CN112040369B - Microphone array system capable of realizing bone milling depth monitoring based on milling sound - Google Patents
Microphone array system capable of realizing bone milling depth monitoring based on milling sound Download PDFInfo
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- 238000003801 milling Methods 0.000 title claims abstract description 131
- 210000000988 bone and bone Anatomy 0.000 title claims abstract description 63
- 238000012544 monitoring process Methods 0.000 title claims abstract description 24
- 230000005236 sound signal Effects 0.000 claims abstract description 18
- 238000000429 assembly Methods 0.000 claims abstract description 16
- 230000000712 assembly Effects 0.000 claims abstract description 16
- 238000004891 communication Methods 0.000 claims abstract description 10
- 238000002474 experimental method Methods 0.000 claims abstract description 10
- 239000000463 material Substances 0.000 claims description 9
- 238000005070 sampling Methods 0.000 claims description 9
- 241000712899 Lymphocytic choriomeningitis mammarenavirus Species 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 4
- 238000001914 filtration Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 2
- 238000012806 monitoring device Methods 0.000 abstract description 2
- 238000006073 displacement reaction Methods 0.000 description 3
- 238000001356 surgical procedure Methods 0.000 description 3
- 210000001519 tissue Anatomy 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 210000004872 soft tissue Anatomy 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 230000006837 decompression Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
- H04R1/00—Details of transducers, loudspeakers or microphones
- H04R1/20—Arrangements for obtaining desired frequency or directional characteristics
- H04R1/22—Arrangements for obtaining desired frequency or directional characteristics for obtaining desired frequency characteristic only
- H04R1/24—Structural combinations of separate transducers or of two parts of the same transducer and responsive respectively to two or more frequency ranges
- H04R1/245—Structural combinations of separate transducers or of two parts of the same transducer and responsive respectively to two or more frequency ranges of microphones
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
- H04R1/00—Details of transducers, loudspeakers or microphones
- H04R1/20—Arrangements for obtaining desired frequency or directional characteristics
- H04R1/22—Arrangements for obtaining desired frequency or directional characteristics for obtaining desired frequency characteristic only
- H04R1/26—Spatial arrangements of separate transducers responsive to two or more frequency ranges
- H04R1/265—Spatial arrangements of separate transducers responsive to two or more frequency ranges of microphones
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
- H04R1/00—Details of transducers, loudspeakers or microphones
- H04R1/20—Arrangements for obtaining desired frequency or directional characteristics
- H04R1/32—Arrangements for obtaining desired frequency or directional characteristics for obtaining desired directional characteristic only
- H04R1/40—Arrangements for obtaining desired frequency or directional characteristics for obtaining desired directional characteristic only by combining a number of identical transducers
- H04R1/406—Arrangements for obtaining desired frequency or directional characteristics for obtaining desired directional characteristic only by combining a number of identical transducers microphones
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The microphone array system capable of realizing bone milling depth monitoring based on milling sound comprises two fixed guide rails and N sliding guide rail assemblies arranged on the fixed guide rails, wherein M sliding microphone assemblies are arranged on each sliding guide rail assembly, the microphones on each sliding microphone assembly are respectively connected with a processor through communication buses, and the processor controls the positions of each sliding guide rail assembly and each sliding microphone assembly through a controller and a control bus; the distance between the adjacent microphones is automatically adjusted by the processor through the controller according to the actual milling sound, and the bone milling depth can be monitored after the milling experiment calibration. The bone milling depth monitoring device can collect milling sound signals in the bone tissue milling process in real time, automatically adjust the distance of the microphone array according to the signals, and can be used when the surgical field is limited, so that the bone milling depth monitoring is realized, and the safety in the bone milling process is improved.
Description
Technical Field
The invention belongs to the technical field of surgical auxiliary instruments, and particularly relates to a microphone array system capable of realizing bone milling depth monitoring based on milling sound.
Background
In bone surgery, a surgeon often needs to hold a cutter to mill bone tissue using its high-speed rotating surface burr. There is a risk that the surgeon will carry out bone milling with the tool in his hand. For example, in laminmilling decompression surgery: (1) the milling cutter has high rotation frequency, the milling position and depth are not easy to control, and the hard ridge film or other soft tissues are easy to roll and scrape when the milling cutter rotates at high speed; (2) axial stress needs to be applied to the milling cutter during milling, and bone tissues of a plurality of old patients are often hardened and proliferated, so that the stress required during milling is large, and if the milling cutter slips when milling a bone surface, nerve roots, blood vessels or other soft tissues of the patients are easily injured.
