Cutting Depth Compensation Based on Milling Acoustic Signal for Robotic-Assisted Laminectomy
Guangming Xia Bin Yao Yu Dai Jianxun Zhang Guangming Xia Bin Yao Yu Dai Jianxun Zhang
To optimize the cutting depth in robotic-assisted laminectomy, we present a real-time method to adjust the preoperatively planned feed rate in the depth direction of the robot cutting trajectory. Not only the linearity between the harmonic amplitude of the milling acoustic signal and the cutting depth is discussed by analyzing the milling dynamic model, but its influencing variables are analyzed. ...