System for improving efficiency of penetration algorithms using motor status during surgical drilling procedures - Patents.com

Abstract

The handheld surgical system includes an instrument, a depth measurement attachment, and a controller. The instrument includes a housing and a motor positioned within the housing. The depth measurement attachment is removably coupled to the instrument. The depth measurement attachment includes a first sensor configured to provide a vibration signal related to vibration of the motor during a drilling process, a second sensor configured to provide a displacement signal related to displacement of the drill bit during the drilling process, and a controller. The controller is configured to receive the vibration signal and the displacement signal. The controller is also configured to use an algorithm to identify a characteristic of the motor based on the vibration signal and to identify a penetration event based on the motor characteristic and the displacement signal.

Description

[Technical field]

[0001] [CROSS REFERENCE TO RELATED APPLICATIONS] This patent application claims priority to and the benefit of all of U.S. Provisional Patent Application No. 62 / 914,042, filed October 11, 2019, the disclosure of which is incorporated herein by reference. [Background technology]

[0002] In orthopedic surgery, it is common to use several different surgical tools to repair bone injuries, wear-induced joint injuries, congenital defects, injuries due to disease, etc. Non-limiting examples of such tools include rotary cutting handheld surgical instruments such as drills. These handheld surgical instruments are used to create bore-holes for many different purposes, such as placing screws to repair fracture injuries with screws to hold the fixation in place. An important part of these surgical procedures is identifying the appropriate length of the screw to use.

[0003] A typical method for determining the borehole depth is to use a separate device in the form of a depth gauge that is introduced into the patient's body to measure the borehole depth. The significant drawbacks of this protocol are: 1) the introduction of another surgical instrument into the patient's body while maintaining sterile conditions, and 2) the increased surgical time and exposure of the patient to the surrounding environment.

[0004] The discussion of the background art provided herein is generally intended to provide a context for the present disclosure. The inventors' discussion, to the extent that it is provided in this background art section, is not expressly or impliedly admitted as prior art to the present disclosure, as are aspects of the description that may not qualify as prior art at the time of filing. Summary of the Invention

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

[0006] In one aspect, a surgical device is described that includes a housing, a motor positioned within the housing, a first sensor configured to generate a motor status signal associated with the motor during a drilling process, and a second sensor configured to provide a displacement signal associated with a displacement of the drill bit during the drilling process. The surgical device also includes a controller configured to receive the motor status signal and the displacement signal, identify one or more characteristics of the motor based on the motor status signal using a predetermined algorithm, and identify a penetration event based on the motor status and the displacement signal.

[0007] In one aspect, a depth measurement attachment transmitting drill depth for a handheld surgical system is described. The handheld surgical system includes an instrument including a housing and a motor positioned within the housing, the depth measurement attachment includes a component configured to output a motor status signal associated with the motor during a drilling process and a second sensor configured to output a displacement signal associated with a displacement of the drill bit during the drilling process. A controller is configured to receive the motor status signal and the displacement signal, determine if the motor is generating a rotational torque based on the motor status signal, and identify a penetration event based on the motor status signal and the displacement signal.

[0008] In features, a depth measurement attachment that transmits drill depth for a handheld surgical system is described. The handheld surgical system includes an instrument that includes a housing and a motor positioned within the housing. The depth measurement attachment includes a component configured to generate a displacement signal related to a displacement of the drill bit during a drilling process. The depth measurement attachment also includes a controller configured to receive the displacement signal, identify a frequency component of the displacement signal, determine if the motor is generating a rotational torque based on the frequency component, and identify a penetration event based on the frequency component and the displacement signal.

[0009] In features, a handheld surgical system is described. The handheld surgical system includes an instrument including a housing and a motor positioned within the housing, and a depth measurement attachment removably coupled to the instrument. The depth measurement attachment includes a component configured to output a motor status signal associated with the motor during a drilling process, and a displacement sensor configured to output a displacement signal associated with a displacement of the drill bit during the drilling process. The depth measurement attachment also includes a controller configured to receive the motor status signal and the displacement signal, determine if the motor is generating a rotational torque based on the motor status signal, and identify a penetration event based on the motor status signal and the displacement signal.

[0010] In features, a depth measurement attachment that transmits drill depth for a handheld surgical system is described. The handheld surgical system includes an instrument including a housing and a motor positioned within the housing. The depth measurement attachment includes a first sensor configured to output a vibration signal associated with vibration of the motor during a drilling process and a second sensor configured to output a displacement signal associated with a displacement of the drill bit during the drilling process. The depth measurement attachment also includes a controller configured to receive the vibration signal and the displacement signal, determine if the motor is generating a rotational torque based on the vibration signal, and identify a penetration event based on the vibration signal and the displacement signal.

[0011] In one aspect, a handheld surgical instrument is described that includes a housing, a motor positioned within the housing, the motor configured to apply a rotational torque to the drill bit during a drilling process, a first sensor configured to output a motor status signal associated with the motor during the drilling process, and a second sensor configured to output a displacement signal associated with a displacement of the drill bit during the drilling process. The handheld surgical instrument also includes a controller configured to receive the motor status signal and the displacement signal, determine if the motor is generating the rotational torque based on the motor status signal, and identify a penetration event based on the motor status signal and the displacement signal.

[0012] In a feature, a method of identifying a penetration event of a drilling process is described. The method includes sensing data indicative of one or more treatment events and one or more non-treatment events of the drilling process with a first sensor and a second sensor. The one or more treatment events are associated with movement of the drill bit relative to the patient's bone when the motor is generating a rotational torque. The one or more non-treatment events are associated with movement of the drill bit relative to the patient's bone when the motor is off. The method further includes determining whether the data corresponds to the one or more treatment events or the one or more non-treatment events. The method further includes identifying the penetration event based on the data associated with the one or more treatment events.

[0013] In a feature, a method of identifying a breakthrough event of a drilling process using a depth measurement attachment transmitting drill depth for a handheld surgical system is described. The handheld surgical system includes an instrument including a housing and a motor configured to apply a rotational torque to a drill bit positioned within the housing. The depth measurement attachment includes a component, a second sensor, and a controller. The method includes using the component to output a motor status signal associated with the motor during the drilling process, using the second sensor to output a displacement signal associated with a displacement of the drill bit during the drilling process, using the controller to receive the motor status signal and the displacement signal, using the controller to determine whether the motor is generating a rotational torque based on the motor status signal, and using the controller to identify the breakthrough event based on the motor status signal and 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 for purposes of illustration only and are not intended to limit the scope of the present 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.

[0018] 1-5, a handheld surgical system 100 is shown for use in performing a surgical drilling procedure. The handheld surgical system 100 eliminates the need for a second device, such as a depth gauge, to identify borehole depth. The handheld surgical system 100 includes a handheld surgical instrument 104 and a cutting tool 108, such as a drill bit. The handheld surgical instruments described in International Patent Publication No. 2017 / 040783, entitled "Powered Surgical Drill With Integral Depth Gauge That Includes A Probe That Slides Over A Drill Bit," filed on September 1, 2016, and International Patent Publication No. 2019 / 035096, entitled "Surgical Handpiece For Measuring Depth Of Bore Holes And Relates Accessories," filed on August 17, 2018, are incorporated herein by reference in their entireties.