The progress and development of robots have made them widely used in various industries. In the medical field, the robot can improve the feasibility, success rate and safety of a plurality of operations. The use of a robot mounted surgical milling cutter to perform bone milling offers the possibility of reducing the risk of manual surgery. When the surgical robot carries out bone milling, the phenomenon of milling and slipping can not occur, but the cutter is required to be always kept at a more stable and safe milling depth. When the tool contacts the bone, the traction of the musculoskeletal tissue on the bone may cause the bone to displace such that the tool, moving along the planned trajectory, cuts into or out of the bone. Bone vibration and deformation caused by milling force, narrow operation space and the like, so that the milling depth of a contact area of the milling cutter and the bone is difficult to measure in real time by using a distance measuring device and the like, and great difficulty is caused to the milling depth control of the surgical robot.
At present, the monitoring and control of the milling state of the surgical robot during the bone milling process depend on the sensing and feedback of various sensors on the bone surface contact state of a cutter. These sensors include force/moment sensors, accelerometers, laser displacement sensors, impedance meters, microphones, and the like. The contact type measuring modes of a force/torque sensor, an accelerometer, an impedance analyzer and the like have large influence on signals, a robot arm needs to be modified, a specific clamping device is designed, and the signal-to-noise ratio is low. The laser displacement sensor can acquire vibration signals in a non-contact mode, but in practical application, the laser displacement sensor is difficult to position on proper adjacent tissues, and reflected light can be blocked by certain tissues or surgical tools, so that measurement is inaccurate. The advantages of monitoring the bone milling depth based on the milling sound mainly include: (1) the microphone is cheap; (2) the requirement on the precision of the installation position is low, and the configuration of a robot is not required to be modified; (3) the non-contact measurement makes the signal acquisition independent of a specific clamping device; (4) the collection does not affect the operation process. However, in an actual surgical environment, certain environmental noise (such as various sounds of medical monitoring instruments) is inevitable, which may affect the milling depth monitoring based on the milling sound, and the milling sound needs to be acquired and preprocessed based on the microphone array. However, at present, no microphone array system specially used for realizing bone milling depth monitoring exists.
Disclosure of Invention
The invention aims to solve the problem of monitoring the milling depth of an orthopedic robot when the surgical field is limited, and provides a microphone array capable of monitoring the bone milling depth based on milling sound, so that the distance between microphones is adjusted according to the change of the rotation frequency of a main shaft of a surgical tool to directly perform LCMV (liquid crystal display television) directional recording on the milling sound, and the monitoring of the bone milling depth is realized according to the energy in the corresponding frequency range of the milling sound.
The technical scheme of the invention is as follows
The microphone array system capable of realizing bone milling depth monitoring based on milling sound comprises two fixed guide rails, N sliding guide rail assemblies arranged on the fixed guide rails, M sliding microphone assemblies arranged on the sliding guide rail assemblies respectively, microphones on the sliding microphone assemblies are connected with a processor through communication buses respectively, and the processor controls the positions of the sliding guide rail assemblies and the sliding microphone assemblies through a controller and a control bus; the distances between the adjacent microphones are equal to the distance d, the value of d can be calculated by the processor according to actual milling sound, and automatic adjustment is carried out through the controller; the system monitors the bone milling depth after calibration of the milling experiment. Milling sound signals collected by the microphones are sent to the processor, the processor carries out fast Fourier transform processing on the sound signals to obtain the actual rotation frequency of the main shaft of the surgical tool during bone milling, an expected distance is calculated and then sent to the controller, the controller adjusts the distance between the sliding guide rail assemblies and the distance between the sliding microphone assemblies according to the expected distance, after the adjustment is completed, an adjustment success signal is returned to the processor, the processor receives the adjustment success signal and then outputs the current bone milling depth value according to the energy in the appropriate frequency bandwidth range of the corresponding frequency of the milling sound, and after the artificial bone material is calibrated in a milling experiment.
The fixed guide rail is of a cuboid structure, a sliding groove for the sliding guide rail assembly to move is formed in the middle of the upper surface of the fixed guide rail, and grooves for assembling with the sliding guide rail assembly are formed in the left side and the right side of the fixed guide rail respectively.
