Patent ID: 11903581
Assignee: CILAG GMBH INTERNATIONAL
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 11:
12. A method of stapling the tissue of a patient with a stapling instrument, comprising:
clamping the patient tissue with an end effector of the stapling instrument;
deploying staples from a staple cartridge in the end effector with a firing member during a firing stroke;
driving the firing member with an electric motor during the firing stroke;
adjusting, with a pulse width modulation speed controller, a duty cycle of voltage pulses to achieve a target speed of the electric motor;
comparing the duty cycle to one or more first predetermined thresholds during the firing stroke at a first target speed adjustment point, wherein the first target speed adjustment point is a first predetermined distance distally from a proximal unfired starting position of the firing member;
comparing the duty cycle to one or more second predetermined thresholds during the firing stroke at a second target speed adjustment point, wherein the second target speed adjustment point is a second predetermined distance distally from the proximal unfired starting position of the firing member and different from the first predetermined distance; and
changing the target speed based on the comparison of the duty cycle to the one or more first predetermined thresholds at the first target speed adjustment point and/or based on comparison of the duty cycle to the one or more second predetermined thresholds at the second target speed adjustment point.