Puncture force detection method based on force sensing temperature compensation and related equipment

Abstract

The invention relates to the technical field of force sensing, and provides a puncture force detection method based on force sensing temperature compensation and related equipment.The puncture force detection method based on force sensing temperature compensation comprises the steps that the wavelength of reflected light of an intubation needle in the puncture process is obtained through a Bragg fiber grating arranged on the intubation needle; calculating a target wavelength change rate according to the wavelength; a preset mapping relation between the wavelength change rate and the puncture force is obtained, and the target puncture force is determined based on the target wavelength change rate and the mapping relation; wherein the mapping relation is obtained by performing temperature compensation on each grating region of the Bragg fiber grating. According to the invention, temperature compensation is carried out on each grating region of the Bragg fiber grating to obtain the mapping relationship between the wavelength change rate and the puncture force, so that the target puncture force can be accurately determined based on the target wavelength change rate and the mapping relationship, and the puncture force sensing precision is improved.

Description

Technical Field

[0001] The present invention relates to the field of force sensing technology, and in particular to a puncture force detection method based on force sensing temperature compensation and related equipment. Background Art

[0002] Retinal vein occlusion is a common retinal vascular disease. The current effective treatment is to directly inject a sufficient dose of thrombus dissolving agent into the occluded retinal vein. The current common clinical practice is to puncture the trocar into the sclera, establish a channel for the instrument to enter the eye, illuminate the intraocular field with a fiber optic lamp, and at the same time insert the injection needle to puncture and inject the blood vessels in the fundus.

[0003] Since the diameter of the retinal vein is only tens of microns, it is very easy to cause double puncture, which can damage the human eye. Therefore, accurate detection of the moment of retinal vein puncture is one of the necessary conditions to ensure the safety of the operation. One of the means is to observe the changes in the puncture force during the puncture process.

[0004] The existing solution for sensing the puncture force during retinal vein cannulation is to place a Bragg fiber grating sensor on the puncture needle to sense the puncture force. However, the wavelength change rate of the reflected light in the Bragg fiber grating is easily affected by the ambient temperature and produces errors, resulting in reduced accuracy in sensing the puncture force. Summary of the invention

[0005] The present invention provides a puncture force detection method based on force sensing temperature compensation and related equipment, so as to solve the defect of the prior art that the accuracy of puncture force sensing is reduced.

[0006] The present invention provides a puncture force detection method based on force sensing temperature compensation, comprising: Acquiring the wavelength of the reflected light of the cannula needle during the puncture process through the Bragg fiber grating set on the cannula needle, and calculating the target wavelength change rate according to the wavelength; A mapping relationship between a preset wavelength change rate and a puncture force is obtained, and a target puncture force is determined based on the target wavelength change rate and the mapping relationship; wherein the mapping relationship is obtained after temperature compensation is performed on each grating region of the fiber Bragg grating.

[0007] According to a puncture force detection method based on force sensing temperature compensation provided by the present invention, before obtaining the mapping relationship between the preset wavelength change rate and the puncture force, the method further includes: Applying pressure to the tip of the cannula needle and obtaining the wavelength and temperature values ​​of each grating region of the fiber Bragg grating at different ambient temperatures; Temperature compensation is performed on each of the grating regions based on the pressure, the wavelength and the temperature value to obtain the mapping relationship.

[0008] According to a puncture force detection method based on force sensing temperature compensation provided by the present invention, the temperature compensation of each grating region is performed based on the pressure, the wavelength and the temperature value to obtain the mapping relationship, including: Calculating a wavelength change rate sequence according to the wavelength, and calculating a temperature change sequence according to the temperature value; Initializing the temperature compensation coefficient corresponding to each of the grating regions, and obtaining the temperature variation constant corresponding to each of the grating regions according to the pressure, the initialized temperature compensation coefficient, the wavelength variation rate sequence and the temperature variation sequence; Calculating the target temperature compensation coefficient corresponding to each of the grating regions according to the temperature variation constant; According to the target temperature compensation coefficient, a mapping relationship between the wavelength change rate and the puncture force is determined.

