as actuation of a firing trigger, the firing system drives the firing member from the unfired position toward a fired position d7 to deploy staples from the staple cartridge and, optionally, sever tissue captured within the end effector.

[0353] In a specific example, at d1, FTF6052, the firing member rises based on the firing member encountering tissue captured within the end effector and beginning to deploy staples from the staple cartridge. From d1 to d5, FTF6052 gradually increases during the firing stroke, ultimately reaching a FTF of approximately d5. max From d5 to launch position d7, the FTF gradually decreases.

[0354] The present disclosure provides a method for controlling the FTF during the firing stroke of a firing member. In some embodiments, a control system such as controller 620 can predict a higher upcoming firing force based on the size of the FTF peak early in the firing stroke. Based on the prediction, the control system can trigger changes to a firing algorithm (an algorithm that defines the parameters of the firing stroke) to control the firing force during the firing stroke.

[0355] In some embodiments, the change to the firing algorithm includes pausing the firing stroke. In some embodiments, the change to the firing algorithm includes adjusting the length of the pause in the firing stroke. In some embodiments, the change to the firing algorithm includes changing the velocity of the firing member. In some embodiments, the change to the firing algorithm includes a post-trigger adjustment height. In some embodiments, the change to the firing algorithm includes controlling the voltage or current applied to a motor of the firing system that drives the firing member. In some embodiments, the change to the firing algorithm includes changing the duty cycle of the motor that drives the firing member.

[0356] In some embodiments, the control system predicts that at a first time within the firing stroke, the firing force will exceed the firing force threshold at a second time following the first time. Based on the prediction, the control system allows the firing member to continue through the firing stroke for a period of time before reaching or exceeding the firing force threshold. In some embodiments, the control system predicts the time at which the firing force will exceed the firing force threshold. Based on the prediction, the control system allows the firing member to continue through the firing stroke for the predicted amount of time. In some embodiments, the control system may take other proactive measures, such as slowing the firing member's firing rate or making adjustments to the motor, for example. In some embodiments, the control system determines in advance how long the firing stroke needs to be paused based on the prediction. In some embodiments, the control system determines in advance how long the firing stroke needs to be paused based on the rate of change of the firing force before the pause begins. In some embodiments, the control system determines in advance how long the firing stroke needs to be paused based on the number and / or magnitude of firing force peaks and valleys detected by the control system before the pause begins. In some embodiments, the control system predetermines how many times the firing stroke needs to be paused to maintain the firing force below a maximum firing force threshold.

[0357] Thus, the control system determines in advance whether the firing force threshold will be reached or exceeded and takes pre-action before the firing force threshold is reached. This pre-action is an improvement over systems that do not take action until the firing force reaches or exceeds the firing force threshold. By waiting until the firing force threshold is reached or exceeded, the firing force could inadvertently exceed the firing force threshold and reach an unacceptable level while the control system is reacting beyond the threshold, resulting in a stall of the firing motor. By taking pre-action, the control system knows in advance that the firing force threshold may or will be reached or exceeded and plans accordingly.

[0358] 51 , a firing member, such as firing member 1900, begins in an unfired position d0 prior to initiation of the firing stroke. Upon initiation of the firing stroke, such as actuation of a firing trigger, a firing system, such as firing motor drive assembly 604, drives the firing member from the unfired position toward a fired position d7 to sever tissue captured within an end effector, such as end effector 1300, and deploy staples from a staple cartridge, such as staple cartridge 1301.

[0359] At d1, the FTF 6054 of the firing member increases based on the firing member encountering tissue captured within the end effector and beginning to deploy staples. In various embodiments, a control system, such as controller 620, can monitor the firing force using any number of sensors described elsewhere herein. In some embodiments, the control system is in operative communication with a current sensor that senses current supplied to a firing motor, such as firing motor 602, from a power source, such as power supply 628, to determine the FTF. In some embodiments, the control system is in operative communication with a force sensor to determine the FTF.

[0360] Based on the detected FTF, the control system initiates an algorithm that predicts the firing force experienced by the firing member during the firing stroke. In various embodiments, the algorithm is stored in a memory, such as memory 624, and executable by a processor, such ...

