Torque-limiting screwdrivers
Various torque-limiting screwdrivers, systems, and methods are disclosed. The screwdriver can include a body supporting a motor configured to rotate a screw engaged with the screwdriver. The screwdriver can include a controller configured to implement torque-limiting functionality, such as by monitoring the amount of torque applied to the screw and reducing or stopping rotation of the screw when certain torque-limiting criteria are met. Some embodiments include a threshold point, after which the torque-limiting functionality can be engaged. Some embodiments include a slowdown point, after which the rotational speed of the screw is reduced.
1. A method for controlling a surgical torque-limiting screwdriver comprising a housing; a motor positioned in the housing and configured to receive electrical power from a power source; and a drive head positioned at a distal end of the screwdriver, the drive head configured to receive a bit that engages a screw and to be rotated by the motor so as to enable the screwdriver to drive the screw into a bone; the method comprising:
determining a plurality of driving torque values, each of the plurality of driving torque values indicative of an amount of torque that the screwdriver is applying to the screw during a respective time period t;
storing two or more of the most-recent of the plurality of driving torque values in a memory;
comparing each of the driving torque values that occur after a deadband with a threshold torque value;
permitting engagement of a torque-limiting function in response to at least one of the driving torque values that occur after the deadband being greater than or equal to the threshold torque value;
reducing the rotational speed at which the screwdriver drives the screw in response to at least one of the driving torque values that occur after the deadband being greater than or equal to the threshold torque value; and
engaging the torque-limiting function in response to determining that at least a threshold number of the driving torque values that occur after the deadband consecutively decrease, wherein engaging the torque-limiting function stops the driving of the screw by the screwdriver, and wherein the method is performed by a controller of the screwdriver.
2. The method of claim 1 , wherein the deadband is an amount of rotations of the screw.
3. The method of claim 1 , wherein the time period t is approximately 10 ms.
4. The method of claim 1 , wherein reducing the rotational speed comprises reducing it to less than or equal to 900 rpm.
5. The method of claim 1 , wherein reducing the rotational speed comprises reducing it by a factor of approximately 4.
6. The method of claim 1 , wherein the threshold torque value is at least 15 N-cm.
7. The method of claim 1 , wherein the threshold number is two or more.
8. A method for controlling a surgical torque-limiting screwdriver comprising:
rotating a screw with the surgical torque-limiting screwdriver, thereby driving the screw into bone;
determining a plurality of torque values at a corresponding plurality of times;
in response to determining that fewer than a threshold number of the plurality of torque values consecutively decrease, determining one or more subsequent torque values; and
in response to determining that at least the threshold number of the plurality of torque values consecutively decrease, activating a torque-limiting function;
wherein activating the torque-limiting function comprises stopping the rotating of the screw by the screwdriver, and
wherein the method is performed by a controller of the screwdriver.
9. The method of claim 8 , wherein the threshold number is two or more.
10. The method of claim 8 , wherein the threshold number is between 2 and 20.
11. The method of claim 8 , further comprising storing at least the most-recent threshold number of determined torque values in a memory.
12. The method of claim 8 , wherein determining the plurality of torque values at a corresponding plurality of times comprises detecting a plurality of currents being drawn from a motor of the screwdriver.
13. The method of claim 8 , wherein the determined plurality of torque values comprises a determined plurality of torque arrays, wherein each array is an average of two or more consecutive torque values over a period of time, each period of time comprising two or more time increments.
14. A method for controlling a surgical torque-limiting screwdriver comprising:
rotating a screw with the surgical torque-limiting screwdriver, thereby driving the screw into bone;
determining a plurality of consecutive torque values at a corresponding plurality of consecutive times; and
in response to determining that at least a threshold number of the plurality of consecutive torque values consecutively decrease, activating a torque-limiting function.
15. The method of claim 14 , further comprising in response to determining that fewer than the threshold number of the plurality of consecutive torque values consecutively decrease, continue determining one or more subsequent torque values until the threshold number is reached.
16. The method of claim 14 , wherein activating the torque-limiting function comprises stopping the rotating of the screw by the screwdriver.
17. The method of claim 14 , wherein the threshold number is two or more.
18. The method of claim 14 , wherein the threshold number is between 2 and 10.
19. The method of claim 14 , further comprising storing at least the most-recent threshold number of determined consecutive torque values in a memory.
20. The method of claim 14 , wherein determining the plurality of torque values at a corresponding plurality of times comprises detecting a plurality of currents being drawn from a motor of the screwdriver.
21. The method of claim 14 , wherein the determined plurality of consecutive torque values comprises a determined plurality of consecutive torque matrices, wherein each matrix is an average of two or more consecutive torque values over a period of time.
22. The method of claim 14 , wherein the method is performed by a controller of the screwdriver.