Techniques for adaptive control of motor velocity of a surgical stapling and cutting instrument

A surgical system comprising:

• an end effector comprising a first jaw and a second jaw movable relative to the first jaw between an open position and a closed position;
• a staple cartridge comprising a plurality of staples removably stored therein;
• an elongate shaft;
• a firing member configured to translate through the end effector during a firing stroke,
• wherein the staples are deployable from the staple cartridge based on the firing member moving toward a distal position;
• a motor mechanically coupled to the firing member and configured to drive the firing member through the firing stroke;
• a sensor configured to generate a signal indicating a detected closure force applied to the end effector;
• and
• a motor control circuit configured to:
• determine an actual closure force based on the signal at a current time during the firing stroke;
• determine an expected closure force corresponding to the current time during the firing stroke;
• determine whether the actual closure force is within a threshold of the expected closure force;
• and
• adjust a velocity of the motor based on a deviation between the actual closure force and the expected closure force.

A method of controlling a motor in a surgical stapler, the surgical stapler comprising an end effector, a firing assembly configured to translate through the end effector during a firing stroke, a motor mechanically coupled to the firing assembly, a sensor configured to generate a signal indicating a detected closure force applied to the end effector, and a motor control circuit, the method comprising:

• determining, by the motor control circuit, an actual closure force based on the signal at a current time during the firing stroke;
• determining, by the motor control circuit, an expected closure force corresponding to the current time during the firing stroke;
• determining, by the motor control circuit, whether the actual closure force is within a threshold of the expected closure force;
• and
• adjusting, by the motor control circuit, a velocity of the motor based on a deviation between the actual closure force and the expected closure force.