[0019] The handheld surgical system 100 is configured to identify a depth of the borehole to be drilled by the cutting tool 108. The handheld surgical system 100 may also be configured to identify a suitable screw length for fixation of the bone based on the depth of the borehole. The identification of the screw length may occur immediately after the bone drilling process is completed. The handheld surgical instrument 104 may include 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.

[0020] 2 and 3 show the motor 114 positioned along a proximal / distal axis AX within the housing 112, although other motor positions are contemplated. The motor 114 may be electric, pneumatic, or hydraulic. The motor 114 is configured to selectively generate a rotational torque in response to commands, signals, etc. received from a controller, such as the second controller 162. The motor 114 includes a rotor cannula 115 supported for rotation about the axis AX by a pair of bearings 117. A drive gear (not shown in FIG. 3 ) disposed adjacent to a gear set (not shown in FIG. 3 ) is coupled to and rotates with the rotor cannula 115 and is used to transmit the rotational torque to the gear set. For example, the motor 114 and / or gear set configurations discussed in WO 2017 / 040783 and WO 2019 / 035096 may be used as the motor 114 of the handheld surgical system 100.

[0021] The handheld surgical system 100 may include a depth measurement attachment 116 that is removably coupled to the housing 112 or integrally formed therewith. The depth measurement attachment 116 may include a separate housing, such as a modular housing 120. The depth measurement attachment 116 may be constructed to minimize obstruction of the surgeon's view of the surgical site. The depth measurement attachment 116 may further include a first sensor 124, such as a displacement sensor, operably connected to a depth measurement extension 128. As shown, the depth measurement extension 128 is a cannula. The first sensor 124 is configured to output a displacement signal 164 when the depth measurement extension 128 moves relative to the handheld surgical instrument 104. In some configurations, the depth measurement extension 128 has an inner surface 132 disposed on the cutting tool 108. In this example, the depth measurement extension 128 is concentrically positioned on the cutting tool 108, however, in alternative configurations, the depth measurement extension 128 and the cutting tool 108 need not be concentrically positioned. In other configurations, the first sensor 124 may be a depth sensor (e.g., a laser sensor) configured to output a displacement signal 164 as the drill bit moves relative to the bone. The first sensor 124 may not be housed within the depth measurement attachment 116 and may, for example, be attached to the handheld surgical instrument 104.

[0022] In one example, the depth measurement attachment 116 may include a rotatable gear 136. In such an example, the depth measurement extension 128 has a set of rack teeth 140 that are longitudinally disposed over at least a portion of the length of the depth measurement extension 128 that mesh with each other to engage teeth on the rotatable gear 136. The rotatable gear 136, which is operatively coupled to the first sensor 124, is manipulated by any axial movement of the depth measurement extension 128 through the engagement of the rack teeth 140 with the teeth on the rotatable gear 136. In this non-limiting example, the first sensor 124 is a potentiometer. Other types of sensors, such as optical sensors, LVDT sensors, etc., may be used.

[0023] 4, to ensure that there is proper functioning of the depth measuring extension 128 and the first sensor 124, the depth measuring extension 128 may be biased toward an extended position. This bias ensures that the distal end of the depth measuring extension 128 always maintains contact with the proximal surface of the bone being drilled or the plate / implant abutting the bone being drilled. This bias is achieved by using a spring 160 that biases the rotatable gear 136 to rotate the gear in a direction that extends the depth measuring extension 128 distally from the module housing 120. However, other methods of biasing the depth measuring extension 128 relative to the handheld surgical instrument 104 are contemplated. The first sensor 124 is operably connected to the depth measuring extension 128 and configured such that the first sensor 124 provides a displacement signal 164 over a first time interval 168, as will be discussed in more detail below.

[0024] 3, the depth measurement attachment 116 may further include a second sensor 142 configured to output a signal indicative of a motor status. For example, the second sensor 142 may correspond to an accelerometer and may be configured to output a vibration signal indicative of vibration of the motor 114, specifically a vibration signal corresponding to rotor imbalance of the motor 114. Although the second sensor 142 is shown in FIGS. 2 and 4 as being disposed within the depth measurement attachment 116, the second sensor 142 may be positioned in any other suitable location, such as within the handheld surgical instrument 104.

[0025] 4 and 5, the depth measurement attachment 116 may include a first controller 144 operably connected to the first sensor 124 and the second sensor 142. The first controller 144 may be configured to identify a penetration event based on the displacement signal 164 and the vibration signal 166. The penetration event may correspond to a time when the distal end of the drill bit protrudes through the distal cortical wall of the patient's bone. Based on this time, the first controller 144 may identify a corresponding displacement from the displacement signal 164.

[0026] The handheld surgical instrument 104 may also include a second controller 162 that controls operation of the motor 114 of the handheld surgical instrument 104. Although the first controller 144 and the second controller 162 are shown as separate controllers, with the first controller 144 shown disposed within the depth measurement attachment 116 and the second controller 162 disposed within the handheld surgical instrument 104, the first controller 144 or the second controller 162 may be housed in a remote device. The first controller 144 and the second controller 162 may also be integrated into a single controller if a separate depth measurement attachment 116 is not present.

[0027] The depth measurement attachment 116 may include a housing connector 150 configured to operably connect with an instrument connector 152 of the handheld surgical instrument 104. In one example, the handheld surgical instrument 104 may provide a power signal (power connection) to the depth measurement attachment 116 solely via a connection between the instrument connector 152 and the housing connector 150. The configuration of the second sensor 142 disposed within the depth measurement attachment 116 allows the depth measurement attachment 116 to determine one or more conditions associated with the motor 114, such as a status or state of the motor 114, without connecting to a second controller 162 of the handheld surgical instrument 104.

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

[0029] The depth measurement attachment 116 may also include a display 156, such as a display screen, one or more light emitting diodes (LEDs), etc., to provide the surgeon with information regarding the movement of the depth cannula, such as displaying real-time drilling depth, recorded maximum previous drilling depth, thread length, penetration indication, cortical drilling depth, borehole depth, etc. This same information may also be communicated to the user using a speaker to provide an audio indication of the real-time drilling depth, recorded maximum previous drilling depth, penetration indication, etc.

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

[0031] 7, the first time interval 168 corresponds to the surgical drilling process. The first time interval 168 is bounded by an initial time (TI1) and a final time (TF1). The user input device may be used to initiate the first time interval 168, or in other words, to set the initial time (TI1). That is, (TI1) is the time when the surgeon places the drill in position to initiate the drilling procedure and engages the user input device, and (TF1) is the time when the surgeon fully retracts the drill after performing a particular drilling of the bone such that the depth measuring extension 128 returns to its starting position. At (TI1), which corresponds to the starting displacement, the depth measuring extension 128 is not displaced relative to the surgical instrument 104. In an alternative configuration, the first time interval 168 may be initiated in response to the motor 114 generating a rotational torque or based on the movement of the depth measuring extension 128.

