Depth measurement attachment for hand-held surgical system

Abstract

To provide a hand-held surgical system including a device, a depth measurement attachment and a controller.SOLUTION: The device includes a housing, and a motor positioned in the housing. The depth measurement attachment is detachably coupled to the device. The depth measurement attachment includes a first sensor configured so as to provide vibration signals related to vibration of the motor during drilling process, a second sensor configured so as to provide displacement signals related to displacement of a drill bit during drilling process, and a controller. The controller is configured so as to receive the vibration signals and the displacement signals. Also, the controller is configured to identify motor characteristic on the basis of the vibration signals and a penetration event on the basis of the motor characteristic and the displacement signals, by use of an algorithm.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] [CROSS REFERENCE TO RELATED APPLICATIONS] This patent application is a continuation of U.S. Provisional Patent Application No. 62 / 914, filed on October 11, 2019. No. 6,313,633, the disclosure of which is incorporated herein by reference in its entirety. This document shall form part of the specification. [Background technology]

[0002] Orthopedic surgery involves repairing bone trauma, wear-and-tear joint injuries, congenital defects, and injuries caused by disease. It is common to use several different surgical tools to recover from a traumatic injury. A non-exhaustive list of examples includes rotary cutting handheld surgical instruments such as drills. A handheld surgical instrument is used, for example, to repair a fractured bone with a screw to hold the fixation in place. Create bore-holes for many different purposes, such as placing screws for An important part of these surgical procedures is the proper selection of screws to be used. The length is specified.

[0003] A typical method for determining borehole depth involves the use of a depth gauge in the form of a device that is introduced into the patient. This protocol uses a separate device to measure the borehole depth. The major drawbacks of the technique are: 1) the inability to introduce additional surgical instruments into the patient's body while maintaining sterility; and 2) longer surgical procedures and greater exposure of the patient to the environment. .

[0004] The background discussion provided herein is generally intended to provide a context for the present disclosure. The inventors' investigations, to the extent described in this Background section, As well as aspects of the disclosure that may not qualify as prior art at the time of filing, No admission is expressly or impliedly made that this invention is prior art. Summary of the Invention

[0005] In particular, a handheld surgical system is described. The instrument, depth measurement attachment, and controller The instrument includes a housing and a motor positioned within the housing. The depth measurement attachment is removably coupled to the instrument. The motor is configured to provide a vibration signal related to the vibration of the motor during the drilling process. 1 sensor and a displacement signal related to the displacement of the drill bit during the drilling process. and a second sensor configured to receive the vibration signal and the displacement signal. identifying at least one characteristic of the motor based on the vibration signal using an algorithm; Identifying a breakthrough event based on at least one of a motor characteristic and a displacement signal. The method is configured to determine the

[0006] In one aspect, a surgical device is described. The surgical device includes a housing and a The motors positioned within the drilling ring and the associated motor status during the drilling process a first sensor configured to generate a signal; and a displacement of the drill bit during the drilling process. and a second sensor configured to provide a displacement signal related to the surgical device. The controller also includes a motor status signal and a displacement signal. and uses a predetermined algorithm to select one of the motors based on the motor status signal. The above characteristics are identified, and a penetration event is identified based on the motor status and displacement signals. It is configured to:

[0007] Features include a depth measurement adapter that transmits drill depth for handheld surgical systems. A handheld surgical system is described. and a motor positioned at the depth measurement attachment. a component configured to output a motor status signal associated with the motor during a motor run; a drill bit configured to output a displacement signal related to the displacement of the drill bit during the drilling process; The controller receives the motor status signal and the displacement signal, determining whether the motor is generating rotational torque based on the motor status signal; configured to identify a penetration event based on the motor status signal and the displacement signal .

[0008] Features include a depth measurement adapter that transmits drill depth for handheld surgical systems. A handheld surgical system is described. and a motor positioned on the drilling prong. a component configured to generate a displacement signal related to the displacement of the drill bit during the process; The depth measurement attachment also receives the displacement signal and identifies frequency components of the displacement signal. The motor is then adjusted to determine whether it is generating torque based on the frequency components. a controller configured to identify a penetration event based on the number component and the displacement signal. Prepare.

[0009] In particular, a handheld surgical system is described. The present invention relates to an instrument having a housing and a motor positioned within the housing, and a device attached to the instrument. and a depth measurement attachment releasably coupled to the depth measurement attachment. A motor status signal associated with the motor during the drilling process is configured to output the motor status signal. and a component configured to output a displacement signal related to the displacement of the drill bit during the drilling process. The depth measurement attachment also includes a motor status signal. and a displacement signal, and the motor generates a rotational torque based on the motor status signal. Determines whether the motor is in a position that is not in the normal position and identifies the penetration event based on the motor status and displacement signals. The device further includes a controller configured to determine

[0010] Features include a depth measurement adapter that transmits drill depth for handheld surgical systems. A handheld surgical system is described. and a motor positioned on the drilling prong. a first sensor configured to output a vibration signal related to vibration of the motor during a process; a drill bit configured to output a displacement signal related to the displacement of the drill bit during the drilling process; The depth measurement attachment also receives a vibration signal and a displacement signal. and determining whether the motor is generating a rotational torque based on the vibration signal. and a controller configured to identify a penetration event based on the displacement signal.

[0011] In one aspect, a handheld surgical instrument is described. a drill bit and a motor positioned within the housing for driving the drill bit during the drilling process. a motor configured to apply a rotational torque to the hole during the drilling process; a first sensor configured to output a motor status signal corresponding to the motor status signal during the drilling process; and a second sensor configured to output a displacement signal related to the displacement of the drill bit. The handheld surgical instrument also receives a motor status signal and a displacement signal to Based on the motor status signal, it is determined whether the motor is generating rotational torque and a controller configured to identify a penetration event based on the controller status signal and the displacement signal; Equipped with a controller.

[0012] In an aspect, a method for identifying a penetration event in a drilling process is described, the method comprising: Using the first sensor and the second sensor, one or more treatment events of the drilling process and one The one or more treatment events include detecting data indicative of the non-treatment events. , relating to the movement of the drill bit relative to the patient's bone as the motor generates a rotational torque. One or more non-treatment events may include motions to the patient's bones while the motor is off. The method further comprises: associating the data with one or more treatment events; The method further includes determining whether the treatment event is responsive to one or more non-treatment events. The method includes identifying a penetration event based on data associated with one or more procedural events. Further includes.

[0013] In one aspect, a depth measurement adapter for transmitting drill depth for a handheld surgical system is provided. A method is described for using the attachment to identify a breakthrough event in a drilling process. The handheld surgical system includes a housing and a drill bit positioned within the housing. and a motor configured to apply a rotational torque to the depth measuring attack. The component includes a component, a second sensor, and a controller. outputting a motor status signal associated with the motor during the drilling process using the A second sensor is used to provide a displacement signal related to the displacement of the drill bit during the drilling process. and receiving a motor status signal and a displacement signal using a controller. and a controller is used to control the motor to generate a rotational torque based on the motor status signal. and determining whether the motor status signal and the motor status signal are generated using a controller. and identifying a penetration event based on the displacement signal.

[0014] Further areas of applicability of the present disclosure will become apparent from the detailed description, claims, and drawings. The detailed description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the present invention. It is not intended to limit the scope of the disclosure.

