# US 2016/0256153 A1 · Monitoring speed control and precision incrementing of motor for powered surgical instruments > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2016/0256153 A1 - Document ID: US20160256153A1 - Status: Published application - Kind: A1 - Application number: 14/640,831 - Filed: 2015-03-06 - Published: 2016-09-08 - Earliest claimed: 2015-03-06 - Assignees: Ethicon Endo-Surgery, Inc. - Applicants: Ethicon Endo-Surgery, LLC - Inventors: Frederick E. Shelton, IV; Jerome R. Morgan; Jason L. Harris - Web page: https://patentgrep.com/patent/US20160256153A1 ## CPC - A61B 17/068: Surgical staplers {, e.g. containing multiple staples or clamps}({staplers containing only one staple A61B17/10; magazines or containers for staples A61B17/105;} for performing anastomosis A61B17/115; {staplers in general B25C5/00}) - A61B 17/072: for applying a row of staples in a single action, e.g. the staples being applied simultaneously - A61B 17/295: combined with cutting implements - B25F 3/00: Associations of tools for different working operations with one portable power-drive means; Adapters therefor - F16H 1/28: with gears having orbital motion - H02K 7/116: with gears - H02K 7/145: {Hand-held machine tool} - H02K 11/21: Devices for sensing speed or position, or actuated thereby (specially adapted for machines having non-mechanical commutating devices H02K29/06, H02K29/14) - H02P 23/28: Controlling the motor by varying the switching frequency of switches connected to a DC supply and the motor phases - A61B 2017/0003: {of parts of the instruments} - A61B 2017/00398: {using powered actuators, e.g. stepper motors, solenoids} - A61B 2017/00876: {magnetic} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - B25F: COMBINATION OR MULTI-PURPOSE TOOLS NOT OTHERWISE PROVIDED FOR; DETAILS OR COMPONENTS OF PORTABLE POWER-DRIVEN TOOLS NOT PARTICULARLY RELATED TO THE OPERATIONS PERFORMED AND NOT OTHERWISE PROVIDED FOR {(machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass B23P23/00 and subgroups)} - F16H: GEARING - H02K: DYNAMO-ELECTRIC MACHINES (dynamo-electric relays H01H53/00; conversion of DC or AC input power into surge output power {H03K3/53}) - H02P: CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS ## Abstract Motor speed control systems are disclosed that include a motor having an output shaft, a motor speed control system, a sensor to detect the speed of the motor, and a controller to receive a signal from the sensor and to control the speed of the output shaft. A gear reduction assembly is operably coupled to the output shaft and a detectable element located in the gear reduction assembly. The sensor senses the detectable element. The sensor is placed in the radial path of the detectable element. Another system includes a brushless motor having a housing and an output shaft, the brushless motor comprising electromagnetic field coils arrayed radially around a central magnetic shaft, a gear reduction assembly operably coupled to the output shaft, and a sensor placed in proximity to the brushless motor. The sensor communicates with a controller to control the speed of the output shaft. ## Claims ### Claim 1 A motor speed control system comprising: a motor having an output shaft; a gear reduction assembly operably coupled to the output shaft; a detectable element located in the gear reduction assembly; and at least one sensor to sense the detectable element, the at least one sensor placed in the radial path of the detectable element, the at least one sensor in data communication with a controller configured to receive a signal from the at least one sensor and to control the speed of the output shaft. ### Claim 2 (depends on 1) The motor speed control system of claim 1, wherein the gear reduction assembly comprises a planetary gear train. ### Claim 3 (depends on 2) The motor speed control system of claim 2, wherein the planetary gear train comprises a first stage, wherein the planetary gear train is driven by a sun gear attached directly or indirectly to the motor output shaft, and wherein the sun gear drives one or more first stage planet gears, which in turn engage a first stage annular gear. ### Claim 4 (depends on 3) The motor speed control system of claim 3, comprising a first stage carrier in communication with the first stage planet gears, the first stage carrier includes or connects to a second stage sun gear that drives the second stage. ### Claim 5 (depends on 2) The motor speed control system of claim 2, wherein the planetary gear train comprises at least one stage connected to a drive gear, which is configured as a final effector in the gear reduction assembly. ### Claim 6 (depends on 5) The motor speed control system of claim 5, wherein a single detectable element is placed on the drive gear. ### Claim 7 (depends on 1) The motor speed control system of claim 1, wherein the detectable element can be affixed or integral with any rotating part or particular stage of the gear reduction assembly to measure the number of times that the rotating part or stage rotates. ### Claim 8 (depends on 1) The motor speed control system of claim 1, wherein the at least one sensor is an inductance sensor and the detectable element is a metallic element. ### Claim 9 (depends on 8) The motor speed control system of claim 8, wherein the inductance sensor is configured to detect a change in inductance caused by the metallic element passing adjacent the inductive sensor. ### Claim 10 (depends on 1) The motor control system of claim 1, wherein the sensor is a magnetic field sensor and the detectable element is a magnetic element. ### Claim 11 A motor speed control system comprising: a brushless motor having a housing and an output shaft, the brushless motor comprising electromagnetic field coils arrayed radially around a central magnetic shaft; a gear reduction assembly operably coupled to the output shaft; and at least one sensor placed in proximity to the brushless motor, the at least one sensor in data communication with a controller configured to receive a signal from the at least one sensor and to control the speed of the output shaft. ### Claim 12 (depends on 11) The motor speed control system of claim 11, comprising negative and positive electromagnetic field coils alternately arranged around the central magnetic shaft, wherein the coils are sequentially activated and deactivated to drive the central magnetic shaft. ### Claim 13 (depends on 12) The motor speed control system of claim 12, wherein the at least one sensor is placed adjacent to the negative and positive electromagnetic field coils outside the housing of the brushless motor to monitor motor speed. ### Claim 14 A powered surgical instrument comprising: a motor having an output shaft; a motor speed control system in communication with the motor; at least one sensor to detect the speed of the motor; and a controller configured to receive a signal from the at least one sensor and configured to control the speed of the output shaft. ### Claim 15 (depends on 14) The powered surgical instrument of claim 14, wherein the motor speed control system comprises: a gear reduction assembly operably coupled to the output shaft; and a detectable element located in the gear reduction assembly; wherein the at least one sensor is configured to sense the detectable element, the at least one sensor placed in the radial path of the detectable element. ### Claim 16 (depends on 15) The powered surgical instrument of claim 15, wherein the gear reduction assembly comprises a planetary gear train. ### Claim 17 (depends on 16) The powered surgical instrument of claim 16, wherein the planetary gear train comprises a first stage, wherein the planetary gear train is driven by a sun gear attached directly or indirectly to the motor output shaft, and wherein the sun gear drives one or more first stage planet gears, which in turn engage a first stage annular gear. ### Claim 18 (depends on 14) The powered surgical instrument of claim 14, wherein the motor speed control system comprises: a brushless motor having a housing and an output shaft, the brushless motor comprising electromagnetic field coils arrayed radially around a central magnetic shaft; a gear reduction assembly operably coupled to the output shaft; and at least one sensor placed in proximity to the brushless motor, the at least one sensor in data communication with a controller configured to receive a signal from the sensor and to control the speed of the output shaft. ### Claim 19 (depends on 18) The powered surgical instrument of claim 18, comprising negative and positive electromagnetic field coils alternately arranged around the central magnetic shaft, wherein the coils are sequentially activated and deactivated to drive the central magnetic shaft. ### Claim 20 (depends on 19) The powered surgical instrument of claim 19, wherein the at least one sensor is placed adjacent to the negative and positive electromagnetic field coils outside the housing of the brushless motor to monitor motor speed.