[0009] According to a puncture force detection method based on force sensing temperature compensation provided by the present invention, the temperature change constant corresponding to each grating region is obtained according to the pressure, the initialized temperature compensation coefficient, the wavelength change rate sequence and the temperature change sequence, including: Decomposing the pressure and determining the stress of each grating region based on cantilever beam theory; The temperature variation constant corresponding to each of the grating regions is obtained according to the stress, the initialized temperature compensation coefficient, the wavelength variation rate sequence and the temperature variation sequence.

[0010] According to a puncture force detection method based on force sensing temperature compensation provided by the present invention, at least one Bragg fiber grating is arranged along the circumferential direction of the cannula needle.

[0011] The present invention also provides a puncture force detection system based on force sensing temperature compensation, comprising: at least one Bragg fiber grating for acquiring the wavelength of the reflected light of the cannula needle during the puncture process; A detection module is used to calculate the target wavelength change rate according to the wavelength, obtain a preset mapping relationship between the wavelength change rate and the puncture force, and determine the target puncture force based on the target wavelength change rate and the mapping relationship; wherein the mapping relationship is obtained after temperature compensation of each grating area of ​​the Bragg fiber grating.

[0012] The present invention also provides a puncture force detection device based on force sensing temperature compensation, comprising: A calculation module is configured to obtain the wavelength of the reflected light of the cannula needle during the puncture process through the Bragg fiber grating set on the cannula needle, and calculate the target wavelength change rate according to the wavelength; A determination module is configured to obtain a mapping relationship between a preset wavelength change rate and a puncture force, and determine a target puncture force based on the target wavelength change rate and the mapping relationship; wherein the mapping relationship is obtained after temperature compensation is performed on each grating region of the Bragg fiber grating.

[0013] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the puncture force detection method based on force sensing temperature compensation as described in any one of the above-mentioned methods is implemented.

[0014] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the puncture force detection method based on force sensing temperature compensation as described in any one of the above is implemented.

[0015] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the puncture force detection method based on force sensing temperature compensation as described in any one of the above is implemented.

[0016] The puncture force detection method and related equipment based on force perception temperature compensation provided by the present invention, a Bragg fiber grating is set on the cannula needle, and the wavelength of the reflected light of the cannula needle during the puncture process is obtained through the Bragg fiber grating, and the target wavelength change rate is calculated according to the acquired wavelength, and the mapping relationship between the puncture force and the wavelength change rate is pre-fitted. During the fitting, temperature compensation is performed on each grating area of ​​the Bragg fiber grating to compensate for the error in the puncture force perception accuracy caused by temperature change and temperature change constant difference, and then the target puncture force is accurately determined based on the target wavelength change rate and the mapping relationship, thereby improving the puncture force perception accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a flow chart of the puncture force detection method based on force sensing temperature compensation provided by the present invention.

[0019] Figure 2 It is a schematic diagram of the cannula needle involved in the present invention.

[0020] Figure 3 for Figure 2 Schematic diagram of the cross section along the AA direction.

[0021] Figure 4 It is a schematic diagram of obtaining the wavelength and temperature values ​​of each grating region of the fiber Bragg grating under different ambient temperatures in an embodiment of the present invention.

[0022] Figure 5 It is a structural schematic diagram of a puncture force detection device based on force sensing temperature compensation provided by the present invention.

[0023] Figure 6 It is a structural schematic diagram of the electronic device provided by the present invention.

[0024] Reference numerals: 1: Iron stand; 2: Alcohol lamp; 3: Asbestos net; 4: Beaker; 5: Temperature sensor; 6: Force sensing device. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] Figure 1 FIG. 1 is a flow chart showing a method for detecting puncture force based on force sensing temperature compensation according to an exemplary embodiment. Figure 1 As shown, in an exemplary embodiment, the puncture force detection method based on force sensing temperature compensation includes steps 110 to 120, which are described in detail as follows.

[0027] Step 110, obtaining the wavelength of the reflected light of the cannula needle during the puncture process through the Bragg fiber grating set on the cannula needle, and calculating the target wavelength change rate according to the wavelength.

[0028] In the embodiment of the present invention, a fiber Bragg grating is arranged on the cannula needle, and the wavelength of the reflected light of the cannula needle during the puncture process is obtained through the fiber Bragg grating.

[0029] The target wavelength change rate is calculated based on the acquired wavelength. Indicates the current wavelength. Indicates the initial wavelength and calculates the difference between the current wavelength and the initial wavelength , and then divide the difference by the initial wavelength to get the target wavelength change rate.