[0015] The present disclosure will become more fully understood from the detailed description and the accompanying drawings, wherein: [Brief description of the drawings]

[0016] [Figure 1] FIG. 1 is a perspective view of a handheld surgical system according to the teachings of the present disclosure including an instrument with a depth measuring attachment for drilling into bone; [Diagram 2] FIG. 1 is a cross-sectional partial perspective view of a handheld surgical system in accordance with the teachings of the present disclosure with a drill bit inserted therein; [Diagram 3]1 is a schematic diagram of a handheld surgical system according to the teachings of the present disclosure. [Figure 4] FIG. 2 is a partially exploded view of a depth measurement attachment according to the teachings of the present disclosure. [Diagram 5] FIG. 1 is a perspective view of a handheld surgical system according to the teachings of the present disclosure, with a depth measurement attachment separated from the instrument; [Figure 6] FIG. 1 is a perspective view of a handheld surgical system according to the teachings of the present disclosure, with a depth measurement attachment separated from the instrument; [Figure 7] 1 is a graphical representation of a displacement signal corresponding to a surgical drilling process in accordance with the teachings of the present disclosure. [Figure 8] 1 is a graphical representation of a vibration signal corresponding to a surgical drilling process in accordance with the teachings of the present disclosure. [Figure 9] 1 is a graphical representation of a frequency plot over a frequency range of a time block in accordance with the teachings of the present disclosure. [Figure 10] 13 is a graphical representation of a frequency plot over a narrower frequency range of a time block in accordance with the teachings of the present disclosure. [Figure 11] 1 is an exemplary flow chart executed by a controller of a handheld surgical system in accordance with the teachings of the present disclosure. [Figure 12] 1 is an exemplary flow chart executed by a controller of a handheld surgical system in accordance with the teachings of the present disclosure. [Figure 13] 1 is an exemplary flow chart executed by a controller of a handheld surgical system in accordance with the teachings of the present disclosure. [Figure 14] 1 is an exemplary flow chart executed by a controller of a handheld surgical system in accordance with the teachings of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] In the drawings, reference numbers may be reused to identify similar and / or identical elements. do.

[0018] Referring to FIGS. 1-5, a handheld surgical instrument is used to perform a surgical drilling procedure. 1 shows a handheld surgical system 100. The handheld surgical system 100 is This eliminates the need for a second device, such as a depth gauge, to determine the location of the The surgical system 100 includes a handheld surgical instrument 104 and a cutting tool 10, such as a drill bit. 8. The Powered Surgical Drill With Integrated Circuit al Depth Gauge That Includes A Probe That Slides Over A Drill Bit" Patent Publication No. 2017 / 040783 and the "Surgical al Handpiece For Measuring Depth Of Bore Holes And Relates Accessories" The handheld surgical instrument described in International Patent Publication No. 2019 / 035096 comprises: The entire contents of which are incorporated herein by reference.

[0019] The handheld surgical system 100 includes a borehole 108 drilled by a cutting tool 108. The handheld surgical system 100 is also configured to determine the depth of the borehole. The method may be configured to identify a suitable screw length for bone fixation based on the depth of the screw. The screw length determination can be performed immediately after the bone drilling process is completed. The instrument 104 includes a housing 112 and a motor 114 disposed within the housing 112. The housing 112 may have a pistol grip shape or another suitable shape. good.

[0020] 2 and 3 show a motor positioned along a proximal / distal axis AX within a housing 112. Motor 114 is shown, but other motor locations are contemplated. Motor 114 may be electric, pneumatic, The motor 114 may be hydraulic or pneumatic. A motor for selectively generating a rotational torque in response to commands, signals, etc. received from a controller. The motor 114 is configured to rotate around an axis AX by a pair of bearings 117. The rotor cannula 115 is supported in such a way that the rotor cannula 115 is supported in a gear set (not shown in FIG. 3). An adjacently disposed drive gear (not shown in FIG. 3) is coupled to the rotor cannula 115. The rotor is rotated at the same time as the rotor is rotated, and is used to transmit the rotational torque to the gear set. For example, , as discussed in WO 2017 / 040783 and WO 2019 / 035096 The motor 114 and / or gear set configuration provided in the handheld surgical system 10 0 motor 114 may be used.

[0021] The handheld surgical system 100 is removably coupled to a housing 112. Alternatively, the housing 112 may include a depth measurement attachment 116 formed integrally with the housing 112. The depth measurement attachment 116 is housed in a separate housing, such as a module housing 120. The depth measurement attachment 116 minimizes obstruction of the surgeon's view of the surgical site. The depth measurement attachment 116 can be constructed to include a depth measurement extension. A first sensor such as a displacement sensor operably connected to the depth measurement extension 128. The sensor 124 may further comprise a depth measurement extension 128. As shown, the depth measurement extension 128 is a cannula. The first sensor 124 detects whether the depth measurement extension 128 is in contact with the handheld surgical instrument 104. When moved along the axis of the axis of the sensor, the sensor is configured to output a displacement signal 164. In some configurations, the sensor is configured to The extension 128 has an inner surface 132 that is disposed on the cutting tool 108. In this example, The degree measuring extension 128 is concentrically positioned on the cutting tool 108, however, in alternative configurations. Additionally, the depth measurement extension 128 and the cutting tool 108 do not have to be positioned concentrically. In another configuration, the first sensor 124 generates a displacement signal 1 as the drill bit moves relative to the bone. The sensor may be a depth sensor (eg, a laser sensor) configured to output 64. The first sensor 124 may not be housed within the depth measurement attachment 116, for example. For example, it may be attached to a handheld surgical instrument 104.

[0022] In one example, the depth measurement attachment 116 may include a rotatable gear 136. In one example, the depth measuring extension 128 includes a set of rack teeth 140, which are , a depth measuring extension 1 which meshes with the teeth on a rotatable gear 136 The first sensor 124 is disposed longitudinally over at least a portion of the length of the first sensor 124. The rotatable gear 136 is operatively coupled to the rack teeth 140 on the rotatable gear 136. 1. The depth measuring extension 128 is operated by any axial movement of the depth measuring extension 128 through engagement with the teeth of the depth measuring extension 128. In this non-limiting example, the first sensor 124 is a potentiometer. Other types of sensors, e.g. For example, an optical sensor, an LVDT sensor, etc. can be used.

[0023] Referring to FIG. 4, proper functioning of the depth measurement extension 128 and the first sensor 124 is To ensure that the depth measurement extension 128 is in the extended position, the depth measurement extension 128 may be biased toward the extended position. This bias causes the distal end of the depth measurement extension 128 to contact the proximal surface of the bone being drilled, or The biasing force maintains constant contact with the plate / implant against the bone being drilled. , is achieved by using a spring 160 which is connected to the depth measurement extension 128 to rotate the gear in a direction extending distally from the module housing 120. 1. The rotatable gear 136 is actuated to rotate the handheld surgical instrument 104 at a depth of Other methods of biasing the measurement extension 128 are contemplated. a first sensor 124 operatively connected to the long portion 128 for a first time interval 168 1 to provide a displacement signal 164, which will be discussed in more detail below. do.

[0024] Referring back to FIG. 3, the depth measurement attachment 116 indicates the motor status. The device may further include a second sensor 142 configured to output a signal. The sensor 142 may correspond to an accelerometer and may receive a vibration signal indicative of the vibration of the motor 114, such as Specifically, the motor 114 is configured to output a vibration signal corresponding to the rotor imbalance. In FIG. 2 and FIG. 4, the second sensor 142 is included in the depth measurement attachment 116. Although shown disposed at the handheld surgical instrument 104, the second sensor 142 may be disposed at the It may be positioned in any other suitable location, such as inside the

[0025] 4 and 5, the depth measurement attachment 116 includes a first sensor 124 and The device may include a first controller 144 operably connected to the first and second sensors 142. The controller 144 detects a penetration event based on the displacement signal 164 and the vibration signal 166. A penetration event occurs when the distal end of the drill bit penetrates the patient. Based on this time, the first component may be determined to correspond to the time that the first component protrudes through the distal cortical wall of the bone. The controller 144 can determine the corresponding displacement from the displacement signal 164 .

[0026] The handheld surgical instrument 104 also includes a motor 114 for the handheld surgical instrument 104. The first controller 144 and the second controller 162 may be provided to control the operation of the first controller 144 and the second controller 162. The second controller 162 is shown as a separate controller and is The sensor 144 is shown disposed within the depth measurement attachment 116 and is connected to the second controller 1 62 is disposed within the handheld surgical instrument 104, the first controller 144 Alternatively, the second controller 162 may be housed in a remote device. The camera 144 and the second controller 162 also detect whether a separate depth measurement attachment 116 is If not present, they may be combined into a single controller.

[0027] The depth measurement attachment 116 is connected to the instrument connector 15 of the handheld surgical instrument 104. 2. The handheld surgical instrument 104 includes an instrument connector 152 and a housing connector 150. Provides a power signal (power connection) to the depth measurement attachment 116 only via a connection between the The second sensor 116 is disposed in the depth measurement attachment 116. The configuration of 42 is such that the depth measurement attachment 116 is attached to the second without connecting to the controller 162, one or more conditions associated with the motor 114, e.g. For example, it allows the status or condition of the motor 114 to be determined.

