US Patent 11931037 Surgical systems with dynamic force to fire adjustments

A surgical instrument comprising an end effector, a firing member movable from an unfired position toward a fired position during a firing stroke, a firing system comprising a motor, and a control system. The firing system is configured to drive the firing member through the firing stroke. The control system is configured to drive the firing member from the unfired position toward the fired position with the firing system, detect a force to fire the firing member toward the fired position, pause advancement of the firing member for a first amount of time, based on the detected force to fire, resume advancement of the firing member after the first amount of time, and pause advancement of the firing member for a second amount of time, wherein the second amount of time is based on the first amount of time.