用于微创手术探针的光纤力传感器设计  

Design of fiber force sensors for surgical probes

作　　者：于昌新 何彦霖 何超江 祝航威 祝连庆[1] YU Changxin;HE Yanlin;HE Chaojiang;ZHU Hangwei;ZHU Lianqing(Key Laboratory of the Ministry of Education for Optoelectronic Measurement Technology and Instrument,Beijing Information Science and Technology University,Beijing,100192,China)

机构地区：[1]北京信息科技大学光电测试技术与仪器教育部重点实验室,北京100192

出　　处：《光学精密工程》2022年第20期2421-2429,共9页Optics and Precision Engineering

基　　金：国家自然科学青年基金项目(No.61903041);国家重点研发计划项目(No.2020YFA0711200);北京市教委研发计划项目(No.KM202011232007)。

摘　　要：微创外科穿刺手术探针的末端力测量是实现其精准控制和提高手术质量的关键,对保证手术操作的安全性至关重要。本文针对穿刺手术探针末端力测量的实际需求,设计了一种可集成于探针中的法布里-珀罗(Fabry-Perot,F-P)腔级联布拉格光栅(Fiber Bragg Grating,FBG)的光纤力传感器。首先,基于F-P腔的双光束干涉理论及光纤光栅传感理论并结合探针的悬臂梁结构,分析建立了植入在探针中光纤传感器的F-P腔和FBG传感模型,推导出F-P腔和FBG特征波长漂移量与施加力的映射关系,同时引入力与温度灵敏度矩阵,实现了探针力测量的同时有效避免了温度的交叉影响问题。接着,通过化学腐蚀的方法制备了光纤F-P腔并级联FBG形成传感器,并将传感器集成在手术探针中。最后,为了校准并检验本文所设计的F-P腔级联FBG光纤力传感器,对传感器进行了力与温度灵敏度的标定实验和稳定性测试实验。结果表明,该传感器的光纤F-P腔力灵敏度可达331.8 pm/N,FBG力灵敏度可达159.9 pm/N,线性度高于0.99,平均波长漂移为25 pm。本文设计的探针力传感器灵敏度高且线性度好,在微创外科穿刺手术机器人领域具有广阔的应用前景。The end-force measurement of minimally invasive surgical puncture probes is crucial for achieving precise control of such probes,improving the quality of surgeries,and ensuring the safety of surgical operations.In this study,a fiber optic force sensor with a Fabry-Pérot(F-P)-cavity-cascaded fiber Bragg grating(FBG)that can be integrated into the probe is designed to meet the actual requirements for measuring the force at the end of a puncture surgical probe.First,based on the double-beam interference theory of the F-P cavity and fiber grating sensing theory combined with the cantilever beam structure of the probe,the F-P cavity and FBG of the fiber optic sensor implanted in the probe sensing model are analyzed.Then,the mapping relationship between the characteristic wavelength shift of the F-P cavity and the FBG and the applied force are deduced,with the force and temperature sensitivity matrix being introduced to realize the probe force measurement while effectively avoiding the cross-influence problem of temperature.Next,the optical-fiber F-P-cavity parallel-cascade FBG constitution sensor is prepared by employing chemical corrosion,and the sensor is integrated into the surgical probe.Finally,to calibrate and verify the F-P-cavity-cascaded FBG fiber optic force sensor,the force and temperature sensitivity and the stability of the sensor are experimentally tested.The experimental results show that the force sensitivity of the fiber F-P cavity of the sensor can reach 331.8 pm/N,FBG force sensitivity can reach 159.9 pm/N,linearity is>0.99,and average wavelength shift is 2.5 pm.The probe force sensor designed in this study has high sensitivity and good linearity,thus exhibiting broad application prospects in the field of minimally invasive surgical puncture robots.

关 键 词：光纤传力感器 手术探针 法布里-珀罗腔(F-P腔) 布拉格光栅(FBG) 灵敏度矩阵 

分 类 号：TN253[电子电信—物理电子学] TH73[机械工程—仪器科学与技术]