[0032] The displacement data may be collected based on a system clock signal, which in a non-limiting example of a system is an internal clock signal of the controller's processor or a clock signal from a separate clock device. The system clock signal is used to define a sample rate at which the displacement data is collected and indexed over a first time interval 168 to generate the displacement signal 164. It is contemplated that the sampling rate may be fixed, or the sampling rate may be variable or treatment dependent.

[0033] Although the illustrated embodiment of the present invention shows the second sensor 142 as an accelerometer, various other components may be employed to sense a characteristic indicative of the state of the motor 114 (i.e., whether the motor 114 is generating a rotational torque) or the motor speed external to the instrument. In an alternative configuration, the depth measurement attachment 116 may include an antenna instead of the second sensor 142. In this configuration, the antenna may be configured to receive one or more radio waves generated by the motor 114 when the motor 114 is generating a rotational torque. The antenna may be configured to output a voltage signal or a current signal based on the one or more radio waves emitted from the motor 114. The first controller 144 may be configured to receive the voltage signal or the current signal and output a motor status signal based on the received one or more radio waves. The first controller 144 may include a signal processing circuit configured to process the signal from the antenna to generate a motor status signal. The first controller 144 may then determine whether the motor 114 is generating a rotational torque based on the motor status signal.

[0034] In another configuration, the second sensor 142 may correspond to an optical sensor configured to detect an optical characteristic of the drill bit, for example, while the drill bit is rotating about the axis AX. Based on the optical characteristic of the drill bit, the optical sensor can output a motor status signal. For example, based on the change in position of the optical characteristic as the drill bit rotates, evidenced by the motor status signal, the first controller 144 may identify that the motor is generating a rotational torque. Further details of the configuration of the optical sensor to detect the optical characteristic of the drill bit are discussed in International Application PCT / US2020 / 033288, entitled "Powered Surgical Drill Having Rotating Field Bit Identification," filed May 15, 2020, which is incorporated by reference in its entirety. The optical sensor may include a light source, for example, a light emitting diode (LED), configured to emit light onto the drill bit and a transducer for measuring the optical reflectance of the drill bit. In some configurations, the drill bit may include an optical characteristic, such as a laser mark or another identifiable mark, configured to change a parameter of the light emitted from the light source.

[0035] In another configuration, the second sensor 142 may correspond to a sensor, such as a magnetic field sensor, a Hall effect sensor, or a magnetoresistive sensor, configured to detect a magnetic field emitted by the drill bit while the drill bit rotates about the axis AX. In this configuration, the drill bit may include one or more magnets or other features configured to emit a magnetic field. The second sensor 142 may be configured to determine a motor status signal based on the detected magnetic field. Based on the motor status signal, the first controller 144 may be configured to determine whether the motor 114 is generating a rotational torque. For example, if the magnetic field is fluctuating, the first controller 144 may determine that the motor 114 is generating a rotational torque.

[0036] In another configuration, the second sensor 142 may correspond to an audio sensor configured to detect characteristics of sound waves emitted by the motor 114, such as sound waves emitted while the motor 114 is generating a rotational torque. In some configurations, the audio sensor may correspond to a microphone or another suitable electromechanical transducer. The audio sensor may be configured to determine a motor status signal based on the characteristics of the sound waves. Based on the motor status signal, the first controller 144 may be configured to determine whether the motor 114 is generating a rotational torque. For example, the first controller 144 may store one or more characteristics of previous sound waves generated by the motor 114 and use the stored characteristics in determining whether the motor status signal is indicative of the motor 114 generating a rotational torque.

[0037] In another configuration, the second sensor 142 may correspond to a voltage sensor configured to detect the voltage of the power signal. As mentioned above, the housing connector 150 of the depth measurement attachment 116 can receive the power signal from the instrument connector 152. When the motor 114 is generating a rotational torque, the voltage of the power signal includes a noise component that is not present when the motor 114 is not generating a rotational torque. Thus, the first controller 144 can identify whether the motor 114 is generating a rotational torque or not based on the voltage of the power signal.

[0038] In another configuration, the second sensor 142 can be omitted. In this configuration, the first controller 144 can be configured to identify frequency components of the displacement signal 164. For example, the first controller 144 may identify the frequency components by performing a Fourier transform of the displacement signal 164. Certain frequency components associated with the motor 114 generating a rotational torque may be present in the displacement signal 164 that are not present when the motor 114 is not generating a rotational torque. Thus, the first controller 144 can be configured to identify whether the motor 114 is generating a rotational torque based on the identified frequency components.

[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 determine whether the motor 114 is generating rotational torque or not based on the current sensor draw. In such a configuration, data from the current sensor in the handheld surgical instrument 104 needs to be communicated to the first controller 144. This may be communicated to the first controller 144 via the second controller 162 via a wired or wireless connection.

[0040] In another configuration, a sensor may monitor the rotational position of the rotor of the motor 114 and generate an output signal representative thereof. One such sensor that may generate a signal representative of the rotational position of the rotor is a Hall effect sensor. A Hall effect sensor generates a signal that varies 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 generate a sensor signal as a function of the operating speed of the motor 114, the temperature of components of the motor 114, or the voltage applied to the motor 114.

[0041] As shown in FIG. 4, the second sensor 142 may be a three-axis accelerometer including an x-axis 161, a y-axis 165, and a z-axis 163, although it is contemplated that the second sensor 142 may also be a two-axis accelerometer. The accelerometer data indicates an inherent imbalance of the rotor of the motor 114. Axes parallel to the axis of rotation AX of the motor 114 are less sensitive to the effects of vibration of the motor 114 than axes perpendicular to the axis of rotation AX. Depending on the orientation and location of the second sensor 142, at least one of the x-axis 161, the y-axis 165, or the z-axis 163 may be more sensitive to imbalance of the rotor of the motor 114 than at least one of the other axes. In FIG. 4, the x-axis 161 is shown parallel to the axis of rotation AX of the motor 114, and the y-axis 165 and the z-axis 163 are shown perpendicular to the axis of rotation AX of the motor 114. It is contemplated that the second sensor 142 may be positioned or oriented in a different manner, such that the y-axis 165 or z-axis 163 is parallel to the axis of rotation AX of the motor 114 and the x-axis is orthogonal to the axis of rotation AX of the motor 114. In some examples, the first controller 144 may implement an algorithm based on the vibration data to identify whether the rotor imbalance is above a certain threshold or to identify which axis is most sensitive to rotor imbalance.

[0042] The first controller 144 can filter the vibration data in various ways. For example, a low-pass filter or a high-pass filter may be used to remove unwanted low-frequency or high-frequency noise. The filter may be implemented by one or more filter circuits or by software. Based on the vibration data, the first 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. As described above, depending on the orientation of the x-axis 161, the y-axis 165, and the z-axis 163, at least one of the x-axis component, the y-axis component, and the z-axis component will be most sensitive to vibrations of the motor 114.

