US Patent 11284891 Surgical instrument with multiple program responses during a firing motion

A method of controlling a firing system of a surgical instrument is disclosed. The firing system comprises a firing member and a motor configured to drive the firing member between a proximal position and a distal position. The surgical instrument further comprises a sensor configured to measure a firing force experienced by the firing system. The method comprises driving the firing member toward the distal position, measuring the firing force experienced by the firing system, pausing motion of the firing member based on the firing force reaching or exceeding a firing force threshold, resuming motion of the firing member toward the distal position based on occurrence of an event, and retracting the firing member toward the proximal position based on the firing force reaching or exceeding the firing force threshold a threshold number of times.