The sliding guide rail component comprises a first sliding seat at two ends and a sliding guide rail fixed between the first sliding seat, a groove is formed in the bottom of the first sliding seat in the same direction as the fixed guide rail, two sides of the lower end of the groove are L-shaped and are respectively assembled with one groove in each of two sides of the fixed guide rail, a first motor and a first pulley are installed in each groove in the bottom of the first sliding seat, the first pulley is arranged in a sliding groove formed in the middle of the upper surface of the fixed guide rail, a through hole for a cable connected with the first motor to pass through is formed in the side wall of the first sliding seat, and the first motor is connected with a controller through a cable; the structure shape of the sliding guide rail is the same as that of the fixed guide rail, and a channel for a microphone communication line to pass through is additionally arranged on one side of the sliding groove in the middle of the upper surface of the guide rail.
The sliding microphone assembly comprises a second sliding seat which is arranged on the sliding guide rail assembly and assembled with the sliding guide rail in the sliding guide rail assembly, the structural shape of the second sliding seat is the same as that of the first sliding seat, a second motor and a second pulley are arranged in a groove at the bottom of the second sliding seat, a through hole for a control bus connected with the second motor to pass through is formed in the side wall of the second sliding seat, the second motor is connected with a controller through the control bus, and the second pulley is arranged in a sliding groove formed in the middle of the upper surface of the sliding guide rail; the upper surface of the second sliding seat is provided with a hole, the position of the hole corresponds to a channel which is arranged on the upper surface of the sliding guide rail and is used for a microphone communication line to pass through, the upper surface of the second sliding seat is respectively provided with a microphone, and a connecting line of the microphone is connected with the processor through the hole and the channel.
The controller receives expected equal spacing information d of adjacent microphones sent by the processor, controls the position of each sliding guide rail assembly and the sliding microphone assembly and sends a spacing adjustment success signal to the processor.
The processor is responsible for respectively carrying out fast Fourier transform and maximum value search on the milling sound of the M multiplied by N microphones before adjusting the distance between the microphones to obtain the rotation frequency of the main shaft of the surgical tool during the current bone milling
According to the wavelength, the formula lambda is v/f, v is sound velocity, and the meterCalculating the desired equal distance d of the microphones as lambda/2 and sending the distance d to the controller; after the controller successfully adjusts the spacing, the processor can directly install the milling sound signals of the current MxN microphones to carry out LCMV spatial filtering s (N) ([ w) } in the direct installation mode1,w2,w3,...wM×N]T[s1(n),s2(n),s3(n),...,sM×N(n)]Milling sound signal s (n) for realizing directional sound recording to obtain directional sound recording, wherein [ w1,w2,w3,...wM×N]The filter coefficient of LCMV is uniquely determined by the spatial positions of a microphone array and a bone milling part, and n is the number of sampling points and is equal to the product of sampling frequency (Hz) and sampling time(s) of a microphone; performing fast Fourier transform on s (n), and adding all coefficients in the range of (f +/-a) Hz to obtain an amplitude value E in the corresponding frequency range of the milling sound, wherein a is the frequency bandwidth selected by engineering personnel according to the actual situation; in the milling experiment calibration of the artificial bone material, the amplitude values E in the (f +/-a) Hz range of the milling sound signal when the milling depth is respectively idle, 0.1mm, 0.2mm, 0.3mm and 0.4mm and the milling depth is 0.5mm are respectively E0，E1，E2，E3，E4And E5Fitting a curve E ═ kx + E based on a least square method0Where k is the proportionality coefficient under the current actual monitoring conditions, E0Is an amplitude value E in the range of (f + -a) Hz of the milling sound signal during idle operation, and outputs a milling depth x ═ E-E0)/k。
The invention has the advantages and positive effects that:
the bone milling depth monitoring device can collect milling sound signals in the bone tissue milling process in real time, automatically adjust the distance of the microphone array according to the signals, and can be used when the surgical field is limited, so that the bone milling depth monitoring is realized, and the safety in the bone milling process is improved.