[0043] The vibration data (or other motor status data for alternative configurations of the second sensor 142) may be collected based on a clock signal from a separate device, such as an internal clock signal of the processor of the first controller 144 or the second controller 162, or a clock device associated with the second sensor 142. The clock signal defines a sample rate at which the vibration measurements (or other motor status measurements for alternative configurations) are collected and indexed over a second time interval 169 that generates the vibration signal 166 (or motor status signal for alternative configurations). It is contemplated that the sampling rate may be fixed, or the sampling rate may be adjustable or treatment dependent. In some examples, the second time interval 169 may correspond to the first time interval 168, as shown in FIG. 7. In other examples, the second time interval 169 may have a second initial time (TI2) and a second final time (TF2) that are different from the first initial time (TI1) and the first final time (TF1). In either case, at least a portion of the second time interval 169 overlaps with a portion of the first time interval 168 .

[0044] 7 and 8, the first controller 144 can use one or more algorithms to determine a status of the motor 114 based on the vibration signal 166. The one or more algorithms can be based on the z-axis component over a fifth time interval 184. The fifth time interval 184 can be set to any suitable time interval. The first controller 144 can divide the first time interval 168 and / or the second time interval 169 by the fifth time interval 184 to establish time blocks. For each time block within the second time interval 169, the first controller 144 can determine a status of the motor 114 based on the vibration signal 166 over that time block.

[0045] For example, the first controller 144 may compare the frequency of the z-axis component over the fifth time interval 184 to a first threshold to identify whether the motor is in a first state or a second state. The second state may correspond to the motor 114 being on and generating a rotational torque, while the first state may correspond to the motor 114 being off and not generating a rotational torque. The first threshold may be derived from the speed of the motor 114, and exceeding the first threshold indicates that the motor 114 transitions from the first state to the second state at the first threshold.

[0046] The frequency can be identified based on the number of increasing edges 186 and decreasing edges 188 of the vibration signal 166 over the time block. As shown in FIG. 8, the number of increasing edges 186 and decreasing edges 188 over this time block is 22. The first controller 144 can be configured to ignore occurrences of the z-axis component below a second threshold 180. In some examples, the first controller 144 can postpone identifying that the motor 114 is in the second state until the frequency of the z-axis component is greater than the first threshold for three consecutive intervals. At this time, the first controller 144 can include a counter that is incremented each time the frequency of the z-axis component exceeds the first threshold. When the counter becomes greater than a third threshold (e.g., 3), the first controller 144 can identify that the motor 114 is in the second state. The third threshold can be adjustable. The first controller 144 can flag time blocks where the frequency is greater than the first threshold but the counter has not reached the second threshold. The first controller 144 determines that the motor 114 is in a first state and clears the counter, for example, if the counter value is greater than zero but the frequency of the z-axis component falls below a first threshold before the counter reaches a third threshold.

[0047] In another example, the first controller 144 can be configured to determine whether the motor is in a first state or a second state for a time block based on a Fourier transform of the vibration signal 166 over the time block. For example, the first controller 144 may determine a short-time Fourier transform for a z-axis component of the vibration signal 166 for each time block. The short-time Fourier transform can be determined using a fast Fourier transform (FFT) or another suitable algorithm. Referring to FIG. 9, a frequency plot of the Fourier transform of the vibration signal 166 over each time block is shown. In FIG. 9, the full range of frequency bins is shown. The range of frequency bins is defined by a minimum frequency bin (FMin) and a maximum frequency bin (FMax). The width of each frequency bin can be defined by Equation 1: (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 can be configured to adjust the range of frequency bins such that higher frequencies (e.g., frequencies above 330 Hertz) and lower frequencies (frequencies below 50 Hertz) are not considered when determining the motor status for a time block. A frequency plot of the Fourier transform with the adjusted frequency range is shown in Figure 10. The frequency range is bounded by an adjusted minimum frequency bin (AMin) and an adjusted maximum frequency bin (AMax).

[0049] For each frequency bin, the first controller 144 may compare the magnitude of the frequency bin to a minimum magnitude threshold 191. If the magnitude of the frequency bin is greater than the minimum magnitude threshold 191, the first controller 144 may compare the magnitude of the frequency bin to other bins that meet the minimum magnitude threshold 191 condition. If the first controller 144 determines that the frequency bins are the same for two consecutive time blocks, the first controller 144 may determine that the motor is set to a second state for the consecutive time blocks and any flagged time blocks. If the first controller 144 determines that none of the frequency bins have a magnitude greater than the minimum magnitude threshold 191 for a time block, the first controller 144 may determine that the motor 114 is set to a first state for that time block.

[0050] Various penetration algorithms are contemplated to identify a penetration event (i.e., the penetration time (TB) at which the drill penetrates the distal cortical wall) based on the pattern of the displacement signal 164 over time. The first controller 144 can implement various penetration algorithms based on the displacement signal 164 and the vibration signal 166 to identify the penetration time (TB). The first controller 144 can be configured to derive and store other signals, such as velocity-related signals and acceleration-related signals, based on the displacement signal 164. Based on the starting displacement and the penetration time (TB), the first controller 144 can identify a corresponding penetration displacement at the penetration time (TB).

[0051] The penetration algorithm can be optimized by primarily collecting only data related to procedural displacements, such as the displacement of the depth measuring extension 128 during an actual surgical drilling procedure, such as while the surgeon is drilling a bone. Non-procedural displacements occur when the depth measuring extension 128 is displaced when the motor 114 is off or operating at a non-cutting speed and the surgeon is not actually drilling a bone. Non-procedural events resulting in non-procedural displacements can cause the displacement signal 164 to mimic a pattern that the first controller 144 associates with a penetration time (TB). Thus, the first controller 144 can erroneously identify a penetration time (TB) during one of these non-procedural displacement portions of the displacement signal 164. Because it can be difficult to distinguish non-procedural displacements of the displacement signal 164 from procedural displacements of the displacement signal 164 using existing penetration detection algorithms, additional systems and methods for distinguishing non-procedural displacements from procedural displacements can improve the accuracy of penetration detection. The handheld surgical system 100 can also exhibit improved processing times for penetration detection when the algorithm primarily needs to process only the procedure data.

[0052] The first controller 144 can also be configured to identify one or more treatment events (i.e., events associated with a treatment displacement) from the displacement signal 164 or from other signals derived from the displacement signal 164, such as velocity-related signals or acceleration-related signals. The one or more treatment events can also refer to changes in acceleration, displacement, and / or velocity identified from the displacement signal 164, such as 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 gradients having values ​​exceeding a predetermined threshold.

[0053] Non-procedural displacement may be the result of an accidental event, which may include manual manipulation of the depth measuring extension 128. Manual manipulation may occur unintentionally when a surgeon or other medical personnel displaces the depth measuring extension 128 before the start of the drilling procedure, during the drilling procedure, or after the drilling procedure while the motor 114 is off.

