Granted Patent B2

US 12,472,012 · App. 17/705,646 · Granted Nov 18, 2025

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

Assignee: Medtronic Navigation, Inc.

A61B34/25A61B17/1671A61B34/20A61B34/76G05B13/0265G16H20/40G16H40/63A61B2017/00115

Abstract

Claims (64)

1 . A system to determine operation of a powered instrument, comprising:

a tool configured to engage a surface;

a tracking system configured to track a pose of the tool;

a motor configured to drive the tool by rotating or oscillating the tool;

a sensor operable to sense continuously over a period of time a parameter from the powered instrument and transmit a sensor signal continuously over the period of time based on the parameter; and

a processor module configured to execute instructions to:

receive the sensor signal continuously over the period of time;

evaluate the sensor signal including a change and duration of the sensor signal relative to the period of time; and

determine at least one operation of the tool regarding engagement of the surface based upon the sensor signal;

wherein the determined at least one operation of the tool regarding engagement of the surface includes a determination of skiving; and

wherein the determination of skiving is based at least in part on a pattern of a plurality of voltage spikes of the sensor signal over the period of time, and the determination of skiving is based at least in part on a selected amount of movement of the tool in a selected direction.

2 . The system of claim 1 , further comprising:

an output system configured to output the determined at least one operation of the tool regarding engagement of the surface.

3 . The system of claim 2 , wherein the output system includes at least one of a display device and output of the output system includes a visual display or a haptic feedback regarding the determined at least one operation of the tool regarding engagement of the surface.

4 . The system of claim 1 , wherein the sensor is operable to sense the parameter continuously over the period of time;

wherein the sensor signal includes a plurality of sensor signals; and

wherein each sensor signal, of the plurality of sensor signals, relates to a selected period of time and includes a signal value regarding operation of the motor.

5 . The system of claim 4 , wherein the evaluation of the sensor signal compared to time includes evaluating the plurality of sensor signals related to the selected period of time; and

a determination of a duration of a value of each sensor signal of the plurality of sensor signals.

6 . The system of claim 5 , wherein the determined operation of the tool regarding engagement of the surface includes determination of skiving or skipping when the duration of the value of the sensor signal is greater than selected value threshold and is less than a selected time threshold.

7 . The system of claim 5 , wherein the determined at least one operation of the tool regarding engagement of the surface includes a determination of skiving or skipping based on at least one of a selected signal processing or a machine learning system.

8 . The system of claim 1 , wherein the processor module is configured to execute further instructions to:

determine a pose of the tool related to the sensor signal.

9 . The system of claim 8 , further comprising:

a display device configured to display the determined pose of the tool and the determined at least one operation of the tool regarding engagement of the surface.

10 . The system of claim 1 , wherein the sensor includes at least one of a motor sensor or a tool sensor and the sensor signal includes a signal from the at least one of the motor sensor or the tool sensor.

11 . The system of claim 1 , wherein the sensor includes the motor and the sensor signal includes a back electromotive force from the motor.

12 . A system to determine operation of a powered instrument, comprising:

a tool configured to engage a surface;

a tracking system configured to track a tracking device associated with the tool;

a motor sensor operable to sense continuously over selected periods of time a back voltage from a motor and transmit a sensor signal continuously over the selected periods of time; and

a processor module configured to execute instructions to:

receive the sensor signal continuously over the selected periods of time;

evaluate the sensor signal, including determining at least one of (i) a duration of a change in the sensor signal or (ii) a magnitude change in the sensor signal or (iii) a pattern of change in the sensor signal over a duration; and

determine at least one operation of the tool regarding engagement of the surface based on the evaluation;

wherein the motor is configured to drive the tool;

wherein the determination of the at least one operation of the tool regarding engagement of the surface includes a determination of an occurrence of skiving;

wherein a pose of the tool is determined based on tracking of the tracking device; and

wherein the determination of skiving is based at least in part on a pattern of a plurality of voltage spikes of the sensor signal over a selected period of time, and the determination of skiving is based at least in part on a selected amount of movement of the tool in a selected direction.

13 . The system of claim 12 , wherein the motor rotationally drives the tool and the sensor signal increases as torque is increased on the tool.

14 . The system of claim 13 , wherein the processor module recalls at least one of (i) a duration threshold value regarding the duration of the change in the sensor signal or (ii) a magnitude threshold value regarding the magnitude change in the sensor signal or (iii) a pattern of multiple changes in sensor signals over a duration;

wherein the determination of the at least one operation of the tool regarding engagement of the surface is based on a comparison of the sensor signal to the duration threshold value or the magnitude threshold value or the pattern of multiple changes in sensor signals.

15 . The system of claim 14 , wherein the determination of the at least one operation of the tool regarding engagement of the surface is based on a comparison of the sensor signal to both the duration threshold value and the magnitude threshold value or the pattern of multiple changes in sensor signals.

16 . The system of claim 15 , wherein the determination of the at least one operation of the tool regarding engagement of the surface includes the determination of an occurrence of skiving;

wherein the determination of skiving is output.

17 . The system of claim 16 , further comprising:

a display device configured to display the determined output.

18 . A method of determining at least one operation of a tool regarding engagement with a surface, comprising:

sensing a signal based on operation of a motor continuously over selected periods of time;

tracking a pose of the tool;

generating a sensor signal based on the signal continuously over the selected periods of time;

evaluating the sensor signal for the selected periods of time, including determining at least one of (i) a duration of a change in the sensor signal or (ii) a magnitude of a change in the sensor signal or (iii) a pattern of change in the sensor signal over a duration;

determining the at least one operation of the tool regarding engagement of the surface based on the evaluation; and

outputting the determination of the at least one operation of the tool regarding engagement of the surface based on the evaluation, including a determination of an occurrence of skiving;

wherein the motor is configured to drive the tool; and

wherein the determination of the occurrence of skiving is based at least in part on analyzing a pattern of a plurality of voltage spikes of the sensor signal over a selected period of time, and the determination of the occurrence of skiving is based at least in part on a selected amount of movement of the tool in a selected direction.

19 . The method of claim 18 , further comprising:

operating a processor module to execute instructions to:

receive the sensor signal; and

evaluate the sensor signal.

20 . The method of claim 19 , further comprising:

operating the processor module to execute instructions to recall at least one of (i) a duration threshold value regarding the duration of the change in the signal or a magnitude threshold value regarding the magnitude change in the signal, or (ii) a pattern of change in the signal over a duration;

wherein the determination of the at least one operation of the tool regarding engagement of the surface is based on a comparison of the sensor signal to the duration threshold value or the magnitude threshold value.

21 . The method of claim 18 , wherein outputting the determination of the at least one operation of the tool regarding engagement of the surface based on the evaluation includes displaying an indication of skiving of the tool.

Assignments (2)

Continuity (2)

References Cited (50)