[0028] In another example, the depth measurement attachment 116 and the handheld surgical instrument 104 may also , data may be exchanged via the instrument connector 152 and the housing connector 150 . The first controller 144 and the second controller 162 are connected via a wired connection (i.e. through the housing connector 150 and the instrument connector 152), or via a wireless connection. The first controller may communicate with the second controller. This may be facilitated by transceivers located on 144 and the second controller 162. These wireless communication transceivers may be WI-FI, Bluetooth, or other The first controller may support a similar wireless communication protocol. The roller 144 and the second controller 162 may include a second transceiver. The data may be transmitted to a device such as a tablet or an external server.

[0029] The Depth Measurement Attachment 116 also measures real-time drilling depth, maximum and past recorded depths. Drilling depth, screw length, penetration indication, cortical drilling depth, borehole depth, etc. are displayed, depth crab To provide the surgeon with information regarding the movement of the catheter, a display 156, e.g. The same information may be provided by a spray screen, one or more light emitting diodes (LEDs), etc. The system also provides audio display of real-time drilling depth, maximum recorded drilling depth, and penetration indication. A speaker may be used to communicate to the user to provide an indication.

[0030] The depth measurement attachment 116 is attached to, for example, a module housing 120. and the first controller 144, the first sensor 124, and / or the second sensor 142. May include one or more operably connected user input devices (not shown), such as buttons The user input device may be configured to control the operation of the first sensor 124 and / or the second sensor 142. For example, the user input device may be the first sensor 124 or the second sensor 125. The sensor 142 begins providing displacement or vibration data to the first controller 144. may be used to reset, zero or start the signal.

[0031] Referring to FIG. 7, a first time interval 168 corresponds to the surgical drilling process. The time interval 168 is bounded by an initial time (TI1) and a final time (TF1). A user input device may be used to initiate the first time interval 168. In other words, it may be used to set the initial time (TI1). (TI1) is the time when the surgeon places the drill in position to begin the drilling procedure and the user input device TF1 is the time the surgeon engages the chair, and TF2 is the time the surgeon It is time to fully retract the drill after performing a specific drilling of the bone so that it returns to position. At (TI1), which corresponds to the start displacement, the depth measuring extension 128 is In an alternative configuration, the first time interval 168 is In response to generating a torque or initiated based on the movement of the depth measurement extension 128 Good too.

[0032] Displacement data can be collected based on the system clock signal, and the system In a typical example, the clock signal may be an internal clock signal of a processor of the controller or another The clock signal is from one clock device. A pull rate is defined, at which displacement data is collected and the displacement signal 164 is The first time interval 168 is indexed over which the sampling rate is to be generated. The sampling rate may be fixed, or may be variable or treatment dependent. It is contemplated that the

[0033] Although the illustrated embodiment of the present invention shows the second sensor 142 as an accelerometer, various Other components determine the state of the motor 114 (i.e., whether the motor 114 is generating a rotational torque or not). The device may be employed to sense a characteristic indicative of the motor speed (whether or not the motor is in operation) or external to the device. In the alternate configuration, the depth measurement attachment 116 includes an antenna instead of the second sensor 142. In this configuration, the antenna is rotated by the motor 114 generating a rotational torque. It may be configured to receive one or more radio waves generated by the motor 114 at times. The antenna receives a voltage or current signal based on one or more radio waves emitted by the motor 114. The first controller 144 may be configured to output a voltage signal or a current signal. and outputting a motor status signal based on the one or more received radio waves. The first controller 144 processes the signal from the antenna and controls the motor status. The first controller may include a signal processing circuit configured to generate a first control signal. The controller 144 determines whether the motor 114 is generating a rotational torque based on the motor status signal. It is possible to determine whether

[0034] In another configuration, the second sensor 142 may be configured to, for example, detect the rotation of the drill bit about the axis AX. The drill bit may also be fitted with an optical sensor configured to detect an optical characteristic of the drill bit while the drill bit is in motion. Based on the optical characteristics of the drill bit, the optical sensor outputs a motor status signal. For example, the change in position of an optical characteristic as a drill bit rotates, Based on evidence from the status signal, the first controller 144 determines whether the motor is rotating at a rotational torque. The optical sensor may be configured to detect the optical properties of the drill bit. Further details of the development are available in the May 15, 2020 filing, "Powered Surgical Drill Havin International application PCT / US2020 / 03 entitled "G Rotating Field Bit Identification" No. 3,288, the entirety of which is incorporated herein by reference. The optical sensor may include a light source, e.g., a light source configured to emit light onto the drill bit. , a light emitting diode (LED) and a transducer for measuring the optical reflectance of the drill bit. In some configurations, the drill bit may include a light source. The optical characteristic, such as a laser mark or another identifiable mark, is configured to change the It may include.

[0035] In another configuration, the second sensor 142 detects the rotation of the drill bit about the axis AX. A sensor configured to detect a magnetic field emitted by the drill bit, e.g., a magnetic field This may correspond to a Hall effect sensor, or a magnetoresistive sensor. The second may include one or more magnets or other features configured to emit a magnetic field. The sensor 142 is configured to determine a motor status signal based on the detected magnetic field. Based on the motor status signal, the first controller 144 may 14 may be configured to determine whether the magnetic field When the rotational torque is fluctuating, the first controller 144 controls the motor 114 to generate a rotational torque. It may be determined that

[0036] In another configuration, the second sensor 142 may detect sound waves emitted by the motor 114, e.g. , to detect characteristics of acoustic waves emitted while the motor 114 is generating rotational torque. In some configurations, the audio sensor may correspond to a microphone. The audio sensor may correspond to a microphone or another suitable electromechanical transducer. The motor status signal may be configured to identify the motor status signal based on the motor status signal. Based on the signal, the first controller 144 determines whether the motor 114 is generating a rotational torque. For example, the first controller 144 may be configured to determine whether the motor 114 and storing one or more characteristics of the previous sound wave generated by the motor status signal. represents that the motor 114 generates a rotational torque. The characteristics may be used.

[0037] In another configuration, the second sensor 142 may be a power supply configured to detect the voltage of the power signal. As previously mentioned, the housing connector of the depth measurement attachment 116 may The motor 114 can receive a power signal from the tool connector 152. When the motor 114 is generating a rotational torque, the voltage of the power signal is Therefore, the first controller 14 4 determines whether the motor 114 is generating a rotational torque based on the voltage of the power signal. It is possible.

[0038] In an alternative configuration, the second sensor 142 can be omitted. The controller 144 can be configured to identify the frequency components of the displacement signal 164. For example, the first controller 144 may perform a Fourier transform of the displacement signal 164. The frequency components may be identified by: Certain frequency components are variations that are not present when the motor 114 is not producing rotational torque. The first controller 144 may therefore Based on the frequency components, the motor 114 is determined to be generating a rotational torque. It can be configured as follows.

[0039] In another configuration, a current sensor or other sensor type may be used to determine the status of the motor 114. In such an example, the first controller 144 may be used to Based on this, it can be determined whether the motor 114 is generating a rotational torque. In such a configuration, data from a current sensor in the handheld surgical instrument 104 is first This must be communicated to the controller 144 via a wired or wireless connection. Communication can be made to the first controller 144 via the second controller 162 .

[0040] In another configuration, a sensor may monitor the rotational position of the rotor of the motor 114 and generate an output representative thereof. A signal representing the rotational position of the rotor can be generated from one of the following sources: The sensor used is a Hall effect sensor. Hall effect sensors vary with the sensed magnetic field. The magnetic field adjacent to the rotor of the motor 114 is a function of the rotational position of the rotor. Other sensors may include the operating speed of the motor 114, the temperature of the components of the motor 114, or The sensor signal may be generated as a function of the voltage applied to the motor 114 .