[0054] The status of the motor 114 can be used to distinguish procedural displacement from non-procedural displacement. In FIG. 7, procedural displacement is shown over a third time interval 174 and non-procedural displacement is shown over a fourth time interval 176. The first controller 144 can identify and store one or more events associated with the drilling procedure based on the vibration signal 166 and the displacement signal 164. The one or more events can include, but are not limited to, the status of the motor 114 throughout the drilling procedure, the speed of the motor 114 throughout the drilling procedure, the start displacement, the penetration displacement, the penetration time (TB), the drilling start time, and the drilling end time. The first controller 144 can identify a drill bore depth based on the one or more events associated with the surgical drilling procedure, and then identify a suitable screw length for fixation to the bone based on the drill bore length.

[0055] 11, the method 800 may be performed by the first controller 144. At 804, the method 800 begins with the first controller 144 receiving displacement data and vibration data. At 808, the first controller 144 determines the displacement signal 164 over a first time interval 168. At 812, the first controller 144 determines the vibration signal 166 over a second time interval 169. At 814, the first controller 144 establishes a time block by dividing the second time interval 169 by the fifth time interval 184, and the method 800 proceeds to 816. At 816, the first controller 144 sets a pointer position to the first time block of the second time interval 169, and the method 800 proceeds to 824.

[0056] At 824, the first controller 144 determines the frequency of the z-axis component over the time block and control proceeds to 828. At 828, the first controller 144 determines whether the frequency of the z-axis component for the time block is greater than a first threshold. If it is greater than the first threshold, the method 800 proceeds to 832, otherwise, the method 800 proceeds to 844. At 844, the first controller 144 determines that the motor 114 is set to a first state for the time block and the method 800 proceeds to 852. At 832, the first controller 144 increments a 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, the method 800 proceeds to 848, otherwise, the method 800 proceeds to 840. At 840, the first controller 144 flags the time block and the method 800 returns to 820. At 820, the first controller 144 increments the pointer position to the next time block and the method 800 returns to 824.

[0058] At 848, the first controller 144 determines that the motor 114 is set to the second state and the method 800 proceeds to 852. At 852, the first controller 144 clears the counters and flags. At 856, the first controller 144 determines whether the current time block is the last time block in the second time interval 169. If so, the method 800 proceeds to 857, otherwise the method 800 returns to 820. At 857, the first controller 144 determines whether the status of the motor 114 for any time block is set to the second state. If so, the method proceeds to 858, otherwise the method may end.

[0059] At 858, the first controller 144 identifies a penetration event (i.e., a penetration time (TB)) based on the status of the motor 114 and the displacement signal 164, and the method 800 proceeds to 860. At 860, the first controller 144 identifies a borehole depth based on the displacement of the depth measurement extension 128 at the penetration time (TB), and the method 800 proceeds to 864. At 864, the first controller 144 identifies a thread length based on the drill borehole depth. At 868, the first controller 144 transmits the thread length to the display 156. Although an example is provided in which one of the controllers transmits the thread length for display on the display 156, the first controller 144 may transmit the thread length to another controller, such as a controller associated with a remote device, so that the remote device may display the thread length.

[0060] 12, the method 900 may be performed by the first controller 144. At 904, the method 900 begins with the first controller 144 receiving displacement data and vibration data. At 908, the first controller 144 determines the displacement signal 164 over a first time interval 168. At 912, the first controller 144 determines the vibration signal 166 over a second time interval 169. At 916, the first controller 144 establishes a time block by dividing the second time interval 169 by the fifth time interval 184, and the method 900 proceeds to 924 of FIG. 12.

[0061] At 924, the first controller 144 performs a Fourier transform of the vibration signal 166 over the time block. At 926, the first controller 144 adjusts the frequency bin range. At 928, the first controller 144 sets the pointer position to the first bin of the adjusted frequency range and method 900 proceeds to 936. At 936, the first controller 144 determines whether the frequency bin magnitude is greater than the bin minimum magnitude threshold 191. If it is greater than the minimum magnitude threshold 191, control proceeds to 940, otherwise control proceeds to 930. At 940, the first controller 144 determines whether the current bin is the first bin in the range that has a magnitude greater than the minimum magnitude threshold 191. If it is the first bin, control may proceed to 944, otherwise control may proceed to 948. At 944, the first controller 144 sets the bin as the maximum 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 so, control proceeds to 956; if not, control returns to 932.

[0062] At 930, the first controller 144 determines whether the bin is the last bin in the frequency range. If so, the method 900 proceeds to 931. If not, the method 900 proceeds to 932. At 931, the first controller 144 determines whether max_bin is set. If max_bin is set, control proceeds to 956, otherwise control returns to 976 of FIG. 14. At 932, 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 magnitude of the bin is greater than the magnitude of max_bin. If so, control proceeds to 944, otherwise control proceeds to 952. At 952, the first controller 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 sets and stores the motor_status_freq of the time block in the frequency bin associated with max_bin. At 960, the first controller clears max_bin. At 964, the first controller 144 determines whether the motor_status_freq of the time block matches the motor_status_freq of the previous time block. If so, the method 900 proceeds to 972 of FIG. 14, otherwise the method 900 proceeds to 968. 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 that the motor 114 is set to the second state for the time block and any flagged time blocks, and the method 900 proceeds to 980. At 976, the first controller 144 determines that the motor 114 is set to the first state for the time block, and the method 900 proceeds to 980. At 980, the first controller 144 clears the flag. At 984, the first controller 144 determines whether 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, otherwise 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 determines whether the status of the motor 114 for any time block 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 identifies a penetration event (i.e., a penetration time (TB)) based on the status of the motor 114 and the displacement signal 164, and the method 900 proceeds to 992. At 992, the first controller 144 identifies a borehole depth based on the displacement of the depth measurement extension 128 at the penetration time (TB), and the method 900 proceeds to 996. At 996, the first controller 144 identifies a thread length based on the drill borehole depth. At 998, the first controller 144 transmits the thread length to the display 156. Although an example is provided in which one of the controllers transmits the thread length for display on the display 156, the first controller 144 may transmit the thread length to another controller, such as a controller associated with a remote device, so that the remote device may display the thread length.

[0066] [item] Item 1 - A handheld surgical system for identifying a suitable screw length for bone fixation, comprising: a housing; a motor positioned within the housing; a depth measurement attachment removably coupled to the housing, the depth measurement attachment comprising a first sensor configured to provide a displacement signal corresponding to a drilling process and a second sensor configured to provide a vibration signal associated with vibration of the motor corresponding to the drilling process; and a controller configured to receive the vibration signal and the displacement signal, and to (i) use an algorithm to identify one or more characteristics associated with the motor based on the vibration signal, (ii) a penetration event based on the one or more characteristics associated with the motor and the displacement signal, and (iii) the suitable screw length based on the penetration event and the displacement signal.

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

[0068] Item 3 - The surgical device of Item 2, wherein the one or more characteristics of the motor include a state of the motor and a speed of the motor.

