Method for controlling surgical system during tissue treatment motion

A method of controlling a surgical system including a manually-drivable closure system configured to effect a closure motion at an end effector to clamp tissue and a motor-powered firing system configured to motivate a firing member to effect a firing motion at the end effector to seal and cut the tissue, the method comprising:

• detecting, by a control circuit, the end effector reaching an initial clamped state around the tissue with the manually-drivable closure system;
• initiating, by the control circuit, a timer based on the end effector reaching the initial clamped state;
• detecting, by the control circuit, the end effector transitioning away from the initial clamped state after initiating the timer;
• maintaining, by the control circuit, the timer, based on the end effector failing to transition a threshold amount away from the initial clamped state;
• detecting, by the control circuit, the end effector reaching a second clamped state after failing to transition the threshold amount away from the clamped state;
• detecting, by the control circuit, an actuation of the motor-powered firing system after detecting the end effector reaching the second clamped state;
• set, by the control circuit, a firing motion parameter of the motor-powered firing system based on an elapsed time from the initiation of the timer to the actuation of the motor-powered firing system;
• and
• causing, by the control circuit, the motor-powered firing system to drive the firing member to effect the firing motion using the firing motion parameter.