Methods of operating surgical end effectors

A surgical system, comprising:

• an end effector, comprising:
• an elongate channel;
• and
• an anvil rotatable relative to the elongate channel between an open position and a clamped position;
• a clamping member movable between a proximal position and a distal position;
• a motor configured to drive the clamping member toward the distal position;
• a current sensor configured to sense a current draw of the motor;
• and
• a controller, configured to:
• set, by the controller, a target speed range of the clamping member based on a current draw of the motor sensed by the current sensor at a closure end position, wherein the closure end position corresponds to the anvil being placed in the clamped position, and wherein the target speed range is between a first non-zero speed value and a second non-zero speed value;
• set, by the controller, a threshold current draw range corresponding to the target speed range of the clamping member, wherein the threshold current draw range is between a first non-zero current value and a second non-zero current value;
• drive, by the motor, the clamping member toward the distal position at a speed within the target speed range;
• sense, by the current sensor, a current draw of the motor as the clamping member is driven toward the distal position at the speed within the target speed range;
• compare, by the controller, the sensed current draw to the threshold current draw range;
• and
• adjust, by the controller, the speed of the clamping member based on the sensed current draw crossing below the first non-zero current value corresponding to the threshold current draw range or above the second non-zero current value corresponding to the threshold current draw range.

A surgical fastening system, comprising:

• an end effector, comprising:
• an elongate channel;
• an anvil, wherein the elongate channel and the anvil are configurable between an open configuration and a closed configuration;
• and
• a fastener cartridge removably positioned in the elongate channel, wherein the fastener cartridge comprises a plurality of fasteners removably stored therein;
• a firing member movable between a first position and a second position;
• a motor configured to drive the firing member toward the second position;
• a current sensor configured to sense a current draw of the motor;
• and
• a controller, configured to:
• set, by the controller, a target speed range of the firing member based on a current draw of the motor sensed by the current sensor at a closure end position, wherein the closure end position corresponds to the elongate channel and the anvil being placed in the closed configuration, and wherein the target speed range is between a first non-zero speed value and a second non-zero speed value;
• set, by the controller, a threshold current draw range corresponding to the target speed range of the firing member, wherein the threshold current draw range is between a first non-zero current value and a second non-zero current value;
• move, by the motor, the firing member toward the second position at a speed within the target speed range;
• monitor, by the current sensor, a current draw of the motor as the firing member is moved toward the second position at the speed within the target speed range;
• compare, by the controller, the monitored current draw to the threshold current draw range;
• and
• adjust, by the controller, the speed of the firing member based on the monitored current draw crossing below the first non-zero current value corresponding to the threshold current draw range or above the second non-zero current value corresponding to the threshold current draw range.