[0069] Item 4 - The surgical device of item 2, wherein the controller is further configured to calculate a suitable screw length based on the penetration event and the displacement signal.

[0070] Item 5 - A depth measurement attachment that transmits drill depth for a handheld surgical system comprising an instrument comprising a housing and a motor positioned within the housing, the depth measurement attachment comprising a component configured to generate a displacement signal related to a displacement of a drill bit during a drilling process, and a controller configured to receive the displacement signal, identify a frequency component of the displacement signal, determine if the motor is generating a rotational torque based on the frequency component, and identify a penetration event based on the frequency component and the displacement signal.

[0071] Item 6 - A handheld surgical system comprising: 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 comprising a component configured to output a motor status signal related to the motor during a drilling process and a displacement sensor configured to output a displacement signal related to a displacement of a drill bit during the drilling process; and a controller configured to receive the motor status signal and the displacement signal, determine if the motor is generating a rotational torque based on the motor status signal, and identify a penetration event based on the motor status signal and the displacement signal.

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

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

[0074] Item 9 - A method for identifying a penetration event of a drilling process, comprising: detecting data indicative of one or more treatment events and one or more non-treatment events of the drilling process with a first sensor and a second sensor, wherein the one or more treatment events are associated with movement of a drill bit relative to a bone of a patient when a motor is generating a rotational torque and the one or more non-treatment events are associated with movement of the drill bit relative to the bone of the patient when the motor is off; determining whether the data corresponds to the one or more treatment events or the one or more non-treatment events; and identifying the penetration event based on the data associated with the one or more treatment events.

[0075] Item 10 - A method of identifying a breakthrough event of a drilling process using a depth measurement attachment transmitting drill depth for a handheld surgical system, the handheld surgical system comprising an instrument comprising a housing and a motor configured to apply a rotational torque to a drill bit positioned within the housing, the depth measurement attachment comprising a component, a second sensor, and a controller, the method including using the component to output a motor status signal related to the motor during the drilling process, using the second sensor to output a displacement signal related to a displacement of the drill bit during the drilling process, using the controller to receive the motor status signal and the displacement signal, using the controller to determine whether the motor is generating the rotational torque based on the motor status signal, and using the controller to identify the breakthrough event based on the motor status signal and the displacement signal.

[0076] The foregoing description is merely exemplary in nature and is not intended to limit the disclosure, its application, or uses in any way. The broad teachings of the disclosure can be embodied in various forms. Thus, while the disclosure includes certain examples, the true scope of the disclosure should not be so limited, since other modifications will become apparent upon study of the drawings, the specification, and the following claims. It should be understood that one or more steps within a method may be performed in a different order (or simultaneously) without altering the principles of the disclosure. Furthermore, although each example is described above as having specific features, any one or more of those features described with respect to any example of the disclosure may be implemented in and / or combined with any of the features of any of the other examples, even if that combination is not explicitly described. In other words, the examples described are not mutually exclusive, and substitution of one or more examples with each other remains within the scope of the disclosure.

[0077] Spatial and functional relationships between elements (e.g., between controllers, circuit elements, semiconductor layers, etc.) are described using a variety of terms, including "connected," "engaged," "coupled," "adjacent," "next to," "on top of," "above," "below," and "disposed." Unless expressly described as "direct," when a relationship between a first element and a second element is described in the above disclosure, the relationship may be a direct relationship where there are no other intervening elements between the first element and the second element, but may also be an indirect relationship where there are one or more intervening elements (spatial or functional) between the first element and the second element.

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

[0079] In the diagrams, the direction of the arrows, as indicated by the arrowheads, generally indicates the flow of information (such as data or instructions) that is the focus of the diagram. For example, an arrow may point from element A to element B if element A and element B exchange various information, but information conveyed from element A to element B is relevant to the diagram. This unidirectional arrow does not imply that other information is not sent from element B to element A. Additionally, with respect to information sent from element A to element B, element B may send a request for or acknowledgement of the information to element A.

[0080] In this application, including the definitions below, the term "controller" may be substituted for the term "circuitry." The term "controller" may refer to, be a part of, or include an application specific integrated circuit (ASIC), digital, analog, or mixed analog / digital discrete circuitry, digital, analog, or mixed analog / digital integrated circuit, combinatorial logic circuitry, a field programmable gate array (FPGA), processor circuitry (shared, dedicated, or group) that executes code, memory circuitry (shared, dedicated, or group) that stores code executed by the processor circuitry, other suitable hardware components that provide the described functionality, or a combination of some or all of the above, such as in a system on a chip.

[0081] The controller may include one or more interface circuits. In some examples, the interface circuit(s) may implement a wired or wireless interface to connect to a local area network (LAN) or a wireless personal area network (WPAN). Examples of LANs are the Institute of Electrical and Electronics Engineers (IEEE) standard 802.11-2016 (also known as the WIFI wireless networking standard) and IEEE standard 802.3-2015 (also known as the ETHERNET wired networking standard). Examples of WPANs are the Bluetooth Special Interest Group's BLUETOOTH wireless networking standard and IEEE standard 802.15.4.

[0082] The controllers can communicate with other controllers using interface circuit(s). Although the controllers may be depicted in this disclosure as logically communicating directly with other controllers, in various implementations the controllers may actually communicate through a communication system. The communication system includes physical and / or virtual networking equipment such as hubs, switches, routers, and gateways. In some implementations, the communication system connects to or traverses a wide area network (WAN) such as the Internet. For example, the communication system may include multiple LANs connected to each other via the Internet or point-to-point leased lines using technologies including Multiprotocol Label Switching (MPLS) and Virtual Private Networks (VPNs).

[0083] In various implementations, the functionality of a controller may be distributed across multiple controllers connected via a communication system. For example, multiple controllers may implement the same functionality distributed by a load balancing system. In a further example, the functionality of a controller may be split between a server (also known as a remote or cloud) controller and a client (or user) controller.

[0084] Some or all of the hardware functions of the controller may be defined using a language for hardware description, such as IEEE Standard 1364-2005 (generally referred to as "Verilog") and IEEE Standard 1076-2008 (generally referred to as "VHDL"). The hardware description language may be used to manufacture and / or program the hardware circuit. In some implementations, some or all of the features of the controller may be defined by a language such as IEEE 1666-2005 (generally referred to as "SystemC"), which encompasses both code and hardware descriptions, as described below.

[0085] The term code as used above may include software, firmware, and / or microcode and may refer to programs, routines, functions, classes, data structures, and / or objects. The term shared processor circuit encompasses a single processor circuit that executes some or all of the code from multiple controllers. The term group processor circuit encompasses a processor circuit that executes some or all of the code from one or more controllers in combination with additional processor circuits. References to multiple processor circuits encompass multiple processor circuits on separate dies, multiple processor circuits on a single die, multiple cores of a single processor circuit, multiple threads of a single processor circuit, or combinations of the above. The term shared memory circuit encompasses a single memory circuit that stores some or all of the code from multiple controllers. The term group memory circuit encompasses a memory circuit that stores some or all of the code from one or more controllers in combination with additional memory.

