Systems for using the status of a motor during a surgical drilling procedure to improve efficiency of a breakthrough algorithm

Abstract

A depth measurement attachment for sending a drill depth for a handheld surgical system, wherein the handheld surgical system comprises an instrument including a housing and a motor positioned in the housing, the depth measurement attachment comprising: a sensor configured to generate a displacement signal associated with a displacement of a drill bit during a drilling process; and a controller configured to: receive the displacement signal; determine a frequency component of the displacement signal; determine whether the motor is generating rotational torque, based on the frequency component; and determine a breakthrough event based on the frequency component and the displacement signal. 20 24 21 97 03 13 S ep 2 02 4 A B S T R A C T 2 0 2 4 2 1 9 7 0 3 1 3 S e p 2 0 2 4

Claims

1. A depth measurement attachment for sending a drill depth for a handheld surgical system, wherein the handheld surgical system comprises an instrument including a housing and a motor positioned in the housing, the depth measurement attachment comprising:a sensor configured to generate a displacement signal as a drill bit is displaced during a drilling process; anda controller configured to:receive the displacement signal;determine a frequency component of the displacement signal;determine whether the motor is generating rotational torque, based on the frequency component; anddetermine a breakthrough event based on the frequency component and the displacement signal.

2. The depth measurement attachment of claim 1, wherein the breakthrough event is a time at which a distal end of the drill bit has protruded through a distal cortical wall of a bone of a patient.

3. The depth measurement attachment of claim 1, wherein the controller is further configured to determine a bore hole depth based on the breakthrough event.

4. The depth measurement attachment of any one of claims 1-3, further comprising a depth measurement extension connected to the sensor, wherein the sensor provides the displacement signal based on a position of the depth measurement extension.

5. The depth measurement attachment of claim 4, wherein the depth measurement extension comprises a cannula.2024219703   26 Aug 20266. The depth measurement attachment of any one of claims 1-5, further comprising a user input device, and wherein:the displacement signal is provided over a displacement time interval; andthe displacement time interval begins in response to the user input device being engaged.

7. The depth measurement attachment of any one of claims 1-5, wherein:the displacement signal is provided over a displacement time interval; andthe displacement time interval begins when the controller determines the motor is generating torque and ends when a surgeon fully retracts the drill bit from a bone of a patient.

8. The depth measurement attachment of any one of claims 1-7, wherein the controller is further configured to determine a suitable screw length based on the breakthrough event and the displacement signal.

9. The depth measurement attachment of any one of claims 1-8, wherein:the controller is configured to determine one or more Fourier transforms of the displacement signal;the controller identifies whether the motor is in a first state or a second state based on the one or more Fourier transforms;in the first state, the motor is off and not generating rotational torque; andin the second state, the motor is on and generating the rotational torque.

10. The depth measurement attachment of any one of claims 1-9, wherein:the controller is further configured to determine procedural displacement and nonprocedural displacement from the displacement signal;the procedural displacement is associated with displacement when the controller determines the motor is generating the rotational torque; andthe non-procedural displacement is associated with displacement when the controller determines the motor is not generating the rotational torque.2024219703   26 Aug 202611. The depth measurement attachment of any one of claims 1-10, wherein the controller is further configured to determine a procedural event based on the displacement signal, and wherein the procedural event corresponds to a maximum displacement, a local maximum displacement, a minimum displacement, a local minimum displacement, a maximum acceleration, a local maximum acceleration, a maximum velocity, a local maximum velocity, a minimum velocity, a local minimum velocity, and a slope having a value exceeding a predetermined threshold.

12. A handheld surgical system comprising:an instrument comprising:a housing, anda motor positioned within the housing; anda depth measurement attachment removably coupled to the instrument, the depth measurement attachment comprising:a sensor configured to generate a displacement signal as a drill bit is displaced during a drilling process, anda controller configured to:receive the displacement signal,determine a frequency component of the displacement signal,determine whether the motor is generating rotational torque, based on the frequency component, anddetermine a breakthrough event based on the frequency component and the displacement signal.

13. The handheld surgical system of claim 12, wherein the breakthrough event is a time at which a distal end of the drill bit has protruded through a distal cortical wall of a bone of a patient.

14. The handheld surgical system of claim 12, wherein the controller is further configured to determine a bore hole depth based on the breakthrough event.2024219703   26 Aug 202615. The handheld surgical system of any one of claims 12-14, wherein the controller is further defined as a first controller, and wherein the handheld surgical system further comprises a second controller configured to control operation of the motor, and wherein the first controller is disposed inside of the depth measurement attachment and the second controller is disposed inside the housing of the instrument.

16. The handheld surgical system of any one of claims 12-15, further comprising a user input device, and wherein:the displacement signal is provided over a displacement time interval; andthe displacement time interval begins in response to the user input device being engaged.

17. The handheld surgical system of any one of claims 12-15, wherein: the displacement signal is provided over a displacement time interval; and the displacement time interval begins when the controller determines the motor is generating torque and ends when a surgeon fully retracts the drill bit from a bone of a patient.

18. The handheld surgical system of any one of claims 12-17, wherein:the controller is configured to determine one or more Fourier transforms of the displacement signal;the controller identifies whether the motor is in a first state or a second state based on the one or more Fourier transforms;in the first state, the motor is off and not generating rotational torque; andin the second state, the motor is on and generating the rotational torque.

19. The handheld surgical system of any one of claims 12-18, wherein:the controller is further configured to determine procedural displacement and nonprocedural displacement from the displacement signal;the procedural displacement is associated with displacement when the controller determines the motor is generating the rotational torque; andthe non-procedural displacement is associated with displacement when the controller determines the motor is not generating the rotational torque.2024219703   26 Aug 202620. The handheld surgical system of any one of claims 12-19, wherein the controller is further configured to determine a procedural event based on the displacement signal, and wherein the procedural event corresponds to a maximum displacement, a local maximum displacement, a minimum displacement, a local minimum displacement, a maximum acceleration, a local maximum acceleration, a maximum velocity, a local maximum velocity, a minimum velocity, a local minimum velocity, and a slope having a value exceeding a predetermined threshold.

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