[0030] Step 120, obtaining a preset mapping relationship between wavelength change rate and puncture force, and determining a target puncture force based on the target wavelength change rate and the mapping relationship; wherein the mapping relationship is obtained after temperature compensation of each grating region of the fiber Bragg grating.

[0031] In the embodiment of the present invention, mathematical methods such as linear regression and polynomial fitting are used in advance in the calibration stage to fit the puncture force and the corresponding wavelength change rate to obtain a mapping relationship between them. During the fitting, temperature compensation is performed on each grating area of ​​the Bragg fiber grating to compensate for the error in the puncture force perception accuracy caused by temperature changes and temperature constant differences, thereby improving the puncture force perception accuracy. The target puncture force can be accurately determined based on the target wavelength change rate and the mapping relationship.

[0032] In an exemplary embodiment of the present invention, at least one Bragg fiber grating is arranged along the circumferential direction of the cannula needle.

[0033] In the embodiment of the present invention, Figure 2 As shown, the tip of the cannula needle forms a certain angle with the needle tube, and the puncture force on the tip of the needle is , puncture force It can be decomposed into the force along the axial direction of the needle tube and the force along the diameter of the needle .like Figure 3 As shown, the fiber Bragg grating is arranged along the circumference of the needle tube. Roots, respectively , , …, , …, , each fiber Bragg grating has Segment grid area, along the axial direction of the needle tube, The distances from the center of the grating area on the root Bragg fiber grating to the force point of the needle tip are expressed as , , …, , …, At least one Bragg fiber grating is arranged in the circumferential direction of the cannula needle so as to accurately obtain the wavelength of the reflected light of the cannula needle during the puncture process.

[0034] In an exemplary embodiment of the present invention, before obtaining the mapping relationship between the preset wavelength change rate and the puncture force, the method further includes: Applying pressure to the tip of the cannula needle and obtaining the wavelength and temperature values ​​of each grating region of the fiber Bragg grating at different ambient temperatures; Temperature compensation is performed on each of the grating regions based on the pressure, the wavelength and the temperature value to obtain the mapping relationship.

[0035] In the embodiment of the present invention, Figure 4 As shown, the force sensing device 6 and the temperature sensor 5 are fixed on the iron frame 1, the beaker 4 is placed on the iron frame 1 and padded with asbestos net 3, the force sensing device 6 is used to simulate the intubation needle provided with Bragg fiber grating, the grating area of ​​the Bragg fiber grating and the temperature sensor 5 are placed in the beaker 4, and 15℃~20℃ water is added to collect the wavelength of each grating area of ​​the Bragg fiber grating on the force sensing device 6 and the temperature value read by the temperature sensor 5. Light the alcohol lamp 2 to heat the 15℃~20℃ water, and when the temperature is heated to 42℃, stop the collection system from collecting the wavelength and temperature of each grating area. At this time, the wavelength sequence is collected. With temperature series . The subscript , represents the initial collection time, Indicates the time when collection is terminated.

[0036] Based on the mechanical model, a mapping relationship between the change rate of the wavelength of the reflected light in the Bragg grating optical fiber and the puncture force of the cannula needle is established to realize the perception of the puncture force.

[0037] In an exemplary embodiment of the present invention, performing temperature compensation on each of the grating regions based on the pressure, the wavelength and the temperature value to obtain the mapping relationship includes: Calculating a wavelength change rate sequence according to the wavelength, and calculating a temperature change sequence according to the temperature value; Initializing the temperature compensation coefficient corresponding to each of the grating regions, and obtaining the temperature variation constant corresponding to each of the grating regions according to the pressure, the initialized temperature compensation coefficient, the wavelength variation rate sequence and the temperature variation sequence; Calculating the target temperature compensation coefficient corresponding to each of the grating regions according to the temperature variation constant; According to the target temperature compensation coefficient, a mapping relationship between the wavelength change rate and the puncture force is determined.

[0038] In the embodiment of the present invention, as mentioned above, Can be decomposed into and The combination of, then according to the cantilever beam theory, The first fiber Bragg grating The stress on the cross section of the block grating region is expressed as: ; in, For along Bending stiffness of the shaft; For along Bending stiffness of the shaft; It indicates the distance from the grating area to the axis of the cannula needle, as shown in Figure 3 shown.

