A robot joint force sensing system based on fbg fiber and its optimization method
A technology of robot joint and sensing system, applied in the field of robot joint force sensing system based on FBG fiber and its optimization, which can solve the problems of low force sensing accuracy and reliability, etc.
Active Publication Date: 2022-07-12
HARBIN INST OF TECH
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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.
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[0034] In order to make the above objects, features and advantages of the present invention more clearly understood, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
[0035] It should be noted that the terms "first", "second" and the like in the description and claims of the present invention and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used may be interchanged 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 expressly specified and limited, the terms "arranged", "installed", "connected" and "connected" should be interpreted in a broad sense, for exampl...
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The invention relates to the technical field of medical devices, and provides a robot joint force sensing system based on FBG optical fiber and an optimization method thereof, including a wrist joint, a flexible joint, a fixed base and a plurality of first FBG sensors. The joint is connected with the end effector of the robot joint; the flexible joint includes a first connecting part, a plurality of flexible beams and a second connecting part, the plurality of flexible beams are arranged at intervals, and two ends of the flexible beam are respectively connected to the the first connecting part is connected with the second connecting part, the first connecting part is articulated with the wrist part; the end of the second connecting part facing away from the flexible beam is connected with the fixing base; The plurality of first FBG sensors are respectively arranged on the plurality of flexible beams; the present invention realizes the perception of the force of the end effector by arranging the plurality of first FBG sensors respectively on the plurality of flexible beams in the middle of the flexible joints measurement to ensure the accuracy and reliability of the force sensing system.
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 controller is generally equipped with FBG optical sensor as a sensing system, which is used to sense the feedback force generated by the force, deformation or sudden and arbitrary impact during the surgical operation. Among them, the FBG optical sensor is a fiber Bragg grating sensor, which is a kind of fiber optic sensor with high frequency and wide application range. This sensor can change the wavelength of the reflected light wave according to the change of ambient temperature and / or strain. However, the force perception system at the end joint of the existing surgical robot only has two-dimensional force perception capability, or some force perception systems are directly integ...
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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