Patent ID: 11896222
Assignee: CILAG GMBH INTERNATIONAL
Field: Medical technology (Instruments)
Classification: CPC A  H  Y | IPC A  H

Claim 7:
8. A surgical system, comprising:
an end effector, comprising:
an elongate channel; and
an anvil rotatable relative to the elongate channel between an open position and a clamped position;

a clamping member movable between a proximal position and a distal position;
a motor configured to drive the clamping member toward the distal position;
a current sensor configured to sense a current draw of the motor; and
a controller, configured to:
set, by the controller, a target speed range of the clamping member based on a current draw of the motor sensed by the current sensor at a closure end position, wherein the closure end position corresponds to the anvil being placed in the clamped position, and wherein the target speed range is between a first non-zero speed value and a second non-zero speed value;
set, by the controller, a threshold current draw range corresponding to the target speed range of the clamping member, wherein the threshold current draw range is between a first non-zero current value and a second non-zero current value;
drive, by the motor, the clamping member toward the distal position at a speed within the target speed range;
sense, by the current sensor, a current draw of the motor as the clamping member is driven toward the distal position at the speed within the target speed range;
compare, by the controller, the sensed current draw to the threshold current draw range; and
adjust, by the controller, the speed of the clamping member based on the sensed current draw crossing below the first non-zero current value corresponding to the threshold current draw range or above the second non-zero current value corresponding to the threshold current draw range.