[0039] Then, The first fiber Bragg grating The reflection wavelength change rate corresponding to the block grating area is expressed as: ; in, For the The first fiber Bragg grating The temperature variation constant of the block grating area; For ambient temperature changes; is the strain constant.

[0040] In order to eliminate the influence of temperature change on the wavelength change rate, the difference method is used to obtain: ; The existing approach is to assume that the temperature change constants of each grating region are equal, then the term is zero, we get: ; Writing the above formula in matrix form, we can get the constant matrix: ; Therefore, it is only necessary to calibrate the constant matrix in the middle to establish the mapping relationship between the wavelength change rate and the puncture force.

[0041] However, since it is only an assumption that the temperature variation constants of each grating area are equal, due to the limitations of processing technology and materials, the temperature variation constants of the grating areas of different Bragg fiber gratings may not be equal. Therefore, the actual situation is as follows: ; Writing the above formula in matrix form, we get: ; It can be seen that due to processing technology, materials, etc., it is difficult to ensure that the temperature change constant is completely consistent, and there is an additional error term. The temperature in the operating room is about 22~25℃, and the temperature of the human body is 37℃, so there is a certain temperature difference. Therefore, this extra item is one of the main reasons for the error, which limits the accuracy of puncture force perception to a certain extent.

[0042] Therefore, the embodiment of the present invention introduces a set of temperature compensation coefficients to compensate for the error in force penetration force sensing accuracy caused by temperature changes and differences in temperature constants.

[0043] Introduce temperature compensation parameters for each grating area , then the reflection wavelength change rate is calculated to obtain: ; Writing the above into matrix form, we get: ; Specifically, based on the wavelength sequence obtained above Calculate the wavelength change rate series during temperature heating , then based on the temperature series Calculate temperature change series .

[0044] Initialize temperature compensation coefficient , then there is a constant matrix According to the calculated wavelength change rate Calculated ; Will Temperature change sequence Substitute the constant matrix In the result: ; The temperature variation constant corresponding to each grating area can be solved from the above formula.

[0045] according to The requirement is only to , substituting the temperature change constant, the final target temperature compensation coefficient can be obtained, and then the mapping relationship between the wavelength change rate and the puncture force can be obtained according to the target temperature compensation coefficient.

[0046] In an exemplary embodiment of the present invention, obtaining the temperature variation constant corresponding to each grating region according to the pressure, the initialized temperature compensation coefficient, the wavelength variation rate sequence and the temperature variation sequence includes: Decomposing the pressure and determining the stress of each grating region based on cantilever beam theory; The temperature variation constant corresponding to each of the grating regions is obtained according to the stress, the initialized temperature compensation coefficient, the wavelength variation rate sequence and the temperature variation sequence.

[0047] In the embodiment of the present invention, Figure 2 As shown, the tip of the cannula needle forms a certain angle with the needle tube, and the puncture force on the tip of the needle is , puncture force It can be decomposed into the force along the axial direction of the needle tube and the force along the diameter of the needle . Further decomposed into and The stress of each grating area is determined based on the cantilever beam theory, and the temperature constant is calculated.

[0048] In an exemplary embodiment of the present invention, a puncture force detection system based on force sensing temperature compensation is provided, comprising: at least one Bragg fiber grating for acquiring the wavelength of the reflected light of the cannula needle during the puncture process; A detection module is used to calculate the target wavelength change rate according to the wavelength, obtain a preset mapping relationship between the wavelength change rate and the puncture force, and determine the target puncture force based on the target wavelength change rate and the mapping relationship; wherein the mapping relationship is obtained after temperature compensation of each grating area of ​​the Bragg fiber grating.

[0049] In the embodiment of the present invention, as mentioned above, the Bragg fiber grating is arranged on the cannula needle to obtain the wavelength of the reflected light of the cannula needle during the puncture process, and then the target wavelength change rate is calculated according to the wavelength, and the target puncture force is determined based on the target wavelength change rate and the mapping relationship. The relevant introduction of the mapping relationship has been explained above and will not be repeated here.

