Puncture Force Detection Method and Related Equipment Based on Force Sensing Temperature Compensation

Abstract

The present invention relates to the technical field of force sensing, and provides a puncture force detection method and related equipment based on force sensing temperature compensation. The puncture force detection method based on force sensing temperature compensation includes: obtaining the wavelength of the reflected light of the intubation needle during the puncture process through a Bragg fiber grating provided on the intubation needle, and calculating a target wavelength change rate according to the wavelength; obtaining a preset mapping relationship between the wavelength change rate and the 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 is performed on each grating region of the Bragg fiber grating. By performing temperature compensation on each grating region of the Bragg fiber grating, the present invention obtains a 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 accuracy is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of force sensing, and particularly to a puncture force detection method and related devices based on force sensing temperature compensation. Background Art

[0002] Retinal vein occlusion is a common retinal vascular disease. The current effective treatment method is to directly inject a sufficient dose of thrombolysis into the occluded retinal vein. The common clinical practice is to pierce the sclera with a trocar to establish a channel for instruments to enter the eye, illuminate the intraocular field of view through a fiber optic lamp, and at the same time place an injection needle to puncture and inject medicine into the blood vessels at the fundus of the eye.

[0003] Since the diameter of the retinal vein blood vessel is only dozens of micrometers, it is extremely easy to cause double puncture and damage to the human eye. Therefore, accurately detecting the moment of retinal vein puncture is one of the necessary conditions to ensure the safe progress of this surgery. One of the means is to observe the change of puncture force during the puncture process.

[0004] The existing solution for realizing the perception of puncture force during the intubation process of the retinal vein intubation needle is to arrange a Bragg fiber grating sensor on the puncture needle to realize the perception of puncture force. However, the wavelength change rate of the reflected light in the Bragg fiber grating is easily affected by the ambient temperature and generates errors, resulting in a reduction in the accuracy of puncture force perception. Summary of the Invention

[0005] The present invention provides a puncture force detection method and related devices based on force sensing temperature compensation to solve the defect in the prior art that leads to a reduction in the accuracy of puncture force perception.

[0006] The present invention provides a puncture force detection method based on force sensing temperature compensation, including:

[0007] Obtaining the wavelength of the reflected light of the intubation needle during the puncture process through a Bragg fiber grating provided on the intubation needle, and calculating a target wavelength change rate according to the wavelength;

[0008] Obtaining a preset mapping relationship between the wavelength change rate and the 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 is performed on each grating area of the Bragg fiber grating.

[0009] According to the puncture force detection method based on force sensing temperature compensation provided by the present invention, before obtaining the preset mapping relationship between the wavelength change rate and the puncture force, the method further includes:

[0010] Applying pressure to the tip of the intubation needle, and obtaining the wavelength and temperature values of each grating area of the Bragg fiber grating at different ambient temperatures;

[0011] Perform temperature compensation on each of the grating grating regions based on the pressure, the wavelength, and the temperature value to obtain the mapping relationship.

[0012] According to a puncture force detection method based on force perception temperature compensation provided by the present invention, the performing temperature compensation on each of the grating grating regions based on the pressure, the wavelength, and the temperature value to obtain the mapping relationship includes:

[0013] Calculate a wavelength change rate sequence according to the wavelength, and calculate a temperature change sequence according to the temperature value;

[0014] Initialize the temperature compensation coefficient corresponding to each of the grating grating regions, and obtain the temperature change constant corresponding to each of the grating grating regions according to the pressure, the initialized temperature compensation coefficient, the wavelength change rate sequence, and the temperature change sequence;

[0015] Calculate the target temperature compensation coefficient corresponding to each of the grating grating regions according to the temperature change constant;

[0016] Determine the mapping relationship between the wavelength change rate and the puncture force according to the target temperature compensation coefficient.

[0017] According to a puncture force detection method based on force perception temperature compensation provided by the present invention, the obtaining the temperature change constant corresponding to each of the grating grating regions according to the pressure, the initialized temperature compensation coefficient, the wavelength change rate sequence, and the temperature change sequence includes:

[0018] Decompose the pressure, and determine the stress of each of the grating grating regions based on the cantilever beam theory;

[0019] Obtain the temperature change constant corresponding to each of the grating grating regions according to the stress, the initialized temperature compensation coefficient, the wavelength change rate sequence, and the temperature change sequence.

[0020] According to a puncture force detection method based on force perception temperature compensation provided by the present invention, at least one of the Bragg fiber gratings is arranged along the circumferential direction of the cannula needle.

