基于声信号处理的骨铣削状态监测

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摘要考虑到声信号能够提供关于切削刀具和组织接触状态的信息，通过采集和分析在椎板切除手术中发出声信号实现铣削状态的监测。建立微分方程描述了椎板受切削力作用时产生的受迫振动，并证明了振动的幅度会随着骨厚度的减少而增大。利用离散小波变换从采集的声压信号中提取主轴频率的整数次谐波分量，通过计算一些特殊尺度上的小波能量积来判断铣削的状态。提出的状态监测方法在猪脊柱上进行的铣削实验中得到了验证，实验结果表明当椎板将要被穿透时小波能量积会显著增大。

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	代煜1
	雪原2
	张建勋1

关键词 ：手术机器人, 铣削状态监测, 声信号处理, 小波变换

Abstract：In consideration of that the sound can provide some useful information about tool-tissue contact, the condition monitoring is realized by obtaining and analyzing the sound signal during laminectomy surgery. The differential equation is presented to describe the vertebral lamina vibration excited by the cutting force, and it is proved that the vibration amplitude will increase when the thickness of the bone decreases. Discrete wavelet transform is performed to extract the harmonic components whose frequencies are integer multiples of spindle frequency from the sound pressure signal, the product of wavelet energy at some special scales is calculated to judge the milling status. The proposed condition monitoring method is experimentally verified through the milling operation in porcine spines, and the results indicate that the product of wavelet energy will increase significantly when the vertebral lamina is to be penetrated.

Key words： Surgical robot milling condition monitoring sound signal processing wavelet transform

收稿日期: 2014-08-18 出版日期: 2015-11-25

引用本文:

代煜1，雪原2，张建勋1. 基于声信号处理的骨铣削状态监测[J]. 振动与冲击, 2015, 34(22): 19-23.
DAI Yu1，XUE Yuan2，ZHANG Jian-Xun1. Bone milling condition monitoring based on sound signal processing. JOURNAL OF VIBRATION AND SHOCK, 2015, 34(22): 19-23.

链接本文:

http://jvs.sjtu.edu.cn/CN/ 或 http://jvs.sjtu.edu.cn/CN/Y2015/V34/I22/19

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