This invention belongs to the field of
medical robot technology, specifically relating to a rollable, wrap-around multi-point force sensing film, an
actuator arm, and a force sensing method. The invention comprises, from bottom to top, a lower highly elastic base membrane, a distributed heterogeneous lower
electrode layer, a PVDF piezoelectric film, a distributed heterogeneous upper
electrode layer, and the lower highly elastic base membrane, stacked sequentially. The PVDF piezoelectric film includes a dense sensing segment at the distal end, a uniformly distributed segment in the middle, and a sparse sensing segment at the proximal end. In use, it is rolled up along its length as a rolling axis to form a rollable, wrap-around multi-point force sensing film. This invention, by directly using a flexible film integrating distributed PVDF piezoelectric units as
electronic skin to wrap the sidewall of a
catheter, not only significantly improves spatial sensing efficiency but also achieves an optimal balance between sensing accuracy and sensing range with a limited number of sensing units, enabling the flexible surgical
actuator arm to possess gradient tactile sensing capabilities similar to biological nerves.