[0041] As shown in FIG. 4, the second sensor 142 has an x-axis 161, a y-axis 165, and a z-axis 163. However, the second sensor 142 may also be a two-axis accelerometer. It is contemplated that the accelerometer data indicates the inherent imbalance of the rotor of the motor 114. An axis parallel to the rotation axis AX of the motor 114 is closer to the rotation axis of the motor 114 than an axis perpendicular to the rotation axis AX. It is less sensitive to vibration effects. Depending on the orientation and position of the second sensor 142, the x-axis 16 At least one of the axes 1, y-axis 165, or z-axis 163 is at least one of the other axes. 4. In FIG. 4, the motor 114 may be more sensitive to rotor imbalance than the motor 114. 1, the x-axis 161 is shown parallel to the axis of rotation AX of the motor 114, and the y-axis 165 and z-axis 163 is shown perpendicular to the axis of rotation AX of the motor 114. The y-axis 165 or z-axis 163 is parallel to the rotation axis AX of the motor 114, and the x-axis is It is contemplated that the actuator 114 may be positioned or oriented in different ways, such that the actuator 114 is perpendicular to the axis of rotation AX. In some examples, the first controller 144 may determine whether the rotor imbalance exceeds a certain threshold. Algorithms based on vibration data to identify which shafts are exceeding the rotor Conducts algorithms based on vibration data to identify areas most sensitive to imbalance It is possible.

[0042] The first controller 144 can filter the vibration data in various ways. For example, low-pass or high-pass filters can be used to remove unwanted low-frequency noise. The filter may be implemented by one or more filter circuits to remove noise or high frequency noise. The first controller may be implemented by a software program or a programmable controller. 144 generates a vibration signal 166. For example, when the second sensor 142 is an accelerometer , the vibration signal 166 may include an x-axis component, a y-axis component, and a z-axis component. , depending on the orientation of the x-axis 161, the y-axis 165, and the z-axis 163, At least one of the z-axis components is most sensitive to vibrations of the motor 114 .

[0043] Vibration data (or other motor status data for alternative configurations of the second sensor 142) ) is an internal clock of the processor of the first controller 144 or the second controller 162. The second sensor 142 may be connected to a separate device such as a clock signal or a clock device associated with the second sensor 142. The clock signal is used to collect the samples. A rate is defined, at which the vibration signal 166 (or motor for alternative configurations) is sampled. The vibration measurements (or alternative configuration) are taken over a second time interval 169 to generate a status signal. Other motor status measurements for the sampling period are collected and indexed. The sampling rate may be fixed, or the sampling rate may be adjustable. It is contemplated that the second, third, or fourth step may depend on the treatment. The second time interval 169 may correspond to the first time interval 168. 69 is a second initial time different from the first initial time (TI1) and the first final time (TF1). In either case, the second time (TI2) and the second final time (TF2) may be included. At least a portion of the interval 169 overlaps with a portion of the first time interval 168 .

[0044] Continuing to refer to FIG. 7 and FIG. 8, the first controller 144 may be configured to: The status of the motor 114 may be determined using one or more algorithms based on the The one or more algorithms may be based on the z-axis component over the fifth time interval 184. The fifth time interval 184 may be set to any suitable time interval. The controller 144 divides the first time interval 168 and / or the second time interval 169 into a fifth time interval 184 to establish time blocks. For a time block, the first controller 144 calculates the vibration signal over that time block. Based on the signal 166, the status of the motor 114 can be determined.

[0045] For example, the first controller 144 may determine whether the motor is in a first state or a second state. The frequency of the z-axis component over the fifth time interval 184 is thresholded as a first threshold to identify whether the z-axis component is The second state is when the motor 114 is on and generating a rotational torque. The first state may correspond to the motor 114 being off and applying a rotational torque The first threshold may correspond to not generating a signal. The first threshold value being exceeded indicates that the motor 114 has moved from the first state to the second state at the first threshold value. This indicates a transition from the first state to the second state.

[0046] The frequency is determined by the rising edge 186 and the falling edge 187 of the vibration signal 166 over a time block. As shown in Figure 8, the time block can be identified based on the number of The number of increasing edges 186 and decreasing edges 188 in the first controller 14 is 22. 4 may be configured to ignore occurrences of z-axis components below a second threshold 180. In the example, the first controller 144 detects that the frequency of the z-axis component is until the first threshold is exceeded, the motor 114 is identified as being in the second state. In this case, the first controller 144 may postpone the frequency of the z-axis component. The counter may include a counter that is incremented each time the threshold is exceeded. 3) if the motor 114 is in the second state, the first controller 144 The third threshold may be adjustable. 144 indicates when the frequency is greater than the first threshold but the counter has not reached the second threshold. The first controller 144 can, for example, flag the cowl block. The counter value is greater than 0, but the frequency of the z-axis component does not increase before the counter reaches the third threshold. If it falls below the first threshold, the motor 114 is identified as being in a first state and a counter is cleared. I will.

[0047] In another example, the first controller 144 may be configured to calculate the frequency of the vibration signal 166 over a time block. Based on the Rober transform, the motor is either in a first state or in a second state for a time block. For example, the first controller 144 may be configured to: Determine the short-time Fourier transform for the z-axis component of the vibration signal 166 for each time block. The short-time Fourier transform may be a fast Fourier transform (FFT) or another suitable algorithm. Referring to FIG. 9, the time period for each time block is 9, a frequency plot of the Fourier transform of the vibration signal 166 is shown. The full range of frequency bins is shown. The range of frequency bins is shown with the minimum frequency bin (FMin) and the maximum The width of each frequency bin is defined by Equation 1. It is possible. (Formula 1)BW=Sf / Ts where BW is the bin width, Sf is the sampling frequency, and Ts is the total number of samples.

[0048] The first controller 144 controls the higher frequencies (e.g., frequencies above 330 Hertz). ) and lower frequencies (frequencies below 50 Hertz) are used to determine the motor state for a time block. Configure to adjust the range of frequency bins so that they are not considered when determining the status of Figure 10 shows the frequency plot of the Fourier transform with the adjusted frequency range. The frequency range is shown with the adjusted minimum frequency bin (AMin) and the adjusted The bins are separated by the maximum frequency bin (AMax).

[0049] For each frequency bin, the first controller 144 reduces the frequency bin size to the smallest possible value. The frequency bin magnitude can be compared to the minimum magnitude threshold 191. If the frequency bin size is greater than 91, the first controller 144 adjusts the frequency bin size to the smallest The first controller 1 can compare the size of the bin with other bins that meet the threshold 191 condition. If 44 determines that the frequency bins are the same for two consecutive time blocks, The first controller 144 detects the contiguous time blocks and any flagged time blocks. It can be determined that the motor is set to the second state. The roller 144 determines the minimum magnitude threshold of any of the frequency bins for a certain time block. If it is determined that the magnitude of the first controller 144 is not greater than 191, the first controller 144 It can be determined that the counter 114 is set to the first state for that time block. Cut.

[0050] Based on the pattern of the displacement signal 164 over time, a penetration event (i.e., the drill is Various penetration algorithms are contemplated to determine the penetration time (TB) for penetrating the distal cortical wall. The first controller 144 controls various penetrations based on the displacement signal 164 and the vibration signal 166. A penetration algorithm can be implemented to determine the breakthrough time (TB). The controller 144 generates other signals, such as velocity-related signals and acceleration-related signals, based on the displacement signal 164. The system can be configured to derive and store a signal based on the start displacement and the penetration time (TB). Based on this, the first controller 144 determines the corresponding penetration displacement at the penetration time (TB). It can be determined.

[0051] The penetration algorithm simulates a real surgical drilling procedure, e.g. while a surgeon is drilling a bone. By collecting primarily only data related to procedural displacements, such as the displacement of the depth measurement extension 128 during The non-treatment displacement can be optimized by the motor 114 being off or or when operating at non-cutting speeds and the surgeon is not actually drilling bone, A non-treatment event that results in a non-treatment displacement occurs when the long portion 128 is displaced. The signal 164 is modeled after a pattern that the first controller 144 associates with a breakthrough time (TB). Therefore, the first controller 144 may cause the displacement signal 164 to The possibility of misidentifying the breakthrough time (TB) during one of these non-treatment displacement segments. The non-invasive displacement of the displacement signal 164 can be detected using an existing penetration detection algorithm. Since it may be difficult to distinguish non-treatment deviations from treatment deviations in the signal 164, Additional systems and methods for distinguishing from displacement can improve the accuracy of penetration detection. The handheld surgical system 100 also allows the algorithm to process primarily only the procedure data. In cases where there is a need to process the same, improved processing time for penetration detection can be demonstrated.

