A surgical device, comprising: a first clamping member (1005, 1105)； a second clamping member (1010, 1110)； an electric motor (410) configured to drive at least one of the first or second clamping members toward a predetermined tissue gap (1020, 1120) between the first and second clamping members, a current sensor configured to measure a current delivered to the electric motor； and a controller (400) communicating with the current sensor and configured to monitor a parameter of the electric motor indicative of a clamping force exerted to the tissue by the clamping members and to control the electric motor, based on the monitored parameter, to limit the clamping force to a predetermined maximum limit； wherein the parameter is a net motor current and the controller is configured to: measure, prior to clamping the first and second clamping members on tissue, a first current delivered to the electric motor due to frictional losses associated with moving the clamping members； and subtract the first current from a measured second current delivered to the electric motor during clamping of the first and second clamping members (1005, 1105, 1010, 1110) on the tissue.