[0086] The term memory circuit is a subset of the term computer-readable medium. As used herein, the term computer-readable medium does not encompass transitory electrical or electromagnetic signals propagating through a medium (such as on a carrier wave). Thus, the term computer-readable medium may be considered tangible and non-transitory. Non-limiting examples of non-transitory computer-readable media are non-volatile memory circuits (such as flash memory circuits, erasable programmable read-only memory circuits, or masked read-only memory circuits), volatile memory circuits (such as static random access memory circuits or dynamic random access memory circuits), magnetic storage media (such as analog or digital magnetic tape or hard disk drives), and optical storage media (such as CDs, DVDs, or Blu-ray® disks).

[0087] The apparatus and methods described in this application may be implemented in part or in whole by a special-purpose computer created by configuring a general-purpose computer to perform one or more specific functions embodied in a computer program. The functional blocks and flow chart elements described above function as software specifications and can be converted into a computer program by the routine work of a skilled technician or programmer.

[0088] A computer program includes processor-executable instructions stored on at least one non-transitory computer-readable medium. A computer program may also include or depend on stored data. A computer program may include a basic input / output system (BIOS) that interacts with the hardware of a special-purpose computer, device drivers that interact with specific devices of a special-purpose computer, one or more operating systems, user applications, background services, background applications, and the like.

[0089] Computer programs may include (i) parsed text, such as HTML (HyperText Markup Language), XML (Extensible Markup Language), or JSON (JavaScript Object Notation); (ii) assembly code; (iii) object code generated from source code by a compiler; (iv) source code for execution by an interpreter; (v) source code for compilation and execution by a just-in-time compiler; etc. By way of example only, the source code may be written using syntax from languages ​​including C, C++, C#, Objective C, Swift, Haskell, Go, SQL, R, Lisp, Java®, Fortran, Perl, Pascal, Curl, OCaml, JavaScript®, HTML5 (Hypertext Markup Language 5th revision), Ada, ASP (Active Server Pages), PHP (Hypertext Preprocessor), Scala, Eiffel, Smalltalk, Erlang, Ruby, Flash®, Visual Basic®, Lua, MATLAB®, SIMULINK®, and Python®. [Embodiment 1] Housing and a motor positioned within the housing; An apparatus comprising: a depth measurement attachment removably coupled to the instrument, a first sensor configured to provide a vibration signal related to vibration of the motor during a drilling process; a second sensor configured to provide a displacement signal related to a displacement of the drill bit during the drilling process; and a depth measurement attachment comprising: a controller configured to receive the vibration signal and the displacement signal, identify a characteristic of the motor based on the vibration signal, and identify a through-through event based on the characteristic of the motor and the displacement signal; A handheld surgical system comprising: [Embodiment 2] 10. The handheld surgical system of claim 1, wherein the penetration event is the time when a distal end of the drill bit protrudes through a distal cortical wall of a patient's bone. [Embodiment 3] The handheld surgical system of claim 1 or 2, wherein the characteristic is selected from the group comprising a state of the motor and a speed of the motor. [Embodiment 4] the characteristic is 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. 4. The handheld surgical system of claim 3. [Embodiment 5] 5. The handheld surgical system of claim 1, wherein the first sensor is an accelerometer, the accelerometer positioned to generate the vibration signal along a first axis of the accelerometer. [Embodiment 6] 6. The handheld surgical system of claim 5, wherein the first axis is orthogonal to an axis of rotation of the motor, and the vibration signal has a first component corresponding to vibration along the first axis. [Embodiment 7] 7. The handheld surgical system of claim 6, wherein the accelerometer is further configured to generate the vibration signal along a second axis of the accelerometer, the second axis being orthogonal to the first axis, the vibration signal having a second component corresponding to vibrations along the second axis. [Embodiment 8] The handheld surgical system of claim 6, wherein the controller is configured to determine the characteristic of the motor based on a frequency of the first component. [Embodiment 9] the controller identifies whether the motor is in a first state or a second state based on the frequency of the first component; 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. 9. The handheld surgical system of claim 8. [Embodiment 10] 10. The handheld surgical system of claim 9, wherein the controller is configured to delay identifying the motor in the second state for a predetermined period of time. [Embodiment 11] 10. The handheld surgical system of claim 9, wherein the controller is configured to determine that the motor is set to the second state in response to the frequency of the first component being greater than a first threshold. [Embodiment 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 is configured to determine the frequency of the first component for each of the time blocks of the vibration time interval; For each of the time blocks of the vibration time interval, the controller is configured to compare the frequency of the first component to a first threshold; the counter is incremented in response to the frequency being greater than the first threshold. 10. The handheld surgical system of claim 9. [Embodiment 13] The controller is further configured to compare a value of the counter to a second threshold; the controller determines that the motor is in the second state for a group of time blocks in response to the value of the counter being greater than the second threshold; the group of time blocks corresponds to the time block for which the counter was incremented; 13. The handheld surgical system of claim 12. [Embodiment 14] 14. The handheld surgical system of claim 13, wherein the controller determines that the motor is in the first state for the group of time blocks and resets the counter in response to the counter having a value greater than or equal to one and the frequency of the first component being less than the first threshold for one of the groups of time blocks. [Embodiment 15] 13. The handheld surgical system of claim 12, wherein the controller determines that the motor is in the first state for one of the time blocks in response to the frequency of the first component being less than the first threshold for the one of the time blocks. [Embodiment 16] The handheld surgical system of any one of claims 1 to 15, wherein the controller is further defined as a first controller, and the handheld surgical system further comprises a second controller configured to control operation of the motor. [Embodiment 17] The handheld surgical system of claim 16, wherein the first controller is disposed inside the depth measurement attachment. [Embodiment 18] The depth measurement attachment further comprises a display; The controller is further configured to generate a visual indication of a penetration depth of the display based on the penetration event. 18. A handheld surgical system according to any one of claims 1 to 17. [Embodiment 19] 19. The handheld surgical system of claim 1, further comprising a depth measurement extension operably coupled to the depth measurement attachment. [Embodiment 20] 20. The handheld surgical system of claim 19, wherein the second sensor is coupled to the depth measuring extension to provide the displacement signal based on a position of the depth measuring extension. [Embodiment 21] The handheld surgical system of claim 19, wherein the depth measurement extension is a cannula. [Embodiment 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. 22. A handheld surgical system according to any one of claims 1 to 21. [Embodiment 23] The displacement signal is provided over a displacement time interval; The displacement time interval begins when the motor begins to move and ends when the surgeon fully retracts the drill bit from the patient's bone. 23. A handheld surgical system according to any one of claims 1 to 22. [Embodiment 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; 24. A handheld surgical system according to any one of claims 1 to 23. [Embodiment 25] 25. The handheld surgical system of claim 1, wherein the controller is further configured to identify a preferred screw length based on the penetration event and the displacement signal. [Embodiment 26] the first sensor is an accelerometer; the vibration signal includes a first axial component; The controller is configured to identify a penetration event based on a frequency of the first axial component over a first interval. 26. A handheld surgical system according to any one of claims 1 to 25. [Embodiment 27] 27. The handheld surgical system of claim 1, wherein the controller is configured to determine one or more Fourier transforms of a first axial component of the vibration signal. [Embodiment 28] the controller identifying 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 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. [Embodiment 29] The controller is further configured to identify therapeutic and non-therapeutic displacements from the displacement signal; the therapeutic displacement being related to the displacement when the motor is generating the rotational torque; the non-treatment displacement being related to a displacement when the motor is not generating the rotational torque; 29. A handheld surgical system according to any one of claims 1 to 28. [Embodiment 30] The handheld surgical system of claim 1 , wherein the controller is further configured to identify a treatment event based on the displacement signal. [Embodiment 31] 31. The handheld surgical system of claim 30, wherein the treatment events correspond to 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 gradient having a value exceeding a predetermined threshold. [Embodiment 32] 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 by a first interval to establish a time block; The controller, for each of the time blocks, performing a short-time Fourier transform of the vibration signal to identify a number of frequency bins across a frequency range and a magnitude of each of the number of frequency bins; selecting a frequency bin having a maximum magnitude from among the plurality of frequency bins; determining whether the motor is in a first state or a second state for the time block based on the selected frequency bin; 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. 32. A handheld surgical system according to any one of claims 1 to 31. [Embodiment 33] 33. The handheld surgical system of claim 32, wherein the frequency range is from 50 Hertz to 330 Hertz. [Embodiment 34] 33. The handheld surgical system of claim 32, wherein the controller is further configured to postpone identifying that the motor is set to the second state until the selected frequency bin is the same for two consecutive time blocks. [Embodiment 35] 33. The handheld surgical system of claim 32, wherein the controller is further configured to determine that the motor is set to the first state for a time block of the time blocks when the maximum magnitude of the plurality of frequency bins is less than a minimum magnitude threshold. [Embodiment 36] 1. A depth measurement attachment for transmitting drill depth for a handheld surgical system, the handheld surgical system comprising an instrument comprising a housing and a motor positioned within the housing; a component configured to output a motor status signal associated with the motor during a drilling process; a second sensor configured to output a displacement signal related to a displacement of the drill bit during the drilling process; a controller configured to receive the motor status signal and the displacement signal, determine whether the motor is generating a rotational torque based on the motor status signal, and identify a through-through event based on the motor status signal and the displacement signal; A depth measurement attachment comprising: [Embodiment 37] 37. The depth measurement attachment for a handheld surgical system according to claim 36, wherein the controller is further configured to determine a borehole depth based on the penetration event. [Embodiment 38] The controller is further configured to identify therapeutic and non-therapeutic displacements from the displacement signal; the therapeutic displacement being related to the displacement when the motor is generating the rotational torque; the non-treatment displacement being related to a displacement when the motor is not generating the rotational torque; 37. A depth measurement attachment for a handheld surgical system according to claim 36. [Embodiment 39] the component is a circuit including an antenna, the antenna is configured to receive one or more radio waves generated by the motor and output at least one of a voltage signal and a current signal corresponding to the one or more radio waves; the controller is further configured to receive the at least one of the voltage signal and the current signal and output the motor status signal based on the one or more radio waves. 37. A depth measurement attachment for a handheld surgical system according to claim 36. [Embodiment 40] the component is an optical sensor configured to detect an optical property of the drill bit; the component is configured to determine the motor status signal based on the optical characteristic. 37. A depth measurement attachment for a handheld surgical system according to claim 36. [Embodiment 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. A depth measurement attachment for a handheld surgical system according to claim 40 comprising: [Embodiment 42] 42. The depth measurement attachment for a handheld surgical system of claim 41, wherein the optical characteristic of the drill bit is a laser mark configured to alter a parameter of the light emitted from the light source. [Embodiment 43] the component is a magnetic sensor configured to detect a magnetic field emitted by the drill bit; the component configured to determine the motor status signal based on the magnetic field. 37. A depth measurement attachment for a handheld surgical system according to claim 36. [Embodiment 44] the component is an audio sensor configured to detect a characteristic of sound waves emitted when the motor is generating the rotational torque; the component is configured to determine the motor status signal based on the characteristic of the acoustic wave. 37. A depth measurement attachment for a handheld surgical system according to claim 36. [Embodiment 45] 45. The depth measurement attachment for a handheld surgical system of claim 44, wherein the audio sensor is a microphone. [Embodiment 46] the depth measurement attachment further comprising an electrical connector configured to receive power via a power signal from a complementary electrical connector of the instrument; the component is a sensor configured to detect a voltage of the power signal; the controller is configured to determine whether the motor is generating the rotational torque based on the voltage of the power signal. 37. A depth measurement attachment for a handheld surgical system according to claim 36. [Embodiment 47] the component is an accelerometer configured to detect vibrations of the motor when the motor is producing the rotational torque; the component is configured to determine the motor status signal based on the vibration of the motor. 37. A depth measurement attachment for a handheld surgical system according to claim 36.