Drawings
FIG. 1 is a system block diagram of one embodiment of the present invention;
FIG. 2 is a schematic diagram of a microphone array of one embodiment of the present invention;
FIG. 3 is a schematic view of a stationary guide rail according to an embodiment of the present invention;
FIG. 4 is a schematic view of a sliding guide rail assembly according to one embodiment of the present invention;
FIG. 5 is a schematic view of a sliding microphone assembly according to one embodiment of the present invention;
in the figure, 1 fixed guide rail, 2 sliding guide rail component, 3 sliding microphone, 4 motor control bus, 5 microphone transmission bus, 6 two-side groove of fixed guide rail, 7 middle groove of upper surface of fixed guide rail, 8L-shaped assembling part of two sides of lower end of first base bottom groove, 9 first motor and first pulley in first base groove, 10 through hole on first base side wall, 11 middle sliding groove of upper surface of sliding guide rail, 12 cable channel of upper surface of sliding guide rail, 13 second motor and second pulley in second base groove in sliding microphone component, 14 groove of second base bottom in sliding microphone component, 15 upper surface hole of second base in sliding microphone component, 16 microphone, 17 side wall hole of second base in sliding microphone component.
Detailed Description
Example 1:
the microphone array system capable of monitoring the bone milling depth based on the milling sound is shown in fig. 1, the microphone array, the fixed guide rail, the sliding guide rail assembly and the sliding microphone assembly in the system are respectively shown in fig. 2, 3, 4 and 5, the system can directionally collect milling sound signals in the artificial bone material milling process, and the current milling depth value is output by analyzing the milling sound signals.
As shown in fig. 1 and 2, the system includes two fixed rails 1, N (in this example, N takes 4) sliding rail assemblies 2 mounted on the fixed rails, M (in this example, M takes 4) sliding microphone assemblies 3 mounted on each sliding rail assembly, and a microphone 16 on each sliding microphone assembly is connected with a processor through a communication bus, and the processor controls the positions of each sliding rail assembly and each sliding microphone assembly through the controller and the control bus (see fig. 1).
The fixed guide rail is of a cuboid structure, as shown in fig. 3, a sliding groove 7 for the sliding guide rail assembly to move is formed in the middle of the upper surface of the fixed guide rail, and grooves 6 for assembling with the sliding guide rail assembly are formed in the left side and the right side of the fixed guide rail respectively.
The sliding guide rail assembly is shown in fig. 4 and comprises a first sliding seat at two ends and a sliding guide rail fixed between the first sliding seat, wherein a groove is formed in the bottom of the first sliding seat in the same direction as the fixed guide rail, two sides of the lower end of the groove are L-shaped assembling parts 8 and are respectively assembled with the grooves in two sides of the fixed guide rail, a first motor and a first pulley 9 are installed in the groove in the bottom of the first sliding seat, the first pulley is arranged in a sliding groove 7 formed in the middle of the upper surface of the fixed guide rail 1, a through hole 10 for a first motor control bus to pass through is formed in the side wall of the first sliding seat, and the first motor is connected with a controller through a control bus; the structure shape of the sliding guide rail is the same as that of the fixed guide rail, and a channel 12 for a microphone communication line to pass through is additionally arranged on one side of a chute 11 in the middle of the upper surface of the guide rail.
The sliding microphone assembly is as shown in fig. 5, and comprises a second sliding seat mounted on the sliding guide rail assembly and assembled with the sliding guide rail therein, the structural shape of the second sliding seat is the same as that of the first sliding seat, a second motor and a second pulley 13 are mounted in a groove 14 at the bottom of the second sliding seat, a through hole 17 for passing a control bus connected with the second motor is formed in the side wall of the second sliding seat, the second motor is connected with a controller through the control bus, the second pulley is arranged in a sliding groove formed in the middle of the upper surface of the sliding guide rail, a hole 15 is formed in the upper surface of the second sliding seat, the hole position corresponds to a channel formed in the upper surface of the sliding guide rail and used for passing a microphone communication line, a microphone 16 is mounted on each upper surface of the second sliding seat, and a connecting line of the microphone is connected with a processor through the hole 15 and the channel 12.
