Powered surgical devices including predictive motor control

Abstract

A powered handheld electromechanical surgical device includes a motor configured to drive extension and retraction of a drive component, a sensor configured to sense force exerted on the drive component during extension of the drive component, and a controller including a processor and a non-transitory computer-readable storage medium storing instructions that, when executed by the processor, cause the processor to receive the sensed force from the sensor, control a speed of the motor during extension of the drive component in accordance with the sensed force, determine a speed profile or a force profile during extension of the drive component, and control a speed of the motor during retraction of the drive component in accordance with the speed profile or the force profile.

1 - 11 . (canceled) 
     
     
         12 . A powered electromechanical surgical device, comprising:
 a controller including a processor and a non-transitory computer-readable storage medium storing instructions that, when executed by the processor, cause the processor to:
 generate a speed profile based on a speed of a motor during extension of a drive component from a first position to a second position, wherein the speed profile includes a plurality of portions corresponding to accelerations in motor speed and at least one portion corresponding to a deceleration in motor speed; and 
 control a speed of the motor during retraction of the drive component from the second position to the first position to replicate the generated speed profile in reverse. 
   
     
     
         13 . The powered electromechanical surgical device according to  claim 12 , further comprising:
 a handle assembly including the motor disposed therein; and   an adapter assembly configured to releasably engage with the handle assembly and including the drive component disposed therein.   
     
     
         14 . The powered electromechanical surgical device according to  claim 13 , further comprising an end effector releasably engaged with the adapter assembly, wherein extension of the drive component at least one of closes or fires the end effector, and wherein retraction of the drive component opens the end effector. 
     
     
         15 . The powered electromechanical surgical device according to  claim 12 , wherein the motor provides a rotational output, and wherein the rotational output is converted into translation of the drive component to extend and retract the drive component. 
     
     
         16 . The powered electromechanical surgical device according to  claim 12 , further comprising a sensor configured to sense force exerted on the drive component during extension of the drive component. 
     
     
         17 . The powered electromechanical surgical device according to  claim 16 , wherein the sensor is a strain gauge sensor. 
     
     
         18 . A powered electromechanical surgical device, comprising:
 a controller including a processor and a non-transitory computer-readable storage medium storing instructions that, when executed by the processor, cause the processor to:
 generate a force profile during extension of a drive component from a first position to a second position, wherein the force profile includes a plurality of decreases in force and at least one increase in force; and 
 control a speed of a motor, in accordance with a speed profile, during retraction of the drive component from the second position to the first position in accordance with the generated force profile in reverse, such that a plurality of portions of the speed profile corresponding to decelerations in motor speed during retraction coincide with the plurality of decreases in force of the generated force profile in reverse and at least one portion of the speed profile corresponding to an acceleration in motor speed during retraction coincides with the at least one increase in force of the generated force profile in reverse. 
   
     
     
         19 . The powered electromechanical surgical device according to  claim 18 , further comprising:
 a handle assembly including the motor disposed therein; and   an adapter assembly configured to releasably engage with the handle assembly and including the drive component disposed therein.   
     
     
         20 . The powered electromechanical surgical device according to  claim 19 , further comprising an end effector releasably engaged with the adapter assembly, wherein extension of the drive component at least one of closes or fires the end effector, and wherein retraction of the drive component opens the end effector. 
     
     
         21 . The powered electromechanical surgical device according to  claim 18 , wherein the motor provides a rotational output, and wherein the rotational output is converted into translation of the drive component to extend and retract the drive component. 
     
     
         22 . The powered electromechanical surgical device according to  claim 18 , further comprising a sensor configured to sense force exerted on the drive component during extension of the drive component. 
     
     
         23 . The powered electromechanical surgical device according to  claim 22 , wherein the sensor is a strain gauge sensor. 
     
     
         24 . A powered electromechanical surgical device, comprising:
 a motor configured to drive extension and retraction of a drive component;   a sensor configured to sense force exerted on the drive component during extension of the drive component; and   a controller including a processor and a non-transitory computer-readable storage medium storing instructions that, when executed by the processor, cause the processor to:
 generate a profile based on at least one of a speed of the motor during extension of the drive component from a first position to a second position or the force sensed during extension of the drive component from the first position to the second position; and 
 control a speed of the motor during retraction of the drive component from the second position to the first position to replicate the generated profile in reverse. 
   
     
     
         25 . The powered electromechanical surgical device according to  claim 24 , further comprising:
 a handle assembly including the motor and controller disposed therein; and   an adapter assembly configured to releasably engage with the handle assembly and including the drive component and sensor disposed therein.   
     
     
         26 . The powered electromechanical surgical device according to  claim 25 , further comprising an end effector releasably engaged with the adapter assembly, wherein extension of the drive component at least one of closes or fires the end effector, and wherein retraction of the drive component opens the end effector. 
     
     
         27 . The powered electromechanical surgical device according to  claim 24 , wherein the sensor is a strain gauge. 
     
     
         28 . The powered electromechanical surgical device according to  claim 24 , wherein the motor provides a rotational output, and wherein the rotational output is converted into translation of the drive component to extend and retract the drive component. 
     
     
         29 . The powered electromechanical surgical device according to  claim 24 , wherein the instructions, when executed by the processor, cause the processor to control a speed of the motor during extension of the drive component in accordance with the force exerted on the drive component during extension of the drive component sensed by the sensor. 
     
     
         30 . The powered electromechanical surgical device according to  claim 24 , wherein the generated profile is a speed profile including a plurality of portions corresponding to accelerations in motor speed and at least one portion corresponding to a deceleration in motor speed. 
     
     
         31 . The powered electromechanical surgical device according to  claim 24 , wherein the generated profile is a force profile including a plurality of decreases in force and at least one increase in force.