Claims

1. 1. A surgical instrument comprising: an end effector configurable between an open state and a clamped state, The first Joe, an end effector including a second jaw movable relative to the first jaw; a firing member movable from an unfired position toward a fired position during a firing stroke; a firing system including a motor configured to drive the firing member through the firing stroke; 1. A control system comprising: driving the firing member from the unfired position toward the fired position with the firing system; detecting a force firing the firing member toward the firing position; and a control system configured to trigger a pause in the firing stroke based on the detected firing force, wherein a first pause in the firing stroke affects a second pause following the first pause in the firing stroke.

2. 10. The surgical instrument of claim 1, wherein the control system is further configured to predict a future firing force based on the detected firing force, and wherein the control system is configured to trigger a pause in the firing stroke based on the prediction.

3. 3. The surgical instrument of claim 1, wherein the first pause in the firing stroke comprises a pause for a first amount of time, and the second pause in the firing stroke comprises a pause for a second amount of time different from the first amount of time.

4. The surgical instrument of claim 3 , wherein the second amount of time is greater than the first amount of time.

5. The surgical instrument of claim 3 , wherein the second amount of time is less than the first amount of time.

6. 10. The surgical instrument of claim 1, wherein driving the firing member comprises driving the firing member at a first speed, and wherein the control system is configured to resume advancement of the firing member at a second speed after the first pause.

7. The surgical instrument of claim 6, wherein the second speed is less than the first speed.

8. The surgical instrument of claim 6, wherein the second speed is the same as the first speed.

9. triggering a pause in the firing stroke; pausing advancement of the firing member for a first amount of time based on the detected firing force; resuming advancement of the firing member after the first amount of time; pausing the advancement of the firing member for a second amount of time; 2. The surgical instrument of claim 1, wherein the first pause in the firing stroke affects the second pause following the first pause in the firing stroke by the second amount of time based on the first amount of time.

10. The surgical instrument of claim 9, wherein the second amount of time is greater than the first amount of time.

11. The surgical instrument of claim 9, wherein the second amount of time is less than the first amount of time.

12. The surgical instrument of any one of claims 9 to 11, wherein the first amount of time is based on a rate of change of the firing force.

13. 10. The surgical instrument of claim 9, wherein driving the firing member comprises driving the firing member at a first speed, and wherein resuming advancement of the firing member after the first amount of time comprises resuming advancement of the firing member at a second speed.

14. The surgical instrument of claim 13, wherein the second speed is less than the first speed.

15. The surgical instrument of claim 13, wherein the second speed is the same as the first speed.

16. 10. The surgical instrument of claim 9, wherein the control system is further configured to predict a future firing force based on the detected firing force, and wherein pausing the advancement of the firing member for the first amount of time is based on the prediction.

17. The surgical instrument of claim 16, wherein predicting the future firing force includes predicting a third amount of time until the firing force reaches a firing force threshold.

18. the control system driving the firing member for the third amount of time; The surgical instrument of claim 17, further configured to pause advancement of the firing member for the first amount of time based on the third amount of time having elapsed.

19. 1. A surgical instrument comprising: an end effector configurable between an open state and a clamped state, The first Joe, an end effector including a second jaw movable relative to the first jaw; a firing member movable from an unfired position toward a fired position during a firing stroke; a firing system including a motor configured to drive the firing member through the firing stroke; 1. A control system comprising: initiating a firing algorithm, the firing algorithm configured to drive the firing member through the firing stroke; detecting a force that launches the launch member; monitoring the firing force profile; making a first adjustment to the firing algorithm based on the detected firing force; monitoring a change in the firing force profile based on the first adjustment; and and making a second adjustment to the firing algorithm based on the change in the firing force profile.

20. The surgical instrument of claim 19, wherein the first adjustment comprises pausing the advancement of the firing member.

21. 2. The surgical instrument of claim 1, wherein the end effector is configured to receive a staple cartridge including staples removably stored therein, the staples being deployable from the staple cartridge upon movement of the firing member toward the fired position.

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