Minimally-invasive-surgical-robot four-dimensional force sensor based on fiber gratings

Abstract

The invention provides a minimally-invasive-surgical-robot four-dimensional force sensor based on fiber gratings. The minimally-invasive-surgical-robot four-dimensional force sensor based on the fibergratings is mainly formed that nine fiber bragg gratings are bonded onto four narrow beams and four wide beams formed after being cut by eight axial cutting grooves on a hollow glass fiber round barrespectively, and the nine fiber bragg gratings are used for measuring the radial force Fx, the radial force Fy, the axial force Fz and the torque Mz of an end executor of the a hollow glass fiber round bar 2. In order to increase the sensitivity of force perception, the hollow glass fiber bar is subjected to hollow cutting; in order to reduce coupling between all forces, the roots of one ends ofthe four residual narrow beams after cutting are aslant cut to allow the four narrow beams to form cantilever beams, and coupling between multidimensional force is reduced. In addition, for the condition that the fiber gratings are easily influenced by the temperature, temperature compensation optical gratings are arranged on the outer wall of the hollow glass fiber round bar. The minimally-invasive-surgical-robot four-dimensional force sensor based on the fiber gratings is high in accuracy, is not influenced by electromagnetic interference, and is low in cost.

Description

technical field [0001] The invention belongs to the technical field of minimally invasive surgical robots, and in particular relates to a four-dimensional force sensor for a minimally invasive surgical robot based on an optical fiber Bragg grating. Background technique [0002] At present, in the medical field, minimally invasive surgical robots are more and more widely used. Its application has greatly improved the quality of surgery, thereby reducing the postoperative recovery time of patients, and represents the development direction of today's medical services. However, the minimally invasive surgical robots currently used do not have the force-presence function, and studies have shown that the increase in the force-presence function will improve the performance of surgeons in surgery. [0003] The basic process of realizing force sense telepresence in a minimally invasive surgical robot is: install a sensor at the position of the manipulator performing the operation cl...

AI Technical Summary

Problems solved by technology

[0007] The purpose of the present invention is to solve the force perception problem of minimally invasive surgical robots, and provide a high-precision, high-sensitivity fiber grating suitable for minimally invasive surgical robots that can make surgeons feel real-time force changes during surgical operations. Four-dimensional force sensor, and can effectively eliminate the influence of temperature, improve the sensitivity of existing sensors and greatly reduce the coupling between multi-dimensional forces by relying on mechanical structure

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