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Robot joint force sensing system based on FBG optical fiber and optimization method of system

A technology of robot joint and sensing system, applied in the field of robot joint force sensing system based on FBG optical fiber and its optimization, which can solve the problems of low force sensing accuracy and reliability, etc.

Active Publication Date: 2021-01-05
HARBIN INST OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the force sensing systems at the end joints of existing surgical robots only have two-dimensional force sensing capabilities, or some force sensing systems are directly integrated and arranged on the torso outside the robot, resulting in low force sensing accuracy and reliability.

Method used

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  • Robot joint force sensing system based on FBG optical fiber and optimization method of system
  • Robot joint force sensing system based on FBG optical fiber and optimization method of system
  • Robot joint force sensing system based on FBG optical fiber and optimization method of system

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Embodiment Construction

[0034] In order to make the above objects, features and advantages of the present invention more comprehensible, specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0035] It should be noted that the terms "first" and "second" in the description and claims of the present invention and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances such that the embodiments of the invention described herein can be practiced in sequences other than those illustrated or described herein.

[0036] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "setting", "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixe...

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Abstract

The invention relates to the technical field of medical instruments, and provides a robot joint force sensing system based on an FBG optical fiber and an optimization method of the system. The robot joint force sensing system comprises a wrist joint, a flexible joint, a fixed base and a plurality of first FBG sensors, wherein the wrist joint is connected with an end effector of a robot joint; theflexible joint comprises a first connecting part, a plurality of flexible beams and a second connecting part; the multiple flexible beams are arranged at intervals; the two ends of each flexible beamare connected with the first connecting part and the second connecting part respectively; the first connecting part is connected with the wrist joint in a sleeving mode; the end, deviating from the corresponding flexible beam, of the second connecting part is connected with the fixed base; and the plurality of first FBG sensors are arranged on the plurality of flexible beams respectively. According to the invention, the plurality of first FBG sensors are arranged on the plurality of flexible beams in the middle of the flexible joint respectively, so that the sensing measurement of the force onthe end effector is realized, and the precision and reliability of the force sensing system are ensured.

Description

technical field [0001] The invention relates to the technical field of medical devices, in particular to a robot joint force sensing system based on FBG optical fiber and an optimization method thereof. Background technique [0002] At present, for most minimally invasive surgical robots, the end controllers are generally equipped with FBG optical sensors as a sensing system, which is used to perceive the feedback force generated by the force, deformation or sudden arbitrary impact during the surgical operation. , where the FBG optical sensor is a fiber Bragg grating sensor, which is a fiber optic sensor with a high frequency of use and a wide range of applications. This sensor can change the wavelength of the reflected light wave according to changes in ambient temperature and / or strain. However, the force-sensing systems at the end joints of existing surgical robots only have two-dimensional force-sensing capabilities, or some force-sensing systems are directly integrated ...

Claims

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Application Information

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IPC IPC(8): A61B34/30A61B34/00
CPCA61B34/30A61B34/70
Inventor 王伟东杜志江杜承金
Owner HARBIN INST OF TECH
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