[0052] The first controller 144 also receives the displacement signal 164 or a velocity related signal or acceleration signal. One or more action events may be generated from other signals derived from the displacement signal 164, such as velocity related signals. (i.e., events associated with procedural deviations) The one or more treatment events may also be determined based on the acceleration, displacement, and and / or change in velocity, e.g., maximum displacement, local maximum displacement, minimum displacement, local minimum displacement, maximum acceleration Velocity, local maximum acceleration, maximum velocity, local maximum velocity, minimum velocity, local minimum velocity, and a given It may refer to a gradient having a value above a threshold.

[0053] Non-treatment displacement can be the result of an accidental event. Accidental events include depth measurement extension. Manual manipulation of the long portion 128 may be included, such as unintentional manipulation by a surgeon or other medical personnel. The practitioner may determine whether the motor 114 is off before the start of the drilling procedure, during the drilling procedure, or after the drilling procedure. This can occur when the depth measuring extension 128 is displaced when

[0054] The status of the motor 114 can be used to distinguish therapeutic from non-therapeutic displacements. In FIG. 7, the therapeutic displacement is shown over a third time interval 174 and over a fourth time interval 175. The non-treatment displacement is shown over interval 176. The first controller 144 controls the vibration signal Identifying one or more events associated with the drilling procedure based on the signal 166 and the displacement signal 164. The one or more events can be recorded and stored. the status of the drilling procedure, the speed of the motor 114 throughout the drilling procedure, the starting displacement, the penetration displacement, the penetration time These may include, but are not limited to, time between (TB), time to start drilling, and time to end drilling. The controller 144 may be configured to: The drill bore depth is then determined based on the drill bore length for fixation to the bone. A suitable screw length can be specified.

[0055] Referring to FIG. 11, a method 800 is performed by the first controller 144. At 804, the method 800 includes the first controller 144 receiving the displacement data and The process begins with receiving vibration data. At 808, the first controller 144 , determining the displacement signal 164 over a first time interval 168. The controller 144 determines the vibration signal 166 over a second time interval 169. At 14, the first controller 144 divides the second time interval 169 into the fifth time interval 1 The time block is established by dividing by 84, and method 800 proceeds to 816. In the second time interval 169, the first controller 144 controls the pointer position to the first Once the time block is set, the method 800 proceeds to 824 .

[0056] At 824, the first controller 144 calculates the frequency of the z-axis component over the time block. The number is identified and control proceeds to 828. At 828, the first controller 144 determines whether the time Determine whether the frequency of the z-axis component for the block is greater than a first threshold. If it is greater than the threshold, method 800 proceeds to 832; otherwise, method 800 proceeds to 832. At 844, the first controller 144 determines whether the motor 114 is in a time block. If the first state is set for the block, the method 800 proceeds to 852. At this point, the first controller 144 increments the counter and the method 800 proceeds to 836.

[0057] At 836, the first controller 144 compares the value of the counter to a second threshold. If the value of the counter is greater than the second threshold, method 800 proceeds to 848; otherwise, If so, the method 800 proceeds to 840. At 840, the first controller 144 The block is flagged and the method 800 returns to 820. At 820, the first control The roller 144 increments the pointer position to the next time block and the method 800 returns to 824. .

[0058] At 848, the first controller 144 sets the motor 114 to the second state. If the first controller 14 determines that the first controller 14 is in the 4 clears the counters and flags. At 856, the first controller 144 , whether the current time block is the last time block in the second time interval 169 If it is the last time block, the method 800 proceeds to 857; otherwise, Then, the method 800 returns to 820. At 857, the first controller 144 Determine whether the status of the motor 114 for the time block is set to the second state. If it is set, the method may proceed to 858; if not, the method may end. .

[0059] At 858, the first controller 144 receives the status and displacement signals of the motor 114. Identifying a penetration event (i.e., penetration time (TB)) based on No. 164 and method 800 The method proceeds to 860. At 860, the first controller 144 determines whether the breakthrough time (TB) is The method 800 determines the borehole depth based on the displacement of the depth measurement extension 128 at 86 At 864, the first controller 144 determines a drill borehole depth based on the drill borehole depth. At 868, the first controller 144 determines the thread length by displaying the thread length. The controller sends the game data to the play 156 for display on the display 156. Although an example is provided of transmitting a screw length to a remote device, the first controller 144 may also transmit a screw length to a remote device. Another computer, such as a controller associated with the remote device, may be used to display the screw length. The screw length may be sent to the controller.

[0060] Referring to FIG. 12, a method 900 is performed by the first controller 144. At 904, the method 900 includes the first controller 144 receiving the displacement data and The process starts with receiving vibration data. At 908, the first controller 144 , determining the displacement signal 164 over a first time interval 168. The controller 144 determines the vibration signal 166 over a second time interval 169. At 16, the first controller 144 divides the second time interval 169 into the fifth time interval 1 The time block is established by dividing by 84, and method 900 proceeds to 916. The first controller 144 sets the pointer position to the first time block, The method 900 proceeds to 924 of FIG.

[0061] At 924, the first controller 144 controls the vibration signal 16 over the time block. In 926, the first controller 144 performs a Fourier transform of the frequency domain. In 928, the first controller 144 adjusts the pointer position. The first bin in the previously calculated frequency range is set to the first bin in the previously calculated frequency range, and method 900 proceeds to 936. The first controller 144 detects whether the frequency bin magnitude is greater than the minimum bin magnitude threshold 191. If it is greater than the minimum magnitude threshold 191, the control If not, control proceeds to 930. At 940, the first controller The la 144 indicates the range in which the current bin has a magnitude greater than the minimum magnitude threshold 191. If so, control may proceed to 944. If not, control may proceed to 948. At 944, the first controller 1 44 sets the bin as the largest bin (max_bin) with an associated magnitude. At 946, the first controller 144 determines whether the bin is the last bin in the frequency range. If it is the last bin, control proceeds to step 956; if not, control Return to 932.

[0062] At 930, the first controller 144 determines whether the bin is the last bin in the frequency range. If it is the last bin, method 900 proceeds to 931. If not, If so, the method 900 proceeds to 932. In 931, the first controller 144 Determine if x_bin is set. If max_bin is set If not, control proceeds to 956; otherwise, control returns to 976 of FIG. , the first controller 144 increments the pointer position to the next bin and control proceeds to 936. .

[0063] At 948, the first controller 144 determines whether the bin size is greater than max_bin. If it is greater than max_bin, control If not, control proceeds to 952. At 952, the first controller The filter 144 determines whether the bin is the last bin in the frequency range. If so, the method 900 proceeds to 956; otherwise, the method 900 proceeds to 932. At 956, the first controller 144 determines the frequency associated with max_bin. Set and store the motor_status_freq for a block of time in the bin. At 960, the first controller clears max_bin. The controller 144 is in the same position as the previous time block motor_status_freq. Check whether the motor_status_freq in the block matches the motor_status_freq in the block. If so, the method 900 proceeds to 972 of FIG. 14; otherwise, the method 900 proceeds to 96 8. At 968, the first controller 144 flags the time block and The method 900 proceeds to 984 .

[0064] At 972, the first controller 144 determines whether the motor 114 is in a time block and optionally and determining that the flagged time block is set to the second state, the method 900 Proceed to 980. At 976, the first controller 144 determines whether the motor 114 is in a time block. If the check is determined to be in the first state, the method 900 proceeds to 980. At 984, the first controller 144 clears the flag. The controller 144 determines that the time block is the last time block in the second time interval 169. If it is the last time block, the method 900 proceeds to 987. If not, the method 900 proceeds to 986. At 986, the first controller 144 increments the pointer position to the next time block and the method 900 returns to 924 of FIG. At 987, the first controller 144 controls the motor 114 for any time block. Determines whether the status of is set to the second state. If so, The method 900 may proceed to 988, if not, the method 900 may end.

