US 12,472,012 B2
Powered drill assembly
Brad Jacobsen, Erie, CO (US); Milton F. Barnes, Grand Prairie, TX (US); Rowena Vigh, Superior, CO (US); and Steven Hartmann, Superior, CO (US)
Assigned to Medtronic Navigation, Inc., Louisville, CO (US)
Filed by Medtronic Navigation, Inc., Louisville, CO (US)
Filed on Mar. 28, 2022, as Appl. No. 17/705,646.
Claims priority of provisional application 63/171,413, filed on Apr. 6, 2021.
Prior Publication US 2022/0313374 A1, Oct. 6, 2022
Int. Cl. A61B 34/00 (2016.01); A61B 17/16 (2006.01); A61B 34/20 (2016.01); G05B 13/02 (2006.01); G16H 20/40 (2018.01); G16H 40/63 (2018.01); A61B 17/00 (2006.01)
CPC A61B 34/25 (2016.02) [A61B 17/1671 (2013.01); A61B 34/20 (2016.02); A61B 34/76 (2016.02); G05B 13/0265 (2013.01); G16H 20/40 (2018.01); G16H 40/63 (2018.01); A61B 2017/00115 (2013.01)] 21 Claims
OG exemplary drawing
 
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.