And selecting artificial bone materials to perform bone milling experiments. Fixing two ends of the artificial bone material by using a vice, setting milling depths of 0mm (idle rotation), 0.1mm, 0.2mm, 0.3mm, 0.4mm and 0.5mm respectively, and setting a transverse moving speed vyThe setting is 1mm/s, the milling time is 10s, and the rotating speed of the drill bit is 60000 rpm. The microphone array is arranged at a position 2m away from a bone milling sound source, and is used for collecting milling sound pressure signals and extracting bone milling sound in the directions of azimuth angle 10 degrees and space angle 0 degreesA signal. Before the controller adjusts the distance between the microphones, the processor respectively carries out fast Fourier transform and maximum value search on the milling sound of the M multiplied by N microphones to obtain the rotation frequency of the main shaft of the surgical tool during the current bone milling
Calculating the desired equal distance d between the microphones, wherein the desired equal distance d is lambda/2 is 0.17m, and sending the calculated distance d to the controller according to a wavelength calculation formula lambda is v/f, and the sound velocity v is 340 m/s; after the controller successfully adjusts the pitch, the processor may perform LCMV spatial filtering s (N) [ < w > ] on the milling sound signals of the current mxn microphones1,w2,w3,...wM×N]T[s1(n),s2(n),s3(n),...,sM×N(n)]Obtaining a milling acoustic signal s (n), wherein [ w1,w2,w3,...wM×N]The filter coefficient of the LCMV is determined by 10 degrees of azimuth angles of spatial positions of a microphone array and a bone milling part and 0 degree of spatial angle, wherein n is 256 which is the number of sampling points and is equal to the product of 7500Hz of sampling frequency of the microphone and 0.034s of sampling time; performing fast Fourier transform on s (n), and adding all coefficients in the range of (f +/-a) Hz to obtain an amplitude value E in the corresponding frequency range of the milling sound, wherein a is the frequency bandwidth selected by engineering personnel according to the actual situation, and a is 7; in the milling experiment calibration of the artificial bone material, the amplitude values E in the (1000 +/-7) Hz range of the milling sound signal when the milling depth is respectively idle, 0.1mm, 0.2mm, 0.3mm, 0.4mm and 0.5mm are respectively 0.05, 0.47, 1.03, 1.48, 1.97 and 2.46; the standard deviations were 0.0201, 0.1010, 0.1111, 0.1228, 0.2010, 0.2203 and 0.2430, respectively. The above experiments show that the invention can be realized in the range of 0-0.5mm]Within this range, the milling depth of the artificial bone material is monitored with a resolution of 0.1 mm. Fitting curve E-kx + E based on least square method0Where k is 4.9327, the scaling factor for the current actual monitored condition, E00.05 is the amplitude value in the range of (1000 ± 7) Hz of the milling acoustic signal at idle under the current actual monitoring conditions, and the output milling depth x is (E-0.05)/4.9327, i.e. the linear fit equation is f 4.9327x + 0.05. Determining the coefficient R20.9835. determine the coefficient R2 to be close to 1 and the fit is more accurate. According to the maximum deviation of the fitting curve and the milling depth actually monitored, the independent linearity rate is calculated to be 8.812%, and the fact that the linearity of the milling depth monitoring is high and the noise is low is shown.
Claims (5)
1. Can mill microphone array system that sound realized bone milling depth control based on milling, its characterized in that: the system comprises two fixed guide rails, N sliding guide rail assemblies are arranged on the fixed guide rails, M sliding microphone assemblies are arranged on each sliding guide rail assembly, the microphones on each sliding microphone assembly are respectively connected with a processor through communication buses, and the processor controls the positions of each sliding guide rail assembly and each sliding microphone assembly through a controller and a control bus; the distances between the adjacent microphones are equal to the distances d, the d value can be calculated by the processor according to actual milling sound, and automatic adjustment is carried out through the controller; the system monitors the bone milling depth after the milling experiment is calibrated;
milling sound signals collected by the microphones are sent to a processor, the processor carries out fast Fourier transform processing on the sound signals to obtain the actual rotation frequency of a main shaft of the surgical tool during bone milling, an expected distance is calculated and then sent to a controller, the controller adjusts the distance between the sliding guide rail assemblies and the distance between the sliding microphone assemblies according to the expected distance, after the adjustment is completed, an adjustment success signal is returned to the processor, the processor receives the adjustment success signal and then outputs the current bone milling depth value according to the energy in the appropriate frequency bandwidth range of the corresponding frequency of the milling sound, and after the artificial bone material is calibrated in a milling experiment;
