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 configured to translate within the surgical instrument over a plurality of predefined zones, a motor coupled to the displacement member to translate the displacement member, a control circuit coupled to the motor and a position sensor coupled to the control circuit. The position sensor is configured to monitor a position of the displacement member. The instrument further includes a timer circuit coupled to the control circuit, wherein the timer circuit is configured to measure elapsed time. The control circuit is configured to receive, from the position sensor, a position of the displacement member in a current zone during an initial set time interval; measure displacement of the displacement member from a parked position to a distal position during the initial set time interval; and set a command velocity of the displacement member for a first dynamic zone based on the measured displacement from the parked position to the distal position.