[0065] At 988, the first controller 144 receives the status and displacement signals of the motor 114. Identifying a penetration event (i.e., penetration time (TB)) based on No. 164 and method 900 The flow proceeds to 992. At 992, the first controller 144 determines whether the breakthrough time (TB) is and determining the borehole depth based on the displacement of the depth measuring extension 128 at the borehole depth measuring point 990. 6. At 996, the first controller 144 determines a drill borehole depth based on the drill borehole depth. At 998, the first controller 144 determines the screw length by displaying the screw length. The controller sends the game data to the play 156 for display on the display 156. Although an example is provided of transmitting a screw length to a remote device, the first controller 144 may also transmit a screw length to a remote device. Another computer, such as a controller associated with the remote device, may be used to display the screw length. The screw length may be sent to the controller.

[0066] [item] Item 1 - A handheld surgical system for identifying a suitable screw length for bone fixation, comprising: a housing having a motor positioned within said housing; a depth measurement attachment coupled to the drilling process for providing a displacement signal corresponding to the drilling process. a first sensor configured to detect vibrations of the motor corresponding to the drilling process; and a second sensor configured to provide an associated vibration signal. (i) receiving the vibration signal and the displacement signal using an algorithm; (ii) determining whether the motor is capable of detecting one or more characteristics associated with the motor based on the vibration signal; and the displacement signal, ) determining the preferred thread length based on the penetration event and the displacement signal. and a controller configured to:

[0067] Item 2 - A surgical device, comprising: a housing; and a surgical instrument positioned within the housing. a motor and a motor status signal associated with said motor during a drilling process. and a displacement sensor configured to detect a displacement of the drill bit during the drilling process. a second sensor configured to provide a signal; and a second sensor configured to receive the motor status signal and the variable and receiving a motor status signal and using a predetermined algorithm to adjust the position of the motor based on the motor status signal. determining one or more characteristics of the motor based on a status of the motor and the displacement signal; and a controller configured to identify a penetration event using the surgical device. Chair.

[0068] Item 3 - The one or more characteristics of the motor include the state of the motor and the speed of the motor. 3. The surgical device according to item 2, comprising:

[0069] Item 4 - The controller selects a suitable network based on the penetration event and the displacement signal. 3. The surgical device of claim 2, further configured to calculate a length of the surgical site.

[0070] Item 5 - Depth measurement attach that transmits drill depth for handheld surgical systems The handheld surgical system includes a housing and a surgical instrument within the housing. and a motor positioned at the depth measurement attachment, the depth measurement attachment being a drilling pro a component configured to generate a displacement signal related to the displacement of the drill bit during the process; receiving the displacement signal, identifying frequency components of the displacement signal, and calculating based on the frequency components determining whether the motor is generating a rotational torque by using the frequency component and the variation and a controller configured to identify a penetration event based on the position signal. A depth measurement attachment.

[0071] Item 6 - An instrument comprising a housing and a motor positioned within the housing. a depth measurement attachment removably coupled to the instrument, the depth measurement attachment being adapted to measure the depth of the drilling process; a component configured to output a motor status signal associated with the motor during configured to output a displacement signal related to a displacement of a drill bit during the drilling process. a depth measurement attachment including a displacement sensor connected to said motor status signal and receiving the displacement signal and applying a rotational torque to the motor based on the motor status signal; and determining whether the motor status signal and the displacement signal are being generated. and a controller configured to identify a penetration event using the handheld device. Surgical system.

[0072] Item 7 - Depth measurement attach that transmits drill depth for handheld surgical systems The handheld surgical system includes a housing and a surgical instrument within the housing. and a motor positioned at the depth measurement attachment. a first sensor configured to output a vibration signal related to vibration of the motor during a process; and configured to output a displacement signal related to the displacement of the drill bit during the drilling process. a second sensor configured to receive the vibration signal and the displacement signal; and a controller. and determining whether the motor is generating a rotational torque based on the vibration signal. determining a penetration event based on the vibration signal and the displacement signal; and a controller configured to:

[0073] Item 8 - A handheld surgical instrument, comprising: a housing; and a surgical instrument positioned within the housing. a motor configured to apply a rotational torque to the drill bit during the drilling process. a motor and a motor status associated with said motor during said drilling process; a first sensor configured to output a signal; and a drill bit during the drilling process. a second sensor configured to output a displacement signal related to a displacement of the motor; and receiving a motor status signal and a displacement signal, and controlling the motor based on the motor status signal. determining whether the motor is generating the rotational torque, and a controller configured to identify a penetration event based on the displacement signal; A handheld surgical instrument comprising:

[0074] Item 9 - A method for identifying a penetration event in a drilling process, comprising: a first sensor and a second sensor. The sensor is used to detect one or more action events and one or more non-action events of the drilling process. detecting data indicative of a vent, wherein the one or more treatment events include a motor associated with the movement of the drill bit relative to the patient's bone while generating a rotational torque. The one or more non-treatment events may include: and the data is associated with movement of the drill bit relative to the one or more treatment events. determining whether the one or more non-treatment events correspond to a treatment event or the one or more non-treatment events; identifying the penetration event based on the data associated with the one or more procedural events. and

[0075] Item 10 - Depth measurement adapter to transmit drill depth for handheld surgical system A method for identifying a penetration event in a drilling process using a handheld The surgical system includes a housing and a drill bit positioned within the housing. and a motor configured to apply a rotational torque to said depth measuring attack. The component includes a component, a second sensor, and a controller, and the method includes: and outputting a motor status signal associated with the motor during the drilling process using a configuration element. and detecting a change in the drill bit during the drilling process using the second sensor. outputting a displacement signal related to a position of the motor stay using the controller; receiving the motor status signal and the displacement signal; and controlling the motor status signal and the displacement signal using the controller; Based on the status signal, it is determined whether the motor is generating the rotational torque. and using the controller to determine a displacement based on the motor status signal and the displacement signal. and identifying the penetration event using the

[0076] The preceding description is merely exemplary in nature and is not intended to limit the disclosure, its application, or uses. It is in no way intended to limit the scope of the present disclosure. The broad teachings of the present disclosure may be embodied in a variety of forms. Thus, although the disclosure includes specific examples, the true scope of the disclosure is not so limited. This should not be construed as a limitation on the scope of the present invention, because, upon consideration of the drawings, the specification, and the following claims, One or more steps in the method may be any of the methods disclosed herein. It should be understood that these steps may be performed in different orders (or simultaneously) without changing the principles. Further, although each example is described above as having particular features, any example of this disclosure may Any one or more of the features described herein may be expressly incorporated in any combination. Even if not described, any feature may be implemented in other examples and / or may be combined with any of the features of the other examples. In other words, the examples described are mutually exclusive. It is not intended that one or more of the examples be substituted for one another and will remain within the scope of the present disclosure.

[0077] The spatial and functional relationships between elements (e.g., between controllers, circuit elements, semiconductor layers, etc.) Relationships are defined as "connected," "engaged," "coupled," etc. upled," "adjacent," "next to," "on top of" ", "above," "below," and "disposed." The term is described using a variety of terms, including "direct." Unless otherwise specified, if a relationship between a first element and a second element is described in the disclosure above, The relationship is a direct relationship between the first element and the second element, with no other intervening elements present. However, there may be one or more intervening elements (spatial or functional) between the first and second elements. The relationship may be an indirect one existing between the parties (i.e., between the parties in the same country).

[0078] As used herein, the phrases A, B, and C refer to non- shall be interpreted to mean the logic (A OR B OR C), using the exclusive logical OR; "At least one of A, at least one of B, and at least one of C The term subset should not be interpreted as meaning "one of the In other words, a first subset of a first set does not require a It may refer to the same thing (be equal) as the .

[0079] In the figures, the direction of the arrows, as indicated by the arrowheads, generally points to the information being highlighted in the illustration. For example, element A and element B communicate various information. If the information being exchanged is transmitted from element A to element B, the arrow points to element A. A may point to element B. This one-way arrow indicates that other information is being sent from element B to element A. Furthermore, this does not mean that the information transmitted from element A to element B cannot be Thus, element B can send element A a request for information or an acknowledgment of receipt.

[0080] In this application, including the definitions below, the term "controller" is used interchangeably with the term "circuitry." The term "controller" refers to an application specific integrated circuit (AS ICs), digital, analog, or mixed analog / digital discrete circuits, digital analog or mixed analog / digital integrated circuits, combinatorial logic circuits, field Programmable gate arrays (FPGAs), processor circuits that execute code (shared, dedicated) (for, or group of), memory circuits for storing code executed by the processor circuits ( shared, dedicated, or group), or any other suitable hardware configuration that provides the described functionality. It refers to a combination of some or all of the above in a single chip, or a system on chip, etc. It may be a part of or include.

