Systems and methods for powered surgical circular stapling instrument rotation adjustment

A surgical circular stapling instrument comprising:

• an adapter assembly including:
• an anvil assembly including an anvil head and an anvil center rod extending proximally from the anvil head;
• a reload assembly including an annular staple cartridge including a plurality of staples, and a staple pusher;
• and
• a first drive assembly including a first lead screw and a first nut, the first lead screw movable through a predetermined stroke to move the anvil assembly in relation to the staple cartridge;
• a handle assembly including:
• a first motor including a first motor shaft configured to advance the first drive assembly;
• a processor;
• and
• a memory, including instructions stored thereon, which, when executed, cause the surgical circular stapling instrument to:
• measure a change in position of the first motor shaft relative to a stored rotation verification position of the first motor shaft resulting from manual rotation of the adapter assembly of the surgical stapling instrument in relation to a handle assembly of the surgical stapling instrument;
• determine a distance traveled by a first drive assembly of the adapter assembly of the surgical stapling instrument resulting from the change in position of the first motor shaft;
• compare the determined distance traveled to a first stored rotation verification position of the first motor shaft;
• determine if the compared distance falls into a predetermined acceptable range of rotation positions;
• and
• adjust the position of the drive shaft if the compared distance is not within the predetermined range.

A non-transitory computer-readable medium storing instructions which, when executed by a processor, cause the processor to perform a method for surgical stapling instrument rotation adjustment, the method comprising:

• measuring a change in position of a first motor shaft of the surgical stapling instrument relative to a stored rotation verification position of the first motor shaft resulting from manual rotation of an adapter assembly of the surgical stapling instrument in relation to a handle assembly of the surgical stapling instrument;
• determining a distance traveled by a first drive assembly of the adapter assembly of the surgical stapling instrument resulting from the change in position of the first motor shaft;
• comparing the determined distance traveled to a first stored rotation verification position of the first motor shaft;
• determining if the compared distance falls into a predetermined acceptable range of rotation positions;
• and
• adjusting the position of the drive shaft if the compared distance is not within the predetermined range.