基于双耳麦克风实现机器人骨铣削状态自动控制

为了提升骨铣削手术机器人的手术质量，要求机器人对于手术中的铣削状态(主要包括铣削深度和铣削角度)能够实时感知并控制。针对此问题，本文提出一种利用双耳麦克风系统来辅助完成铣削状态控制的方法。首先对铣削状态与声信号的关系进行建模，之后完成铣削深度与铣削角度的标定实验获得所提模型的相关系数，最后利用PD控制器结合所建立的模型函数来实时分析并控制机器人的铣削状态。实验结果表明，铣削期望深度为0.5 mm时，加入角度控制相较于未加角度控制的实验效果在铣削深度与期望值偏差的方面提升了7.0%,铣削稳定性方面提升了34.1%。并且证明在期望深度为0.8 mm的极端情况下引入角度控制同样有着提升铣削效果的积极作用。经过实验验证所提方法能够有效的提升骨铣削手术机器人的工作质量。

Automatic control of bone milling state based on robot with binaural microphones

To enhance the surgical quality of bone milling surgery robots, it is required that the robot can perceive and control the milling state in real-time, (primarily including milling depth and milling angle). To address this problem, this article proposes a method to utilize a binaural microphone system to assist in milling state control. Firstly, the relationship between the milling state and the acoustic signal is modeled. Then the calibration experiments of milling depth and milling angle are completed to obtain the parameters of the proposed model. Finally the PD controller is used to control the milling state of the robot in real-time by combining it with the established model function. The experimental results show that when the desired depth of milling is 0. 5 mm, the experiment with angle control improved by 7. 0% in terms of milling depth deviation from the desired value and 34. 1% in terms of milling stability compared to the experimental results without angle control. It proves that in the extreme case of the desired depth of 0. 8 mm, the addition of angle control also has the positive effect of improving the milling effect. After experiments, it evaluates that the proposed method can effectively improve the work quality of the bone milling surgical robot.