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Shape-position-force composite sensing unit and its measuring method

A technology of composite sensing and measurement methods, which is applied in the direction of measuring devices, converting sensor output, and using optical devices to transmit sensing components, etc., can solve the problems of complex integration, unstable and complicated use process, etc., and achieve simple overall structure, The effect of reducing usage and reducing complexity

Active Publication Date: 2022-06-28
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, on a smaller scale, it is still difficult to accurately detect multi-dimensional forces. Some solutions use complex structures to achieve decoupling of axial force measurement and radial force measurement, difficult assembly and unstable use process.
In addition, when shape perception is required, multi-sensor devices are often independent devices, with complex integration and low space utilization.
The sensors used for force measurement and bending shape measurement are all independent sensing devices, which are especially unfavorable for installation and use in miniaturized surgical instruments

Method used

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  • Shape-position-force composite sensing unit and its measuring method
  • Shape-position-force composite sensing unit and its measuring method
  • Shape-position-force composite sensing unit and its measuring method

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specific Embodiment approach 1

[0073] combine figure 1 , Figure 2a ~ Figure 2b , Figure 3a ~ Figure 3b and Figure 5 Describe the specific embodiment 1: the overall structure of a three-dimensional force and shape sensing composite sensor based on FBG grating fiber.

[0074] The three-dimensional force and shape sensing composite sensor has a main structure comprising a terminal three-dimensional force measuring unit (1) and a bending shape sensing part (2), both of which share four optical fibers and collect data through a four-channel optical fiber demodulator (3). ; The end three-dimensional force measurement unit (1) comprises an upper cover plate (1-1), an elastic body (1-2), a lower cover plate (1-3) and an optical fiber (1-4); a bending shape sensing part (2) The elastic outer tube (2-1) and the optical fiber (1-4) are included; the three-dimensional force measuring unit (1) at the end can realize the detection of three-dimensional force, and the bending shape sensing part (2) at the tail can re...

specific Embodiment approach 2

[0075] combine Figure 2a , Figure 2b ~ Figure 4 Describe the specific embodiment 2: the configuration of the terminal three-dimensional force probe.

[0076] The three-dimensional force measurement unit includes an upper cover plate (1-1), an elastic body (1-2), a lower cover plate (1-3) and an optical fiber (1-4); the elastic body will generate an external force under the action of an axial direction. Axial deformation, the distance between the upper cover and the lower cover changes slightly, which in turn drives the deformation of the fiber grating between the upper cover and the lower cover, and the reflection wavelength of the grating changes and is measured by the fiber demodulator; elasticity Under the action of radial external force, the body will undergo slight bending deformation, and the bending deformation of the elastic body will cause the upper cover plate and the lower cover plate to be non-parallel to generate a deflection angle, so that some gratings are elon...

specific Embodiment approach 5

[0082] combine Figure 5-Figure 7 Illustrate the specific embodiment 5: Algorithm for shape reconstruction

[0083] The shape reconstruction algorithm obtains the overall strain amount of the four optical fibers through the optical fiber demodulator (4), and calculates the temperature (Δt=(Δt 1 +Δt 2 +Δt 3 +Δt 4 ) / (4×K t )),in accordance with( ) every two fibers in an orthogonal relationship, given by ( ) is solved to the deformation diagram ( Figure 7 ) in the shape description parameters of the raster points ( ), according to the arrangement of the four redundant optical fibers, four sets of shape description parameters can be obtained at one time, and the final shape description parameters can be obtained by means of averaging, weighted averaging, particle swarm filtering, etc.

[0084] The shape description parameters of each grating point include the curvature and the bending angle of the curved plane. Once the curvature and the bending angle are determined, t...

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Abstract

The invention relates to a shape-position-force composite sensing unit and a measuring method thereof, which include a three-dimensional elastic force measuring unit, a multi-core optical fiber, an elastic hose, a computing unit and a four-channel optical fiber demodulator. Through an elastic three-dimensional force measurement unit, when it is subjected to axial force and radial force, the upper and lower cover plates and the elastic body are deformed, the internal fiber grating is stretched or compressed, and the reflected wavelength changes when the light passes through the grating. The sense calibration algorithm obtains the magnitude and direction of the force. The part used for detecting the shape in the present invention adopts four optical fibers arranged in an orthogonal manner, and through solving the parameters of the redundant optical fibers, the reconstruction of the shape measurement of the sensor and the compensation of the temperature can be realized.

Description

technical field [0001] The invention relates to the technical field of sensors for force and shape detection, in particular to a sensor based on FBG grating optical fiber that can detect both three-dimensional force and bending shape at the same time. , such as: three-dimensional force used in surgical instruments, and simultaneous detection of curved shapes and other fields. Background technique [0002] In the process of diagnosis and treatment of modern medicine, minimally invasive surgery occupies an increasingly important position in the field of medical surgery in order to achieve the requirements of less surgical trauma, less pain, fast postoperative recovery and aesthetics. With the emergence of minimally invasive surgical robots, doctors can achieve minimally invasive, precise and efficient stereotaxic surgery with the help of the robot. For the minimally invasive surgical robot system, the doctor controls the front-end surgical instruments through the console to i...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01D21/02G01D5/353
CPCG01D21/02G01D5/35316
Inventor 刘浩王重阳李建华杨永明杨云生彭丽华王振兴刘猛
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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