[0050] The puncture force detection device based on force sensing temperature compensation provided by the present invention is described below. The puncture force detection device based on force sensing temperature compensation described below and the puncture force detection method based on force sensing temperature compensation described above can be referred to each other. It should be noted that the device provided in the following embodiment and the method provided in the above embodiment belong to the same concept, and the specific way in which each module and unit performs the operation has been described in detail in the method embodiment, which will not be repeated here.

[0051] In an exemplary embodiment of the present invention, see Figure 5 , Figure 5 A puncture force detection device based on force sensing temperature compensation is shown according to an exemplary embodiment, and includes the following modules.

[0052] The calculation module 510 is configured to obtain the wavelength of the reflected light of the cannula needle during the puncture process through the Bragg fiber grating set on the cannula needle, and calculate the target wavelength change rate according to the wavelength; The determination module 520 is configured to obtain a mapping relationship between a preset wavelength change rate and a puncture force, and determine a target puncture force based on the target wavelength change rate and the mapping relationship; wherein the mapping relationship is obtained after temperature compensation of each grating region of the Bragg fiber grating.

[0053] In an exemplary embodiment of the present invention, the puncture force detection device based on force sensing temperature compensation further includes: An acquisition module, configured to apply pressure to the tip of the cannula needle and acquire wavelengths and temperature values ​​of each grating region of the fiber Bragg grating at different ambient temperatures; The temperature compensation module is configured to perform temperature compensation on each of the grating regions based on the pressure, the wavelength and the temperature value to obtain the mapping relationship.

[0054] In an exemplary embodiment of the present invention, a temperature compensation module includes: A first calculation submodule is configured to calculate a wavelength change rate sequence according to the wavelength, and calculate a temperature change sequence according to the temperature value; an initialization submodule, configured to initialize the temperature compensation coefficient corresponding to each of the grating regions, and obtain the temperature variation constant corresponding to each of the grating regions according to the pressure, the initialized temperature compensation coefficient, the wavelength variation rate sequence and the temperature variation sequence; A second calculation submodule is configured to calculate a target temperature compensation coefficient corresponding to each of the grating regions according to the temperature variation constant; The determination submodule is configured to determine a mapping relationship between the wavelength change rate and the puncture force according to the target temperature compensation coefficient.

[0055] In an exemplary embodiment of the present invention, the initialization submodule includes: A determination unit configured to decompose the pressure and determine the stress of each grating region based on cantilever beam theory; The temperature variation constant unit is configured to obtain the temperature variation constant corresponding to each of the grating regions according to the stress, the initialized temperature compensation coefficient, the wavelength variation rate sequence and the temperature variation sequence.

[0056] In an exemplary embodiment of the present invention, at least one Bragg fiber grating is arranged along the circumferential direction of the cannula needle.

[0057] Figure 6 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 6 As shown, the electronic device may include: a processor 610, a communication interface 620, a memory 630 and a communication bus 640, wherein the processor 610, the communication interface 620 and the memory 630 communicate with each other through the communication bus 640. The processor 610 may call the logic instructions in the memory 630 to execute the puncture force detection method based on force sensing temperature compensation, the method comprising: obtaining the wavelength of the reflected light of the cannula needle during the puncture process through the Bragg fiber grating set on the cannula needle, and calculating the target wavelength change rate according to the wavelength; A mapping relationship between a preset wavelength change rate and a puncture force is obtained, and a target puncture force is determined based on the target wavelength change rate and the mapping relationship; wherein the mapping relationship is obtained after temperature compensation is performed on each grating region of the fiber Bragg grating.

[0058] In addition, the logic instructions in the above-mentioned memory 630 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0059] On the other hand, the present invention also provides a computer program product, the computer program product includes a computer program, the computer program can be stored in a non-transitory computer-readable storage medium, when the computer program is executed by a processor, the computer can execute the puncture force detection method based on force sensing temperature compensation provided by the above methods, the method comprising: obtaining the wavelength of the reflected light of the cannula needle during the puncture process through the Bragg fiber grating set on the cannula needle, and calculating the target wavelength change rate according to the wavelength; A mapping relationship between a preset wavelength change rate and a puncture force is obtained, and a target puncture force is determined based on the target wavelength change rate and the mapping relationship; wherein the mapping relationship is obtained after temperature compensation is performed on each grating region of the fiber Bragg grating.

