Real time bur chatter compensation in surgical cutting burs
A surgical console system configured to provide a drive signal to a surgical instrument for rotating a surgical bur. The surgical console system may supply a first drive signal to the surgical instrument to rotate the bur at a desired speed and to determine an electrical current drawn by the surgical instrument based on the drive signal. The surgical console system may be further configured to identify a chatter event based on the electrical current, and to supply a second drive signal to the surgical instrument based on the identified chatter event.
1 . A surgical console system configured to provide a drive signal to a surgical instrument comprising a rotatable bur configured to contact a tissue surface, the surgical console system comprising:
a processor and a memory, the memory storing instructions executable by the processor to:
supply a first drive signal to the surgical instrument to rotate the bur at a rotational speed;
determine an electrical current drawn by the surgical instrument based on the drive signal;
identify a chatter event based on the electrical current, wherein the chatter event is characterized by undesirable vibration of the bur during contact between the tissue surface and the bur; and
supply a second drive signal to the surgical instrument based on an identified chatter event.
2 . The surgical console system of claim 1 , wherein the second drive signal supplied to the surgical instrument rotates the bur at an alternate speed.
3 . The surgical console system of claim 1 , further comprising an instrument port configured to engage with a corresponding connector of the surgical instrument for communication with the surgical instrument.
4 . The surgical console system of claim 1 , further comprising a step of receiving a user input signal corresponding to the rotational speed of the bur.
5 . The surgical console system of claim 1 , wherein the instruction to identify a chatter event is further defined as analyzing the electrical current in a frequency domain to generate a harmonic signature.
6 . The surgical console system of claim 4 , wherein the user input signal is received from a footswitch.
7 . The surgical console system of claim 5 , wherein the harmonic signature is generated by transforming the electrical current from a time domain to the frequency domain using a Fourier transform.
8 . The surgical console system of claim 5 , wherein the instruction to identify the chatter event further comprises comparing the harmonic signature to a chatter signature stored in the memory.
9 . The surgical console system of claim 7 , wherein the instruction to identify the chatter event further comprises determining whether the harmonic signature is an n-th order harmonic of the rotational speed of the bur.
10 . The surgical console system of claim 7 , wherein the instruction to determine the electrical current comprises calculating a flux vector of the surgical instrument.
11 . The surgical console system of claim 8 , wherein the instruction to identify the chatter event further comprises selecting the chatter signature from a plurality of chatter signature based on a bur parameter.
12 . The surgical console system of claim 8 , wherein the chatter signature stored in the memory is defined by a resonant peak.
13 . The surgical console system of claim 11 , wherein the bur parameter is further defined as a bur geometry.
14 . A surgical bur system capable of rotating a surgical bur at a speed of at least 5,000 RPM, the surgical bur system comprising:
a handheld surgical instrument comprising:
a body;
a motor disposed in the body;
a surgical bur coupled to the motor and configured to rotate relative to the body and contact a tissue surface;
a console in communication with the handheld surgical instrument and configured to provide a drive signal to the motor, the console comprising:
a processor and a memory, the memory storing instructions executable by the processor to:
supply a first drive signal to the handheld surgical instrument to rotate the surgical bur at a rotational speed;
determine an electrical current drawn by the handheld surgical instrument based on the drive signal;
identify a chatter event based on the electrical current, wherein the chatter event is characterized by undesirable vibration of the bur during contact between the tissue surface and the bur; and
supply a second drive signal to the handheld surgical instrument based on an identified chatter event.
15 . The surgical bur system of claim 14 , wherein the second drive signal supplied to the handheld surgical instrument rotates the surgical bur at an alternate speed.
16 . The surgical bur system of claim 14 , further comprising a user input in communication with the console configured to adjust the rotational speed of the surgical bur.
17 . The surgical bur system of claim 14 , wherein the instruction to identify a chatter event is further defined as analyzing the electrical current in a frequency domain to generate a harmonic signature.
18 . The surgical bur system of claim 17 , wherein the harmonic signature is generated by transforming the electrical current from a time domain to the frequency domain using a Fourier transform.
19 . The surgical bur system of claim 17 , wherein adjusting the drive signal supplied to the handheld surgical instrument comprises calculating chatter frequency.
20 . The surgical bur system of claim 19 , wherein adjusting the drive signal supplied to the handheld surgical instrument further comprises calculating a rotation speed that based on the chatter frequency that will not result in a chatter event.