System and method used for perceiving shape of medical soft mechanical arm

Abstract

The invention provides a system and method used for perceiving the shape of a medical soft mechanical arm. The system comprises a laser device, a spectrograph, the soft mechanical arm, a sensor and a computer, wherein the laser device transmits a laser signal as an incident signal, the laser signal enters the sensor installed on the soft mechanical arm and forms a reflecting signal, the spectrograph transmitted the received reflecting signal to the computer, and according to the reflecting signal, the computer obtains shape information of the soft mechanical arm by processing. The method comprises the steps of calculating Bragg wavelength of each optical grating according to the deformation quantity of the soft mechanical arm; according to the Bragg wavelength of each optical grating, calculating the curvature and torsion of each optical grating; according to the curvature and torsion of each optical grating, calculating the real-time shape of the soft mechanical arm. According to the system and method, the contrast ratio is high, the realtime performance is good, and meanwhile the problems that a traditional internal sensor is excessively large in size and an internal circuit has potential safety hazards to a patient are solved.

Description

technical field [0001] The present invention relates to the field of optical fiber sensing and robotics, in particular to a system and method for sensing the shape of a medical soft manipulator, especially to a system and method capable of sensing the shape of a soft manipulator in a closed environment. Background technique [0002] Different from traditional rigid robots, soft robots are made of flexible materials (such as silica gel, nickel-titanium alloy), etc., and have good flexibility and safety. Therefore, soft robots are very suitable for minimally invasive surgery, rescue and other fields. In applications such as minimally invasive surgery and rescue, soft robots often have to travel through narrow and closed environments to reach the target position. Such environments are complex and unstructured. The configuration of the soft robot will change as the environment changes, and at the same time, the closed environment prevents the operator (such as a surgeon) from ...

AI Technical Summary

Problems solved by technology

Due to structural limitations, the endoscope cannot be twisted axially, so there is no torsion detection device in the existing methods, so complex shapes such as bending and torsion cannot be accurately sensed

In addition, a method that can measure curvature and torsion is also proposed in the prior art, but this method can only be applied to the situation of small torsion, and is not suitable for soft surgical manipulators.

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