Claims

1. Housing and a motor positioned within the housing; An apparatus comprising: a depth measurement attachment removably coupled to the instrument, a first sensor configured to provide a vibration signal related to vibration of the motor during a drilling process; a second sensor configured to provide a displacement signal related to a displacement of the drill bit during the drilling process; and a depth measurement attachment comprising: a controller configured to receive the vibration signal and the displacement signal, identify a characteristic of the motor based on the vibration signal, and identify a through-through event based on the characteristic of the motor and the displacement signal; A handheld surgical system comprising:

2. The handheld surgical system of claim 1 , wherein the characteristic is selected from the group consisting of a state of the motor and a speed of the motor.

3. the characteristic is 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 2 .

4. 2. The handheld surgical system of claim 1, wherein the controller is further defined as a first controller, the handheld surgical system further comprising a second controller configured to control operation of the motor, the first controller being disposed inside the depth measurement attachment.

5. 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. The handheld surgical system of claim 1 .

6. The displacement signal is provided over a displacement time interval; The displacement time interval begins when the motor begins to move and ends when the surgeon fully retracts the drill bit from the patient's bone. The handheld surgical system of claim 1 .

7. The handheld surgical system of claim 1 , wherein the controller is further configured to identify a preferred screw length based on the penetration event and the displacement signal.

8. the first sensor is an accelerometer; the vibration signal includes a first axial component; the controller is configured to determine the motor characteristic based on a frequency of the first shaft component over a first interval. The handheld surgical system of claim 1 .

9. The handheld surgical system of claim 1 , wherein the controller is configured to determine one or more Fourier transforms of a first axial component of the vibration signal.

10. The handheld surgical system of claim 1 , wherein the controller is further configured to identify a treatment event based on the displacement signal.

11. 11. The handheld surgical system of claim 10, wherein the treatment events correspond to 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 gradient having a value exceeding a predetermined threshold.

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