[0081] The controller may include one or more interface circuits. The interface circuit(s) may be connected to a local area network (LAN) or wireless Implements wired or wireless interfaces to connect to a personal area network (WPAN) An example of a LAN is the Institute of Electrical and Electronics Engineers (IEEE) standard 802.11-201 6 (also known as the WIFI wireless networking standard) and IEEE Standard 802. 3-2015 (also known as the ETHERNET Wired Networking Standard) An example of a WPAN is the Bluetooth Special Interest Group's BLUETOOTH wireless network. It is a working standard and IEEE standard 802.15.4.

[0082] The controller communicates with other controllers using an interface circuit (or circuits). Controllers can communicate with other controllers logically directly. Although the present disclosure may depict the controller as a may communicate over a communication system. The communication system may include hubs, switches, routers, and gateways. In this paper, the communication system is connected to a wide area network (WAN) such as the Internet. For example, a communication system may use multi-protocol label switching. Uses technologies including MPLS and Virtual Private Networks (VPN) and multiple servers connected to each other via the Internet or a point-to-point leased line. The LAN may include:

[0083] In various implementations, the functionality of the controller is implemented by multiple For example, multiple controllers may be used in a load balancing system. In a further example, the controller's functionality may be The server (also known as remote or cloud) controller and the client (also known as can be split between the user and the controller.

[0084] A language for describing some or all of the hardware functions of the controller; For example, IEEE Standard 1364-2005 (commonly referred to as "Verilog") and I Defined using EEE standard 1076-2008 (commonly referred to as "VHDL") etc. The hardware description language can be used to create and / or program hardware circuits. In some implementations, some or all of the features of the controller may be used to is an IEEE1666-2 standard that encompasses both the code and hardware description described below. 005 (commonly referred to as "SystemC").

[0085] As used above, the term Code includes software, firmware, and / or It can contain microcode, programs, routines, functions, classes, data structures, and The term shared processor circuit may refer to multiple processors and / or objects. The GNU / Linux 2.0 kernel includes a single processor circuit that executes some or all of the code from the GNU / Linux 2.0 controller. The term processor circuitry refers to one or more processor circuits in combination with additional processor circuits. The processor circuitry executes some or all of the code from the controller. References to processor circuits include multiple processor circuits on separate dies, multiple processor circuits on a single die, Processor circuit, multiple cores of a single processor circuit, multiple slots of a single processor circuit The term shared memory circuit includes multiple controllers, The group includes a single memory circuit that stores some or all of the codes from the controller. The term memory circuitry refers to a combination of additional memory and control from one or more controllers. The memory circuitry includes a memory for storing some or all of the code.

[0086] The term memory circuit is a subset of the term computer-readable medium. The term computer readable medium, as used herein, refers to a medium (such as a carrier wave) that is transmitted It does not include transient electrical or electromagnetic signals propagated by a computer. The term computer readable medium may be considered to be tangible and non-transitory. Non-limiting examples of such memory circuits include non-volatile memory circuits (flash memory circuits, erasable programmable read-only memory circuits, mask read-only memory circuits, etc.), volatile memory circuits (Static random access memory circuit or dynamic random access memory circuit paths, etc.), magnetic storage media (analog or digital magnetic tapes or hard disk drives DVDs, etc.), and optical storage media (CDs, DVDs, or Blu-ray discs, etc.) It is.

[0087] The apparatus and methods described in this application may include one or more programs embodied in a computer program. A dedicated program created by configuring a general-purpose computer to perform a specific function of The above-described functional blocks and functions may be implemented in part or entirely by a computer. The flow chart elements act as software specifications and are controlled by the skilled engineer or programmer. It can be converted into a computer program by a process of programming.

[0088] The computer program is stored on at least one non-transitory computer readable medium. The computer program also includes stored data and processor executable instructions. A computer program may include or depend on a special-purpose computer hardware. Basic Input / Output System (BIOS), which interacts with the hardware, and specific devices in dedicated computers It consists of device drivers, one or more operating systems, and user applications that interact with the This includes applications, background services, background applications, etc. It is possible.

[0089] As a computer program, (i) HTML (HyperText Markup Language ), XML (Extensible Markup Language), or JSON (JavaScript Object Notation (ii) assembly code; (iii) a compiler (iv) execution by an interpreter; (v) compilation and execution by a just-in-time compiler; By way of example only, the source code may be in C, C++, etc. , C#, Objective C, Swift, Haskell, Go, SQL, R, L isp, Java (registered trademark), Fortran, Perl, Pascal, Curl, OCaml, JavaScript (registered trademark), HTML5 (HyperText Markup Language (HTML5) 5th revision), Ada, ASP (Active Server Pages), P HP (Hypertext Preprocessor), Scala, Eiffel, Smalltalk, E rlang, Ruby, Flash (registered trademark), Visual Basic (registered trademark) ), Lua, MATLAB®, SIMULINK®, and Python It can be written using syntax from languages ​​including on®.

Claims

1. Housing and a motor positioned within the housing; An apparatus comprising: a depth measurement attachment removably coupled to the instrument, a vibration signal associated with the vibration of the motor during a drilling process; One sensor; configured to provide a displacement signal related to a displacement of the drill bit during the drilling process. The second sensor a depth measurement attachment comprising: receiving the vibration signal and the displacement signal; determining a characteristic of the motor based on the vibration signal; and identifying a through-through event based on the characteristic of the motor and the displacement signal. Controllers configured to A handheld surgical system comprising:

2. The penetration event occurs when a distal end of the drill bit protrudes through a distal cortical wall of a patient's bone. The handheld surgical system of claim 1 , wherein the time is determined based on the time elapsed since the first measurement.

3. The characteristic is selected from the group consisting of a state of the motor and a speed of the motor.

3. A handheld surgical system according to claim 1 or 2.

4. the characteristic being a state of the motor; In a first state, the motor is off and does not generate rotational torque; In a second state, the motor is on and generates a rotational torque, and the vibration signal indicates whether the motor is in the first state or the second state; The handheld surgical system of claim 3 .

5. The first sensor is an accelerometer, the accelerometer having a first axis along which the first sensor moves. The vibration signal is generated by a vibration sensor according to any one of claims 1 to 4. Handheld surgical system.

6. The first axis is perpendicular to a rotation axis of the motor, and the vibration signal is along the first axis.

6. The handheld surgical system of claim 5, further comprising a first component corresponding to a vibration generated by said first and second electrodes.

7. The accelerometer is further adapted to generate the vibration signal along a second axis of the accelerometer. the second axis is perpendicular to the first axis, and the vibration signal is along the second axis.

7. The handheld surgical system of claim 6, further comprising a second component corresponding to the vibration. 。

8. The controller determines the characteristic of the motor based on the frequency of the first component. The handheld surgical system of claim 6 , configured to:

9. The controller controls the motor to be in a first state based on the frequency of the first component. distinguishing whether the first state is in the first state or the second state; In the first state, the motor is off and does not generate rotational torque; In the second state, the motor is on and generates a rotational torque. The handheld surgical system of claim 8.

10. The controller is configured to determine at a predetermined time whether the motor is in the second state. The handheld surgical system of claim 9 , configured to delay between the first and second inputs.

11. The controller is configured to: In response to the command, the motor is determined to be set to the second state.

10. The handheld surgical system of claim 9.

12. The displacement signal is provided over a displacement time interval; The vibration signal is provided over a vibration time interval; The controller is configured to divide the vibration time interval into time blocks; the controller includes a counter; The controller determines the time for each of the time blocks of the vibration time interval. configured to determine the frequency of a component of For each of the time blocks of the oscillation time interval, the controller configured to compare the frequency of a first component to a first threshold; The counter is incremented in response to the frequency being greater than the first threshold. 、 The handheld surgical system of claim 9.

13. The controller is further configured to compare a value of the counter to a second threshold; The controller, in response to the value of the counter being greater than the second threshold value, , determining that the motor is in the second state for a group of time blocks; the group of time blocks corresponds to the time block for which the counter was incremented; The handheld surgical system of claim 12.

