Surgical stapler having motor control based on a drive system component

Abstract

A surgical stapler. The surgical stapler includes a drive system, an electric motor, a battery and a control system. The drive system includes a movable drive member. The electric motor is mechanically coupled to the drive system. The battery is electrically couplable to the electric motor. The control system is electrically connected to the electric motor and includes an accelerometer. The control system is configured to control a force applied to the drive system based on an acceleration of the movable drive member.

1 - 20 . (canceled) 
     
     
         21 . A surgical stapler, comprising:
 a handle assembly;   an electric motor;   a battery electrically couplable to the electric motor;   a shaft assembly couplable to the handle assembly;   an end effector couplable to the shaft assembly;   a firing member, wherein the firing member is movable during a firing motion; and   a control circuit electrically couplable to the electric motor, wherein the control circuit comprises a processing device and is configured to adaptively control the firing motion based on information associated with:
 the electric motor; 
 the end effector; and 
 a user input device. 
   
     
     
         22 . The surgical stapler of  claim 21 , further comprising a sensing device configured to detect a current drawn by the electric motor. 
     
     
         23 . The surgical stapler of  claim 22 , wherein the information associated with the electric motor comprises the detected current. 
     
     
         24 . The surgical stapler of  claim 21 , further comprising a sensing device configured to detect a position of the end effector. 
     
     
         25 . The surgical stapler of  claim 24 , wherein the sensing device comprises an encoder. 
     
     
         26 . The surgical stapler of  claim 24 , wherein the sensing device comprises a switching device. 
     
     
         27 . The surgical stapler of  claim 24 , wherein the information associated with the end effector comprises the detected position of the end effector. 
     
     
         28 . The surgical stapler of  claim 21 , wherein the user input device comprises a switching device configured to communicate a signal. 
     
     
         29 . The surgical stapler of  claim 28 , wherein the information associated with the user input device comprises the communicated signal. 
     
     
         30 . The surgical stapler of  claim 21 , wherein the control system is further configured to adaptively control the firing motion based on at least one of the following:
 a position of the firing member; and   a speed of the firing member.   
     
     
         31 . The surgical instrument of  claim 21 , further comprising a second processing device in communication with the processing device. 
     
     
         32 . The surgical stapler of  claim 31 , wherein the control system is further configured to adaptively control the firing motion based on an input to the second processing device. 
     
     
         33 . The surgical stapler of  claim 32 , wherein the input to the second processing device comprises an independent sensed electrical parameter. 
     
     
         34 . A surgical stapler, comprising:
 a handle assembly;   an electric motor;   a battery electrically couplable to the electric motor;   a shaft assembly couplable to the handle assembly;   an end effector couplable to the shaft assembly; and   a control circuit electrically couplable to the electric motor, wherein the control circuit comprises a processing device and is configured to adaptively control the electric motor based on information associated with:
 the electric motor; 
 the end effector; and 
 a user input device. 
   
     
     
         35 . The surgical stapler of  claim 34 , wherein the control system further comprises an H-bridge circuit electrically couplable to the electric motor. 
     
     
         36 . The surgical stapler of  claim 34 , further comprising a second processing device in communication with the processing device, wherein the control system is further configured to adaptively control the electric motor based on an input to the second processing device. 
     
     
         37 . The surgical stapler of  claim 36 , wherein the input to the second processing device comprises an independent sensed electrical parameter. 
     
     
         38 . The surgical stapler of  claim 37 , wherein the independent sensed electrical parameter comprises an output value of a motor position sensor. 
     
     
         39 . A surgical stapler, comprising:
 a handle assembly;   an electric motor;   a battery electrically couplable to the electric motor;   a shaft assembly couplable to the handle assembly;   an end effector couplable to the shaft assembly;   a firing member, wherein the firing member is movable during a firing motion; and   means for adaptively controlling the firing motion based on information associated with:
 the electric motor; 
 the end effector; and 
 a user input device. 
   
     
     
         40 . The surgical stapler of  claim 39 , wherein the means for adaptively controlling the firing motion comprises a processing device.