面向肺部介入的光纤光栅三维力传感器设计  

Design of Three-dimensional Force Sensor Based on FBG for Pulmonary Intervention

作　　者：刘艳红[1] 苗亚洲 张宽[1] 陈鹏冲 霍本岩 LIU Yanhong;MIAO Yazhou;ZHANG Kuan;CHEN Pengchong;HUO Benyan(School of Electrical and Information Engineering,Zhengzhou University,Zhengzhou 450001,China)

机构地区：[1]郑州大学电气与信息工程学院,河南郑州450001

出　　处：《郑州大学学报（工学版）》2025年第1期9-16,共8页Journal of Zhengzhou University（Engineering Science）

基　　金：国家重点研发计划项目(2022YFB4703203,2022YFB4703202);国家自然科学基金资助项目(62103376)。

摘　　要：支气管曲折复杂的环境对肺部介入手术中柔性机器人末端力感知造成了较大的困难,现有的力传感器难以满足其要求。根据肺部介入手术的需求,为柔性机器人提供精确、实时的末端力反馈,设计了分段式光纤光栅三维力传感器,并对其结构进行了有限元仿真分析与优化,设计了解耦算法,完成传感器内部4根光栅受到三维力时波长变化的解耦,从而实现对横向力与轴向力的检测。设置温补光栅进行温度补偿,设计了补偿策略,降低了温度变化对传感精度的影响。最后,对所设计的光纤光栅力传感器进行了校准与实验验证。实验结果表明:设计的光纤光栅三维力传感器的横向力灵敏度系数分别为431.3 pm/N与517.6 pm/N,轴向力灵敏度系数为153.5 pm/N,均方根误差分别为0.026、0.025、0.041 N。The tortuous and complex environment of the tracheobronchial tree poses significant challenges for force sensing at the distal end of flexible robots used in pulmonary interventional surgeries,with conventional force sensors often falling short of the required performance.To address the specific needs of these procedures and to equip flexible robots with precise and real-time force feedback,a segmented three-dimensional force fiber Bragg grating(FBG)force sensor was designed.The sensor′s structure was meticulously analyzed and optimized through finite element simulations,and a decoupling algorithm was devised to separate the wavelength shifts of the four internal gratings with three-dimensional forces,facilitating independent detection of lateral and axial forces.In order to mitigate the effects of temperature variations on sensing accuracy,temperature-compensating gratings were incorporated into the design,accompanied by a carefully tailored compensation strategy.Following this,the designed FBG force sensor underwent calibration and experimental validation.The outcomes revealed that the sensor exhibited lateral force sensitivities of 431.3 pm/N and 517.6 pm/N,an axial force sensitivity of 153.5 pm/N,and root mean square errors of 0.026 N,0.025 N,and 0.041 N for the respective force dimensions.

关 键 词：柔性机器人 光纤光栅 肺部介入手术 温度补偿 三维力 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置]