Shape detection device and method based on helical fiber grating sensor array

Abstract

The invention provides a shape detection device and method based on a spiral FBG (fiber bragg grating) sensor array, and the device comprises the spiral FBG sensor array, an FBG demodulator, data collection and shape reconstruction equipment, and display equipment. The device does not need other peripheral auxiliary equipment, is not affected by electromagnetic interference, is good in medical compatibility, does not emit rays, and can achieve the long-distance remote monitoring. Through the spiral configuration of the FBG sensor array, the device can achieve the multi-point deformation detection of a single optical fiber, and forms a quasi-distributed detection system. Through the packaging of the optical fiber on a nickel-titanium alloy filament, the device protects a grating point from being worn, is strong in anti-interference capability, and enlarges the detection range. The device can obtain the shape of a flexible robot in real time, and is high in real-time response. Meanwhile, the device detects the curvature and torsion, is simple in detection method, can be used for the shape sensing detection in a gastroscope, colonoscope and a flexible / soft robot, and plays an important role in the flexible robots in the fields of dibaster assistance, medical rehabilitation and national defense security.

Description

technical field [0001] The invention relates to a shape detection device and method based on a spiral fiber grating sensor array, in particular to a shape detection device and method based on a spiral fiber grating sensor array capable of simultaneously detecting curvature information and torsion information. Background technique [0002] In order to further reflect the excellent effect of minimally invasive surgery, typical minimally invasive surgery methods have evolved from traditional multi-hole minimally invasive surgery to single-hole surgery, and then to the current research hotspot - natural orifice transluminal endoscopic surgery (NOTES). Natural orifice minimally invasive surgery refers to a form of surgery that enters the human body through the natural orifice (stomach, esophagus, etc.) of the human body to complete the surgical operation. Compared with other minimally invasive surgery (multi-hole minimally invasive surgery, single-hole minimally invasive surgery)...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to overcome the shortcomings of the existing sensor-based shape detection technology, such as complex structure, single linear configuration of multiple optical fibers, and lack of torsion information, and provide a fiber grating sensor structure with simple structure, novelty, and convenient detection method, and can simultaneously Detect curvature and torsion information

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