Surgical stapler having downstream current-based motor control

A surgical stapler, comprising:

• a drive system;
• an electric motor mechanically coupled to the drive system;
• a battery electrically couplable to the electric motor;
• and
• a control system electrically connected to the electric motor, the control system comprising:
• an H-bridge circuit comprising a high side and a low side, wherein the low side of the H-bridge circuit comprises a plurality of switching devices;
• a first electrically resistive element electrically connected in parallel with one of the switching devices;
• and
• a second electrically resistive element connected in parallel with another one of the switching devices, wherein the control system is configured to:
• control a first force applied to the drive system based on a first current measured downstream of the first electrically resistive element;
• and
• control a second force applied to the drive system based on a second current measured downstream of the second electrically resistive element.

A surgical stapler, comprising:

• a drive system;
• an electric motor mechanically coupled to the drive system;
• a battery electrically couplable to the electric motor;
• and
• a control system electrically connected to the electric motor, the control system comprising:
• an H-bridge circuit comprising a high side and a low side, wherein the low side of the H-bridge circuit comprises a plurality of switching devices;
• and
• an electrically resistive element electrically connected in parallel with one of the switching devices, wherein the control system is configured to control a force applied to the drive system based on a current flowing through the electrically resistive element.

A surgical stapler, comprising:

• a drive system;
• an electric motor mechanically coupled to the drive system;
• a battery electrically couplable to the electric motor;
• and
• a control system electrically connected to the electric motor, the control system comprising:
• an H-bridge circuit comprising a high side and a low side, wherein the low side of the H-bridge circuit comprises a plurality of switching devices;
• and
• an electrically resistive element electrically connected across the plurality of switching devices, wherein the control system is configured to control a force applied to the drive system based on a current measured downstream of the electrically resistive element.