Let $r$ be a unit-speed bi-regular curve. (It passes the point $s_0$) Let $distP(q)$ be the distance between the plane $P$ and the point $q$.
Question.
The plane is equal to the osculating plane of $r$ at $s_0$ if and only if $P$ contains $r(s_0)$,$$ \lim_{s \to s_0} \frac{distP(r(s))}{(s-s_0)} = 0$$ $$\lim_{s \to s_0} \frac{distP(r(s))}{(s-s_0)^2} =0$$