Granted Patent B2

US 12,245,772 · App. 17/556,299 · Granted Mar 11, 2025

Inventors: Brad Jacobsen (Erie, CO); Milton F. Barnes (Grand Prairie, TX); Rowena Vigh (Superior, CO); Steven Hartmann (Superior, CO)

Assignee: Medtronic Navigation, Inc.

A61B17/1626A61B17/1624A61B34/20A61B34/25G16H40/63A61B2034/2065

Abstract

Claims (65)

1. A system to control operation of a drill, comprising:

a sensor configured to sense at least one operation of a motor of the drill and transmit a sensor signal based thereon;

a processor module configured to receive the sensor signal and execute instructions to operate the drill and alter an operation parameter of the drill based at least on the sensor signal;

wherein the sensor signal includes at least a first signal and a second signal;

wherein the operation of the drill includes at least a full rotation of the drill about a drill axis of rotation when the first signal is received and an oscillation of the drill about the drill axis of rotation where the drill will rotate a selected amount in a first direction about the drill axis of rotation and then rotate a selected amount in a second opposite direction about the drill axis of rotation when the second signal is received.

2. The system of claim 1 , wherein the sensor includes a voltage sensor configured to sense a back voltage to a motor of the drill;

wherein the first signal is a first back voltage and the second signal is a second back voltage.

3. The system of claim 1 , further comprising:

a tracking device configured to be associated with the drill;

a navigation system configured to determine a pose of the drill based on tracking the tracking device; and

wherein the processor module is configured to execute further instructions to alter the operation parameter based on the determined pose of the drill;

wherein the operation parameter of the drill is selected based on both (i) the first sensor signal or the second sensor signal and (ii) the determined pose.

4. The system of claim 3 , further comprising:

a boundary determination system configured to determine a boundary in an image;

wherein the operation parameters are altered based on the determined position of the drill relative to the boundary.

5. The system of claim 4 , wherein the boundary determination system comprises:

a display device configured to display an image; and

an input system configured to allow an input of a user regarding a boundary of at least a portion of displayed in the image.

6. The system of claim 3 , further comprising:

an imaging system configured to image the subject; and

a boundary determination system configured to determine a boundary within the image.

7. The system of claim 6 , wherein the boundary determination system includes a user input to select at least a seed portion.

8. The system of claim 3 , wherein the boundary determination system includes an image segmentation system configured to segment images of the subject.

9. The system of claim 1 , wherein the oscillation parameter is selected at a distance relative to a boundary in the image.

10. The system of claim 1 , further comprising:

an auxiliary sensor operable to sense an electrical signal transmitted through a nerve;

wherein the processor module is further configured to receive an auxiliary sensor signal from the auxiliary sensor.

11. A system to control operation of a drill, comprising:

a sensor configured to sense an electrical signal transmitted through a nerve in a subject and transmit a sensor signal based thereon;

a processor module configured to receive the sensor signal and execute instructions to operate the drill and alter an operation parameter of the drill based on the sensor signal;

wherein the sensor signal includes at least a first signal and a second signal;

wherein the operation of the drill includes at least a full rotation the drill about a drill axis of rotation when the first signal is received and an oscillation of the drill about the drill axis of rotation where the drill will rotate a selected amount in a first direction about the drill axis of rotation and then rotate a selected amount in a second opposite direction about the drill axis of rotation when the second signal is received.

12. The system of claim 11 , wherein the first signal includes no nerve signal and the second signal includes a nerve signal.

13. The system of claim 12 , further comprising:

a tracking device configured to be associated with the drill;

a navigation system configured to determine a pose of the drill based on tracking the tracking device; and

wherein the processor module is configured to execute further instructions to alter the operation parameter based on the determined pose of the drill;

wherein the operation parameter of the drill is selected based on both (i) the first sensor signal or the second sensor signal and (ii) the determined pose.

14. The system of claim 13 , further comprising:

a boundary determination system configured to determine a boundary in an image;

wherein the operation parameters are altered based on the determined pose of the drill relative to the boundary.

15. The system of claim 14 , wherein the boundary determination system comprises:

a display device configured to display an image; and

an input system configured to allow an input of a user regarding a boundary of at least a portion of displayed in the image.

16. The system of claim 15 , further comprising:

an imaging system configured to image the subject; and

a boundary determination system configured to determine a boundary within the image.

17. The system of claim 16 , wherein the boundary determination system includes a user input to select at least a seed portion.

18. The system of claim 17 , wherein the oscillation parameter is selected at a distance relative to the boundary in the image.

19. A method to control operation of a drill, comprising:

determining a sensor signal from a sensor configured to sense a condition relative to the drill;

determining a pose of the drill with a navigation system configured to determine a pose of the drill; and

controlling an operation of the drill according to a selected operation parameter, wherein controlling the operation includes executing instructions with a processor module to alter the operation parameter of the drill based on both (i) the determined pose of the drill and (ii) the sensor signal;

wherein controlling the operation of the drill includes at least a full rotation of the drill about a drill axis of rotation and an oscillation of the drill about the drill axis of rotation where the drill will rotate a selected amount in a first direction about the drill axis of rotation and then rotate a selected amount in a second opposite direction about the drill axis of rotation.

20. The method of claim 19 , wherein determine the sensor signal includes at least one of:

an electrical signal transmitted through a nerve in a subject and transmit a sensor signal based thereon, or

at least one operation of a motor of the drill.

21. The method of claim 20 , further comprising:

determining a boundary in an image;

wherein controlling the operation of the instrument is based on both (i) the determined pose of the instrument relative to the boundary and (ii) the sensor signal.

22. The method of claim 21 , further comprising:

displaying the image; and

inputting a user selection regarding the boundary of at least a portion of displayed in the image.

23. The method of claim 22 , wherein determining the boundary within the image includes receiving a user input to select at least a seed portion.

24. The method of claim 21 , wherein the oscillation of the drill is selected at a distance relative to the determined boundary in the image.

Assignments (2)

Continuity (2)

References Cited (50)