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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Vibration-Based Milling Condition Monitoring in Robot-Assisted Spine Surgery
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Vibration-Based Milling Condition Monitoring in Robot-Assisted Spine Surgery

机译：机器人辅助脊柱手术中基于振动的铣削状态监控

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摘要

In order to enhance the safety of the milling operation, we develop a condition monitoring method by means of analyzing the bone vibration signal in robot-assisted spine surgery. Since the behavior of the bone being cut changes with the tissue removal, an analytical method is proposed for modeling of varying bone dynamics, and then, it is proved that the vibration amplitude of the bone indicates its status change. During the real milling process, the vibration signal of the bone is recorded by a noncontact laser displacement sensor, and we only pay attention to the harmonic component whose frequency is an integer times of the spindle frequency of the milling device. The wavelet packet transform and the adaptive linear element are performed to estimate the harmonic amplitude from the signal to correlate milling condition. Considering that the bone vibration also varies with the milling force, the relative magnitude of the force is measured from the wavelet coefficients in low-frequency subband, and subsequently, the estimated harmonic amplitude is compensated to reduce the influence of the force. The robot milling experiments in sheep spines are carried on to verify the effectiveness of the condition monitoring procedure. The experimental results are in substantial accordance with the conclusions from the dynamic model, and thus, the robot can improve the safety of the operation with the proposed method.
机译：为了提高铣削操作的安全性，我们通过分析机器人辅助脊柱手术中的骨振动信号，开发了一种状态监测方法。由于被切除的骨头的行为随组织的去除而变化，因此提出了一种分析变化的骨头动力学模型的分析方法，然后证明了骨头的振动幅度表明了它的状态变化。在实际铣削过程中，骨骼的振动信号是通过非接触式激光位移传感器记录的，我们只注意其谐波频率是铣削设备主轴频率的整数倍的谐波分量。执行小波包变换和自适应线性元素以估计信号的谐波幅度，以关联铣削条件。考虑到骨骼振动也随铣削力而变化，因此从低频子带中的小波系数测量力的相对大小，然后，补偿估计的谐波振幅以减小力的影响。进行了绵羊脊椎机器人铣削实验，以验证状态监测程序的有效性。实验结果与动力学模型的结论基本吻合，从而可以提高机器人的安全性。

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