Technologies for homing a motor of a surgical stapler

A robotic surgical system comprising:

• a robotic surgical stapler comprising a drive housing, an elongated shaft extending from the drive housing, an end effector located at a distal end of the elongated shaft, and a gear assembly located in the drive housing and configured to control movement of the end effector, wherein the gear assembly includes a drive gear having a rotation limiter configured to contact a rotation hardstop to limit rotation of the diver gear;
• a robotic arm comprising a motor operably coupled to the gear assembly of the robotic surgical stapler and configured to rotate the drive gear to control movement of the end effector;
• and
• a control system configured to control operation of the motor to control movement of the end effector, wherein the control system is further configured to:
• determine a target drive voltage for the motor, wherein the target drive voltage is configured to set a speed of the motor to zero at a reference torque threshold,
• control the motor to rotate in a first direction using the target drive voltage until the motor stalls, wherein the stalling of the motor is indicative of contact between the rotation limiter of the gear assembly and the rotation hardstop,
• determine, in response to the stalling of the motor in response to rotation in the first direction, a first position of the motor, and
• set the first position of the motor as a maximum motor position for the first direction.