the processor is responsible for respectively carrying out fast Fourier transform and maximum value search on the milling sound of the M multiplied by N microphones before adjusting the distance between the microphones to obtain the rotation frequency of the main shaft of the surgical tool during the current bone milling
Calculating the expected equal distance d between the microphones to be lambda/2 and sending the calculated distance d to the controller according to a wavelength calculation formula of lambda to be v/f, wherein v is sound velocity; in thatAfter the controller successfully adjusts the distance, the processor can directly install the milling sound signals of the current MxN microphones to carry out LCMV spatial filtering s (N) ([ w) } in the direct installation mode1,w2,w3,...wM×N]T[s1(n),s2(n),s3(n),...,sM×N(n)]Milling sound signal s (n) for realizing directional sound recording to obtain directional sound recording, wherein [ w1,w2,w3,...wM×N]The filter coefficient of LCMV is uniquely determined by the spatial positions of a microphone array and a bone milling part, and n is the number of sampling points and is equal to the product of sampling frequency (Hz) and sampling time(s) of a microphone; performing fast Fourier transform on s (n), and adding all coefficients in the range of (f +/-a) Hz to obtain an amplitude value E in the corresponding frequency range of the milling sound, wherein a is the frequency bandwidth selected by engineering personnel according to the actual situation; in the milling experiment calibration of the artificial bone material, the amplitude values E in the (f +/-a) Hz range of the milling sound signal when the milling depth is respectively idle, 0.1mm, 0.2mm, 0.3mm and 0.4mm and the milling depth is 0.5mm are respectively E0，E1，E2，E3，E4And E5Fitting a curve E ═ kx + E based on a least square method0Where k is the proportionality coefficient under the current actual monitoring conditions, E0Is an amplitude value E in the range of (f + -a) Hz of the milling sound signal during idle operation, and outputs a milling depth x ═ E-E0)/k。
2. The microphone array system capable of achieving bone milling depth monitoring based on milling sound according to claim 1, wherein: the fixed guide rail is of a cuboid structure, a sliding groove for the sliding guide rail assembly to move is formed in the middle of the upper surface of the fixed guide rail, and grooves for assembling with the sliding guide rail assembly are formed in the left side and the right side of the fixed guide rail respectively.
3. The microphone array system capable of achieving bone milling depth monitoring based on milling sound according to claim 2, wherein: the sliding guide rail assembly comprises a first sliding seat at two ends and a sliding guide rail fixed between the first sliding seat, a groove is formed in the bottom of the first sliding seat in the same direction as the fixed guide rail, two sides of the lower end of the groove are L-shaped and are respectively assembled with the grooves in the two sides of the fixed guide rail, a first motor and a first pulley are installed in the groove in the bottom of the first sliding seat, the first pulley is arranged in a sliding groove formed in the middle of the upper surface of the fixed guide rail, a through hole for a cable connected with the first motor to pass through is formed in the side wall of the first sliding seat, and the first motor is connected with a controller through the cable; the structure shape of the sliding guide rail is the same as that of the fixed guide rail, and a channel for a microphone communication line to pass through is additionally arranged on one side of the sliding groove in the middle of the upper surface of the guide rail.
4. The microphone array system capable of achieving bone milling depth monitoring based on milling sound according to claim 3, wherein: the sliding microphone assembly comprises a second sliding seat which is arranged on the sliding guide rail assembly and assembled with the sliding guide rail in the sliding guide rail assembly, the structural shape of the second sliding seat is the same as that of the first sliding seat, a second motor and a second pulley are arranged in a groove at the bottom of the second sliding seat, a through hole for a control bus connected with the second motor to pass through is formed in the side wall of the second sliding seat, the second motor is connected with a controller through the control bus, and the second pulley is arranged in a sliding groove formed in the middle of the upper surface of the sliding guide rail; the upper surface of the second sliding seat is provided with a hole, the position of the hole corresponds to a channel which is arranged on the upper surface of the sliding guide rail and is used for a microphone communication line to pass through, the upper surface of the second sliding seat is respectively provided with a microphone, and a connecting line of the microphone is connected with the processor through the hole and the channel.
5. The microphone array system capable of achieving bone milling depth monitoring based on milling sound according to claim 1, wherein: and the controller receives the expected equal spacing d information of the adjacent microphones sent by the processor, controls the positions of each sliding guide rail assembly and each sliding microphone assembly and sends a spacing adjustment success signal to the processor.
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