Patent ID: 11944297
Assignee: CILAG GMBH INTERNATIONAL
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 18:
19. A method of firing a robotically controlled end effector with a motor, wherein the motor is configured to drive a firing member within the end effector to advance a blade through the end effector or fire a plurality of staples out of a replaceable staple cartridge, the method comprising:
determining a maximum power level for motor to advance the firing member;
distally advancing the firing member within the end effector;
activating the motor at the maximum power level; and
in response to activating the motor at the maximum power level, activating an algorithmic bumping mode, the algorithmic bumping mode comprising:
advancing the firing member distally with a plurality starting and stopping motions at a first frequency, and
retracting the firing member proximally with a plurality of starting and stopping motions at a second frequency that is different than the first frequency.