Feed Rate Control for Robot-assisted Laminectomy based on Milling Sound Pressure Signals

This paper aims to present a method based on real-time analysis of the milling sound pressure signal(MSPS) to provide a safe highest milling feed rate for the robot-assisted laminectomy. First, we analyze the robot-assisted laminectomy's critical tasks. Then, we discuss the principle of using the MSPS to estimate a safe highest milling feed rate by analyzing the vertebral lamina forced vibration. Next, we propose a sound pressure signal processing method to extract some specific harmonic amplitudes of the MSPS and design a fuzzy controller whose inputs are these harmonic amplitudes to control the milling feed rate. Finally, our validation experiments indicate that the control method can make the milling feed rate adapt to the bone density and the bone cutting depth. The proposed method can reduce the robot-assisted laminectomy's milling time as much as possible while ensuring surgery safety.