Surgical instrument for determining cutting tool breakthrough
A surgical instrument includes a sensor that provides a displacement signal over a first time interval corresponding to a cutting process. The surgical instrument includes a controller to receive the displacement signal and a memory device. The controller determines a preceding velocity-related signal from the displacement signal over a second time interval being a portion of the first time interval. The controller also determines a first acceleration-related signal over a third time interval based on the displacement signal. The third time interval occurs after the second time interval. The controller further determines a preceding velocity factored acceleration-related signal for the third time interval based on the first acceleration-related signal and the preceding velocity-related signal. The controller also determines a breakthrough time of a cutting tool through a cortical wall of a bone based on the preceding velocity factored acceleration-related signal.
1 . A surgical instrument comprising:
a sensor configured to provide a displacement signal over a first time interval, the first time interval being bounded by an initial time and a final time, the first time interval corresponding to a cutting process;
a controller operably connected to the sensor to receive the displacement signal; and
a memory device operably connected to the controller, where the memory device is configured to store data;
wherein the controller is configured to:
determine a preceding velocity-related signal from the displacement signal over a second time interval, where the second time interval is at least a portion of the first time interval;
determine a first acceleration-related signal over a third time interval based on the displacement signal, the third time interval being within the first time interval, where the third time interval is after the second time interval;
determine a preceding velocity factored acceleration-related signal for the third time interval based on the first acceleration-related signal and the preceding velocity-related signal; and
determine a breakthrough time of a cutting tool through a cortical wall of a bone within the first time interval based on the preceding velocity factored acceleration-related signal.
2 . The surgical instrument of claim 1 , wherein the controller is further configured to determine a bore hole depth based on the breakthrough time and the displacement signal.
3 . The surgical instrument of claim 1 , wherein the sensor comprises a potentiometer.
4 . The surgical instrument of claim 1 , wherein the controller is configured to write to the memory device at least a portion of the preceding velocity factored acceleration-related signal within the first time interval.
5 . The surgical instrument of claim 1 , further comprising a first housing for supporting the sensor.
6 . The surgical instrument of claim 5 , further comprising a depth measurement extension operably coupled to the first housing, wherein the sensor is operably coupled to the depth measurement extension and configured to generate displacement signals responsive to movement of the depth measurement extension relative to the first housing.
7 . The surgical instrument of claim 5 , further comprising a second housing supporting a motor, the second housing configured to be removably coupled to the first housing.
8 . A surgical instrument comprising:
a sensor configured to provide a displacement signal over a first time interval, the first time interval being bounded by an initial time and a final time, the first time interval corresponding to a cutting process;
a controller, operably connected to the sensor to receive the displacement signal; and
a memory device operably connected to the controller, where the memory device is configured to store data;
wherein the controller is configured to:
determine a soft-bone factored acceleration signal based on a preceding velocity acceleration-related signal and a succeeding velocity-related signal; and
determine a breakthrough time of a cutting tool through a cortical wall of a bone within the first time interval based on the soft-bone factored acceleration signal.
9 . The surgical instrument of claim 8 , wherein the controller is further configured to determine a bore hole depth based on the breakthrough time and the displacement signal.
10 . The surgical instrument of claim 8 , wherein the sensor comprises a potentiometer.
11 . The surgical instrument of claim 8 , wherein the controller is configured to write to the memory device at least a portion of the soft-bone factored acceleration signal within the first time interval.
12 . The surgical instrument of claim 8 , further comprising a first housing for supporting the sensor.
13 . The surgical instrument of claim 12 , further comprising a depth measurement extension operably coupled to the first housing, wherein the sensor is operably coupled to the depth measurement extension and configured to generate displacement signals responsive to movement of the depth measurement extension relative to the first housing.
14 . The surgical instrument of claim 12 , further comprising a second housing supporting a motor, the second housing configured to be removably coupled to the first housing.
15 . A surgical instrument comprising:
a sensor configured to provide a displacement signal over a first time interval, the first time interval being bounded by an initial time and a final time, the first time interval corresponding to a cutting process; and
a controller operably connected to the sensor to receive the displacement signal, wherein the controller is configured to:
identify an acceleration cycle block, the acceleration cycle block corresponding to a second time interval within the first time interval where increasing acceleration-related signal values precede decreasing acceleration related signal values;
determine a maximum acceleration in the acceleration cycle block within the second time interval;
determine a soft-bone factored acceleration signal for the second time interval based on a preceding velocity factored acceleration-related signal and a succeeding velocity-related signal at maximum acceleration;
determine a maximum soft-bone factored acceleration; and
determine a breakthrough time of a cutting tool through a cortical wall of a bone based on the maximum soft-bone factored acceleration.
16 . The surgical instrument of claim 15 , wherein the controller is further configured to determine a bore hole depth based on the breakthrough time and the displacement signal.
17 . The surgical instrument of claim 15 , wherein the sensor comprises a potentiometer.
18 . The surgical instrument of claim 15 , further comprising a first housing for supporting the sensor.
19 . The surgical instrument of claim 18 , further comprising a depth measurement extension operably coupled to the first housing, wherein the sensor is operably coupled to the depth measurement extension and configured to generate displacement signals responsive to movement of the depth measurement extension relative to the first housing.
20 . The surgical instrument of claim 18 , further comprising a second housing supporting a motor, the second housing configured to be removably coupled to the first housing.