[0060] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented when the computer program is executed by a processor to execute the puncture force detection method based on force sensing temperature compensation provided by the above methods, the method comprising: obtaining the wavelength of the reflected light of the cannula needle during the puncture process through the Bragg fiber grating set on the cannula needle, and calculating the target wavelength change rate according to the wavelength; A mapping relationship between a preset wavelength change rate and a puncture force is obtained, and a target puncture force is determined based on the target wavelength change rate and the mapping relationship; wherein the mapping relationship is obtained after temperature compensation is performed on each grating region of the fiber Bragg grating.

[0061] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0062] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A puncture force detection method based on force sensing temperature compensation, characterized in that: include: The wavelength of the reflected light of the cannula needle during the puncture process is obtained by using a Bragg fiber grating provided on the cannula needle, and the target wavelength change rate is calculated according to the wavelength; A mapping relationship between a preset wavelength change rate and a puncture force is obtained, and a target puncture force is determined based on the target wavelength change rate and the mapping relationship; wherein the mapping relationship is obtained after temperature compensation is performed on each grating region of the fiber Bragg grating.

2. The puncture force detection method based on force sensing temperature compensation according to claim 1, characterized in that: Before obtaining the mapping relationship between the preset wavelength change rate and the puncture force, the method further includes: Applying pressure to the tip of the cannula needle and obtaining the wavelength and temperature values ​​of each grating region of the fiber Bragg grating at different ambient temperatures; Temperature compensation is performed on each of the grating regions based on the pressure, the wavelength and the temperature value to obtain the mapping relationship.

3. The puncture force detection method based on force sensing temperature compensation according to claim 2, characterized in that: The step of performing temperature compensation on each grating region based on the pressure, the wavelength and the temperature value to obtain the mapping relationship comprises: Calculating a wavelength change rate sequence according to the wavelength, and calculating a temperature change sequence according to the temperature value; Initializing the temperature compensation coefficient corresponding to each of the grating regions, and obtaining the temperature variation constant corresponding to each of the grating regions according to the pressure, the initialized temperature compensation coefficient, the wavelength variation rate sequence and the temperature variation sequence; Calculating the target temperature compensation coefficient corresponding to each of the grating regions according to the temperature variation constant; According to the target temperature compensation coefficient, a mapping relationship between the wavelength change rate and the puncture force is determined.

4. The puncture force detection method based on force sensing temperature compensation according to claim 3, characterized in that: The step of obtaining the temperature variation constant corresponding to each grating region according to the pressure, the initialized temperature compensation coefficient, the wavelength variation rate sequence and the temperature variation sequence comprises: Decomposing the pressure and determining the stress of each grating region based on cantilever beam theory; The temperature variation constant corresponding to each of the grating regions is obtained according to the stress, the initialized temperature compensation coefficient, the wavelength variation rate sequence and the temperature variation sequence.

5. The puncture force detection method based on force sensing temperature compensation according to any one of claims 1 to 4, characterized in that: At least one Bragg fiber grating is arranged along the circumferential direction of the cannula needle.

6. A puncture force detection system based on force sensing temperature compensation, characterized in that: include: at least one Bragg fiber grating for acquiring the wavelength of the reflected light of the cannula needle during the puncture process; A detection module is used to calculate the target wavelength change rate according to the wavelength, obtain a preset mapping relationship between the wavelength change rate and the puncture force, and determine the target puncture force based on the target wavelength change rate and the mapping relationship; wherein the mapping relationship is obtained after temperature compensation of each grating area of ​​the Bragg fiber grating.

7. A puncture force detection device based on force sensing temperature compensation, characterized in that: include: A calculation module, configured to obtain the wavelength of the reflected light of the cannula needle during the puncture process through the Bragg fiber grating set on the cannula needle, and calculate the target wavelength change rate according to the wavelength; A determination module is configured to obtain a mapping relationship between a preset wavelength change rate and a puncture force, and determine a target puncture force based on the target wavelength change rate and the mapping relationship; wherein the mapping relationship is obtained after temperature compensation is performed on each grating region of the Bragg fiber grating.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the puncture force detection method based on force sensing temperature compensation as described in any one of claims 1 to 5 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the puncture force detection method based on force sensing temperature compensation as described in any one of claims 1 to 5 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the puncture force detection method based on force sensing temperature compensation as described in any one of claims 1 to 5 is implemented.

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