基于振动触觉反馈的机器人辅助骨曲面铣削

doi:10.13973/j.cnki.robot.210001

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王景港, 夏光明, 代煜, 张建勋. 基于振动触觉反馈的机器人辅助骨曲面铣削[J]. 机器人, 2021, 43(4): 484-492.DOI: 10.13973/j.cnki.robot.210001. WANG Jinggang, XIA Guangming, DAI Yu, ZHANG Jianxun. Robot-assisted Milling on the Bone Curved Surface Based on Vibrotactile Feedback. ROBOT, 2021, 43(4): 484-492. DOI: 10.13973/j.cnki.robot.210001.

摘要在骨曲面铣削时，机器人在控制铣削深度的同时需调整刀具与骨面的夹角来确保手术质量．针对这一问题，本文首先建立了铣刀的振动模型，讨论了铣削时铣刀与骨切面的夹角对铣削振动的影响．其次利用固定在铣刀上的三轴加速度传感器，采集铣刀在铣削过程中的振动信号，并使用快速傅里叶变换从信号中提取出铣刀旋转频率谐波的幅值．然后通过先验实验拟合出切向加速度信号中的一次谐波幅值与深度的线性关系，同时得到轴向加速度信号中的一次谐波幅值随夹角变化的关系，证明这两种谐波幅值可作为控制深度和夹角的反馈量．最后利用PID（比例－积分－微分）控制器和机器人逆运动学提出了基于振动触觉的骨曲面铣削方法．实验结果表明，铣削深度设置值为0.5 mm时，未引入和引入夹角控制方法时的骨曲面铣削深度的均值和标准差分别为0.455 mm ±0.046 mm和0.499 mm ±0.028 mm．所提方法能提高机器人铣削骨曲面的精确度．

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	王景港
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关键词 ：骨铣削, 快速傅里叶变换, 手术机器人, PID控制, 振动信号分析

Abstract：When milling on the bone curved surface, a robot needs to adjust the angle between the tool and the bone surface while controlling the milling depth to ensure the quality of the operation. For this problem, the vibration model of milling cutter is established firstly, and the influence of the angle between the cutter and the bone surface on milling vibration is discussed. Secondly, the three-axis acceleration sensor fixed on the cutter is used to collect the cutter vibration signals during the milling process, and the fast Fourier transform is used to extract the harmonic amplitude of the cutter rotation frequency. Thirdly, the linear relationship between the amplitude of the first harmonic in the tangential acceleration signal and the depth is fitted through a priori experiment, and the relationship between the amplitude of the first harmonic in the axial acceleration signal and the angle is obtained. It is proved that these two harmonics can be used as the feedback for controlling the milling depth and its angle. Finally, the bone curved surface milling method based on vibration tactile sensation is proposed based on PID (proportional-integral-differential) controller and robot inverse kinematics. Experimental results show that when the milling depth is set to 0.5 mm, the average and standard deviation of the milling depth on the bone curved surface before and after the angle control are 0.455 mm ±0.046 mm and 0.499 mm ±0.028 mm. The proposed method can improve the robot-assisted milling accuracy on the bone curved surface.

Key words： bone cutting fast Fourier transform surgical robot PID (proportional-integral-differential) control vibration signal analysis

收稿日期: 2021-01-04 录用日期: 2021-04-12

TP242.3

基金资助:国家自然科学基金（61773223，U1913207）

通讯作者: 代煜,daiyu@nankai.edu.cn E-mail: daiyu@nankai.edu.cn

作者简介: 王景港(1997-),男,硕士生.研究领域:手术机器人,机器运动控制.
夏光明(1996-),男,博士生.研究领域:医疗机器人,智能感知技术,多传感器信息融合技术,手术机器人轨迹规划技术,精密运动控制策略.
代煜(1981-),男,博士,教授.研究领域:图像处理,医疗机器人技术,微弱信号处理,生物电阻抗测量技术.

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.210001 或 https://robot.sia.cn/CN/Y2021/V43/I4/484

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