CLOSED LOOP FEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT BASED ON MEASURED DISPLACEMENT DISTANCE TRAVELED OVER A SPECIFIED TIME INTERVAL

摘要

A motorized surgical instrument is disclosed. The surgical instrument includes a displacement member (1111), a motor (1120) coupled to the displacement member (1111), a control circuit coupled to the motor (1120), a position sensor (1112) coupled to the control circuit, and a timer circuit coupled to the control circuit. The timer circuit is configured to measure elapsed time and to receive, from the position sensor (1112), a position of the displacement member (1111) in a current zone during a set time interval, measure displacement of the displacement member (1111) at a set time at the end of the set time interval, wherein the measured displacement is defined as the distance traveled by the displacement member (1111) during the set time interval at a set command velocity for the current zone, and set a command velocity of the displacement member (1111) for a subsequent zone based on the measured displacement of the displacement member (1111) within the current zone.