Abstract: Methods of controlling velocity of a firing member in a robotic surgical system are disclosed. One method detects an end effector condition during closure, sets a command velocity of a displacement member based on the closure condition, fires the displacement member at the set command velocity, detects an end effector condition during a firing phase, and sets a command velocity based on the firing condition. Another method receives closure force of a closure member, compares the actual closure force to a threshold, determines a set point velocity based on the comparison, and controls the actual velocity of the closure member based on the set point velocity. Another method receives actual closure force of a closure member, receives actual position of a firing member, and sets a new closure force based on the actual closure force applied to the closure member and the actual position of the firing member.

Abstract: A surgical instrument is disclosed comprising a control system and a strain gage circuit. The operation of the control system is modifiable by an input from the strain gage circuit.

Abstract: A portable electric scrubber in which the drive shaft and gear assembly and drive motor are secured together in a fixed relationship by a one-piece gear case secured within a compartment defined between to halves of a housing. The output shaft includes integral, deflectable cantilever beams having ridges for engaging a central hole in an attachment. The housing is sealed by a one-piece seal which seals between the housing halves, around the output shaft and over an actuation button.