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 powered surgical instrument, comprising:
 an electric motor;   a battery electrically couplable to the electric motor;   a firing member coupled to the electric motor, wherein the firing member advances when the electric motor rotates in a first direction;   an end effector configured to support a staple cartridge assembly and receive the firing member; and   a control system electrically couplable to the battery and the electric motor, wherein the control system is configured to:
 monitor current draw; 
 control operation of the electric motor; and 
 lockout an advancing firing member based on detection of an unsafe condition. 
   
     
     
         22 . The powered surgical instrument of  claim 21 , wherein the firing member is an E-beam shaped firing member. 
     
     
         23 . The powered surgical instrument of  claim 22 , wherein the E-beam shaped firing member comprises:
 a first set of pins configured to engage with an anvil of the end effector; and   a second set of pins configured to engage with the staple cartridge assembly.   
     
     
         24 . The powered surgical instrument of  claim 21 , wherein the staple cartridge assembly comprises a replaceable staple cartridge. 
     
     
         25 . The powered surgical instrument of  claim 21 , wherein the control system is further configured to automatically retract a locked out firing member. 
     
     
         26 . The powered surgical instrument of  claim 21 , wherein the control system comprises a safety processor configured to output a signal indicative of the unsafe condition. 
     
     
         27 . The powered surgical instrument of  claim 26 , wherein the control system further comprises a primary processor and is further configured to adaptively control operation of the electric motor. 
     
     
         28 . The powered surgical instrument of  claim 21 , wherein the control system comprises a motor controller configured to output a signal indicative of the unsafe condition. 
     
     
         29 . The powered surgical instrument of  claim 28 , wherein the control system further comprises an H-bridge circuit electrically coupled to the motor controller and electrically couplable to the electric motor. 
     
     
         30 . The powered surgical instrument of  claim 21 , wherein the control system comprises a current sensing device configured to sense a current drawn by the control system. 
     
     
         31 . The powered surgical instrument of  claim 21 , wherein the control system comprises a current sensing device configured to sense a current drawn by the electric motor. 
     
     
         32 . A powered surgical instrument, comprising:
 an electric motor;   a battery electrically couplable to the electric motor;   a firing member coupled to the electric motor, wherein the firing member advances when the electric motor rotates in a first direction;   an end effector configured to support a staple cartridge assembly and receive the firing member; and   a control circuit electrically couplable to the battery and the electric motor, wherein the control circuit is configured to:
 advance the firing member absent detection of an unsafe condition; 
 lockout advancement of the firing member based on detection of the unsafe condition; and 
 automatically retract a locked out firing member. 
   
     
     
         33 . The powered surgical instrument of  claim 32 , wherein the firing member comprises:
 a first set of pins configured to engage with an anvil of the end effector; and   a second set of pins configured to engage with the staple cartridge assembly.   
     
     
         34 . The powered surgical instrument of  claim 32 , wherein the control circuit comprises a safety processor configured to output a signal indicative of the unsafe condition. 
     
     
         35 . The powered surgical instrument of  claim 34 , wherein the control circuit further comprises a primary processor and is further configured to adaptively control operation of the electric motor. 
     
     
         36 . The powered surgical instrument of  claim 32 , wherein the control circuit comprises a motor controller configured to output a signal indicative of the unsafe condition. 
     
     
         37 . The powered surgical instrument of  claim 36 , wherein the control circuit further comprises an H-bridge circuit electrically coupled to the motor controller and electrically couplable to the electric motor. 
     
     
         38 . The powered surgical instrument of  claim 32 , wherein the control circuit comprises a current sensing device configured to sense a current drawn by at least one of the following:
 the control circuit; and   the electric motor.   
     
     
         39 . A powered surgical instrument, comprising:
 an electric motor;   a battery electrically couplable to the electric motor;   an end effector configured to support a staple cartridge assembly;   a firing member coupled to the electric motor, wherein the firing member comprises a first set of pins configured to engage with an anvil of the end effector and a second set of pins configured to engage with the staple cartridge assembly;   means for adaptively controlling advancement of the firing member; and   means for locking out the advancement of the firing member based on detection of an unsafe condition.   
     
     
         40 . The powered surgical instrument of  claim 39 , wherein the means for locking out the advancement of the firing member comprises at least one of the following:
 a primary processor;   a safety processor;   a motor controller;   an H-bridge circuit; and   a current sensor.