US Patent 12064109 Surgical instrument comprising a feedback control circuit

A surgical instrument comprising a shaft, an end effector, a drive component positioned with the shaft, and a surgical control circuit comprising a motor control program configured to run a motor configured to drive the drive component is disclosed. The control circuit is configured to receive a first measurement of a parameter of the motor, receive a second measurement of a parameter of the drive component, compare the first measurement and the second measurement, determine an actual relationship of the first measurement and the second measurement based on the comparison, compare the actual relationship to an expected relationship, and adjust the motor control program based on the comparison of the actual relationship and the expected relationship to align the actual relationship with the expected relationship.