Abstract: The tactile interaction system was an important part of the neurosurgical simulator. The key of this system was to establish a realistic force feedback model for the bone grinding processes. A three-dimensional grinding force computational model was established for bone grinding processes of the medical spherical grinding tools, which calculated the grinding force distributions on the surfaces of grinding tools based on grinding specific energy Ues  and material removal rate. Bone grinding experiments were carried out by using the cortical portion of bovine femur bones, and the influences of spindle inclination angle and feed direction on the grinding forces were investigated. The results show that the calculation results of the model are in good agreement with the experimental ones in the terms of magnitudes and variation trends of grinding forces. The average relative errors of the calculated values of the grinding force with variable Ues is less than 23%. The spindle inclination angle and feed direction have greater influence on the grinding forces, the spindle inclination angle may change the average linear velocity of the abrasive particles in the grinding arc zones, and the changes of the grinding force have a certain relationship with the average linear velocity of the abrasive particles.

Key words: bone grinding, spherical grinding tool, grinding force, grinding specific energy

摘要： 触觉交互系统是神经外科手术模拟器的重要组成部分，该系统的关键在于建立较真实的骨磨削过程的力反馈模型。针对医用球状磨具的骨磨削过程，建立了一种三维磨削力计算模型，该模型基于比磨削能Ues和材料去除速率计算了磨具表面的磨削力分布。采用牛大腿皮质骨开展骨磨削实验研究，分析了主轴倾角和进给方向对磨削力的影响。研究结果表明：模型计算结果与实验结果的磨削力大小和变化趋势的吻合度较高，采用可变Ues时磨削力计算值的平均相对误差小于23%。主轴倾角和进给方向对磨削力有较大的影响，主轴倾角可改变磨削弧区磨粒的平均线速度，且磨削力的变化与磨削弧区磨粒的平均线速度有一定的关系。

关键词: 骨磨削, 球状磨具, 磨削力, 比磨削能