14. The controller may be configured to: The counter value is equal to or greater than 1, and the frequency of the first component is less than the first threshold. in response to the motor being at the first position for the group of time blocks being full, 14. The handheld device according to claim 13, wherein the handheld device determines that the state is in a non-zero state and resets the counter. Departmental system.

15. The controller, for one of the time blocks, in response to the frequency of one component being less than the first threshold, 13. The handheld of claim 12, wherein the motor is determined to be in the first state upon Surgical systems.

16. The controller is further defined as a first controller, The system further includes a second controller configured to control operation of the motor. A handheld surgical system according to any one of claims 1 to 15, comprising:

17. The first controller is disposed inside the depth measurement attachment.

17. A handheld surgical system as described in claim 16.

18. The depth measurement attachment further comprises a display; The controller determines a visual indication of the penetration depth of the display based on the penetration event. and further configured to generate a visual representation of the A handheld surgical system according to any one of claims 1 to 17.

19. a depth measurement extension operably coupled to the depth measurement attachment. A handheld surgical system according to any one of claims 1 to 18.

20. The second sensor is connected to the depth measurement extension and is located at the position of the depth measurement extension. The handheld surgical system of claim 19 , wherein the system provides the displacement signal based on

21. 20. The handheld surgical system of claim 19, wherein the depth measurement extension is a cannula. Stem.

22. the depth measurement attachment comprises a user input device; The displacement signal is provided over a displacement time interval; the displacement time interval begins in response to the user input device being engaged. A handheld surgical system according to any one of claims 1 to 21.

23. The displacement signal is provided over a displacement time interval; The displacement time interval begins when the motor begins to move and the surgeon Ends when the bit is fully retracted from the patient's bone. A handheld surgical system according to any one of claims 1 to 22.

24. The displacement signal is provided over a displacement time interval; The vibration signal is provided over a vibration time interval; an initial time of the vibration time interval does not coincide with an initial time of the displacement time interval; the final time of the vibration time interval does not coincide with the final time of the displacement time interval; A handheld surgical system according to any one of claims 1 to 23.

25. The controller determines a preferred thread length based on the penetration event and the displacement signal. The handheld device of any one of claims 1 to 24, further configured to determine Surgical systems.

26. the first sensor is an accelerometer; the vibration signal includes a first axial component; The controller determines a penetration index based on a frequency of the first axial component over a first interval. configured to identify the vent; A handheld surgical system according to any one of claims 1 to 25.

27. The controller determines one or more Fourier transforms of a first axial component of the vibration signal. The handheld surgical system according to any one of claims 1 to 26, Stem.

28. The controller determines whether the motor is in a first state based on the one or more Fourier transforms. distinguishing whether the first state is in the first state or the second state; In the first state, the motor is off and does not generate rotational torque; In the second state, the motor is on and generates a rotational torque.

28. The handheld surgical system of claim 27.

29. The controller is adapted to identify therapeutic and non-therapeutic displacements from the displacement signal. It is further constructed, The therapeutic displacement is related to the displacement when the motor is generating the rotational torque. And The non-operative displacement refers to the displacement when the motor is not generating the rotational torque. Can be attached, A handheld surgical system according to any one of claims 1 to 28.

30. The controller is further configured to identify a treatment event based on the displacement signal.

30. The handheld surgical system of claim 1, wherein

31. The treatment events include maximum displacement, local maximum displacement, minimum displacement, local minimum displacement, maximum acceleration, , local maximum acceleration, maximum velocity, local maximum velocity, minimum velocity, local minimum velocity, and a predefined threshold.

31. The handheld surgical system of claim 30, wherein the handheld surgical system corresponds to a gradient having a value greater than

32. The displacement signal is provided over a displacement time interval; The vibration signal is provided over a vibration time interval; The controller divides the vibration time interval by a first interval to establish time blocks. It is configured to The controller, for each of the time blocks, 4. Performing a short-time Fourier transform of the vibration signal to generate a number of frequency bins across a frequency range. and a magnitude of each of the plurality of frequency bins; selecting a frequency bin having a maximum magnitude from among the plurality of frequency bins; Based on the selected frequency bin, the motor performs a first Determine whether the first or second state is in It is configured as follows: In the first state, the motor is off and does not generate rotational torque; In the second state, the motor is on and generates a rotational torque. A handheld surgical system according to any one of claims 1 to 31.

33. 33. The handheld device of claim 32, wherein the frequency range is from 50 Hz to 330 Hz. Surgical system.

34. The controller determines whether the selected frequency bins are equal to or smaller than two consecutive time blocks. and identifying that the motor is set to the second state until the two are the same. The handheld surgical system of claim 32 further configured to postpone.

35. The controller is configured to adjust the maximum magnitude of the plurality of frequency bins relative to a minimum magnitude threshold. When the motor is less than the predetermined time block, the motor 33. The method of claim 32, further configured to determine whether the first state is set. The handheld surgical system is shown.

36. With depth measurement attachment that transmits drill depth for handheld surgical systems The handheld surgical system includes a housing and a surgical instrument positioned within the housing. and a motor mounted on the configured to output a motor status signal associated with the motor during a drilling process. The components configured to output a displacement signal related to a displacement of the drill bit during the drilling process. a second sensor connected to the second sensor; receiving the motor status signal and the displacement signal; Based on the result, it is determined whether the motor is generating a rotational torque, and the motor stator a control signal for determining a penetration event based on the displacement signal and the displacement signal; Trolla and A depth measurement attachment comprising:

37. The controller is updated to determine a borehole depth based on the penetration event.

37. The depth measurement adapter for a handheld surgical system according to claim 36, Attachment.

38. The controller is adapted to identify therapeutic and non-therapeutic displacements from the displacement signal. It is further constructed, The therapeutic displacement is related to the displacement when the motor is generating the rotational torque. And The non-operative displacement refers to the displacement when the motor is not generating the rotational torque. Can be attached, 37. A depth measurement attachment for a handheld surgical system according to claim 36.

39. the component is a circuit including an antenna, The antenna receives one or more radio waves generated by the motor and detects the one or more The above-mentioned radio wave is configured to output at least one of a voltage signal and a current signal corresponding to the radio wave. And, The controller receives the at least one of the voltage signal and the current signal. and outputting the motor status signal based on the one or more radio waves. It has been made 37. A depth measurement attachment for a handheld surgical system according to claim 36.

40. The component includes an optical sensor configured to detect an optical characteristic of the drill bit. and The component is configured to determine the motor status signal based on the optical characteristic. It has been made 37. A depth measurement attachment for a handheld surgical system according to claim 36.

41. The optical sensor includes: a light source configured to emit light onto the drill bit; a transducer for measuring the optical reflectance of the drill bit; 41. The depth measurement attach for a handheld surgical system of claim 40, comprising: Mention.

42. The optical properties of the drill bit vary the parameters of the light emitted from the light source.

42. The handheld surgical system of claim 41, wherein the laser mark is configured to change the Depth measurement attachment for stems.

43. The component is configured to detect a magnetic field emitted by the drill bit. It is a magnetic sensor, The component is configured to determine the motor status signal based on the magnetic field. It has been said that 37. A depth measurement attachment for a handheld surgical system according to claim 36.

44. The component detects the acoustic waves emitted when the motor is generating the rotational torque. an audio sensor configured to detect a characteristic; The component identifies the motor status signal based on the characteristic of the acoustic wave. It is configured as follows:

37. A depth measurement attachment for a handheld surgical system according to claim 36.

45. 45. The handheld external device of claim 44, wherein the audio sensor is a microphone. Depth measurement attachment for medical systems.

46. The depth measurement attachment receives a power signal from a complementary electrical connector on the instrument. and an electrical connector configured to receive electrical power via the the component is a sensor configured to detect a voltage of the power signal; The controller controls the motor to generate the rotational torque based on the voltage of the power signal. , and configured to determine whether 37. A depth measurement attachment for a handheld surgical system according to claim 36.

47. The component is configured to detect vibrations of the motor when the motor is generating the rotational torque. an accelerometer configured to detect The component determines the motor status signal based on the vibration of the motor. It is configured to 37. A depth measurement attachment for a handheld surgical system according to claim 36.

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