Abstract: Methods, devices, and systems for controlling a tissue-treatment motion by a surgical instrument are disclosed.

Abstract: A surgical stapling system includes a motor, a gear reducer assembly, a drive train, and a motor controller. A method of controlling the motor includes applying a first signal to the motor, receiving drive train operational data, comparing the drive train data to baseline data, and applying a signal having a different shape than the first signal to the motor. A method of characterizing the motor includes transmitting a perturbation signal, receiving motor function parameters, determining stapler system characteristics, and adjusting a controller function. A method of controlling a stepper motor includes applying a signal to the stepper motor, receiving stepper motor operational data, comparing the data to baseline data, and adjusting the signal. Another method of controlling the motor includes receiving motor rotational data, receiving gear rotation data, calculating a mechanical transfer function, determining non-idealities of the stapling system, and modifying a control signal based on the non-idealities.

Abstract: The vertical track and sliding mount for a smoke detector comprises a guide tube, a lifting tube, and a mounting base. The mounting base may be adapted to couple to a detector. The mounting base may be coupled to the top end of the lifting tube. The detector be raised and lowered by sliding the lifting tube vertically within the guide tube. As non-limiting examples, the detector may be a smoke detector, carbon monoxide detector, radon detector, natural gas detector, propane detector, or other residential environmental detector or alarm. In some embodiments, a height lock may hold the lifting tube at an elevated position or at a lowered position.