Frederick E. Shelton, IV,David C. Yates,Jason L. Harris
申请号：
US15628162
公开号：
US20180360450A1
申请日:
2017.06.20
申请国别(地区):
US
年份:
2018
代理人:
摘要：
A motorized surgical instrument is disclosed. The surgical instrument includes a displacement member movable between a first position and a second position to effect a motion at an end effector, a motor coupled to the displacement member, the motor configured to drive the displacement member between the first position and the second position, and a control circuit coupled to the motor. The control circuit is configured to receive a signal indicative of force from a sensor, the signal indicative of the force applied by a closure tube to the end effector, determine a closure force applied by the closure tube to the end effector； determine whether the closure force is within a threshold of an expected closure force, and set a motor velocity to drive the motor at a velocity that corresponds to the closure force relative to the expected force.