[0021] The present invention also provides a puncture force detection system based on force perception temperature compensation, including:

[0022] At least one Bragg fiber grating for acquiring the wavelength of the reflected light during the puncture of the cannula needle;

[0023] A detection module, configured to calculate a target wavelength change rate according to the wavelength, obtain a preset mapping relationship between the wavelength change rate and the 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 for each grating region of the fiber Bragg grating.

[0024] The present invention also provides a puncture force detection device based on force sensing temperature compensation, comprising:

[0025] A calculation module, configured to obtain the wavelength of the reflected light of the intubation needle during the puncture process through a fiber Bragg grating arranged on the intubation needle, and calculate a target wavelength change rate according to the wavelength;

[0026] A determination module, configured to obtain a preset mapping relationship between the wavelength change rate and the 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 for each grating region of the fiber Bragg grating.

[0027] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored on 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 is implemented.

[0028] The present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, and 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.

[0029] The present invention also provides a computer program product, comprising a computer program, and 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.

[0030] The puncture force detection method and related devices provided by the present invention are provided with a fiber Bragg grating on the intubation needle. The wavelength of the reflected light of the intubation needle during the puncture process is obtained through the fiber Bragg grating, and a target wavelength change rate is calculated according to the obtained wavelength. A mapping relationship between the puncture force and the wavelength change rate is pre-fitted. When fitting, temperature compensation is performed on each grating region of the fiber Bragg grating to compensate for the error in the puncture force sensing accuracy caused by temperature changes and the difference in temperature change constants, and then the target puncture force is accurately determined based on the target wavelength change rate and the mapping relationship, improving the puncture force sensing accuracy. Description of the Drawings

[0031] To more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0032] Figure 1 It is a schematic flowchart of a puncture force detection method based on force perception temperature compensation provided by the present invention.

[0033] Figure 2 It is a schematic diagram of an intubation needle related to the present invention.

[0034] Figure 3 For Figure 2 the cross-sectional schematic diagram along the A-A direction in

[0035] Figure 4 It is a schematic diagram for obtaining the wavelength and temperature values of each grating region of a Bragg fiber grating at different ambient temperatures in an embodiment of the present invention.

[0036] Figure 5 It is a schematic structural diagram of a puncture force detection device based on force perception temperature compensation provided by the present invention.

[0037] Figure 6 It is a schematic structural diagram of an electronic device provided by the present invention.

[0038] Reference numerals:

[0039] 1: iron stand; 2: alcohol lamp; 3: asbestos net; 4: beaker; 5: temperature sensor; 6: force perception instrument. Detailed implementation manners

[0040] To make the objectives, technical solutions, and advantages of the present invention clearer, the following will clearly and completely describe the technical solutions in the present invention with reference to the drawings in the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art without creative efforts based on the embodiments in the present invention belong to the scope of protection of the present invention.

[0041] Figure 1 It is a flowchart of a puncture force detection method based on force perception temperature compensation shown according to an exemplary embodiment. As Figure 1 shown, in an exemplary embodiment, this puncture force detection method based on force perception temperature compensation includes steps 110 to 120, which are introduced in detail as follows.

[0042] Step 110: Obtain the wavelength of the reflected light of the intubation needle during puncture through the fiber Bragg grating provided on the intubation needle, and calculate the target wavelength change rate based on the wavelength.

[0043] In the embodiment of the present invention, a fiber Bragg grating is provided on the intubation needle, and the wavelength of the reflected light of the intubation needle during puncture is obtained through the fiber Bragg grating.

[0044] Calculate the target wavelength change rate based on the obtained wavelength. By representing the current wavelength, representing the initial wavelength, calculate the difference between the current wavelength and the initial wavelength , and then divide the difference by the initial wavelength to obtain the target wavelength change rate.

[0045] Step 120: Obtain the 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 for each grating zone of the fiber Bragg grating.

[0046] In the embodiment of the present invention, in the calibration stage, mathematical methods such as linear regression and polynomial fitting are used to fit the puncture force and the corresponding wavelength change rate to obtain the mapping relationship between them. When fitting, temperature compensation is performed on each grating zone of the fiber Bragg grating to compensate for the error in the puncture force perception accuracy caused by temperature changes and temperature coefficient 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.

[0047] In an exemplary embodiment of the present invention, at least one of the fiber Bragg gratings is arranged along the circumferential direction of the intubation needle.

[0048] In the embodiment of the present invention, as Figure 2 shown, the tip of the intubation needle forms a certain angle with the needle tube, and the puncture force received by the tip is , and the puncture force can be decomposed into a force along the axial direction of the needle tube and a force Figure 3 along the diameter direction of the needle tube. As shown, the fiber Bragg gratings are arranged along the circumference of the needle tube, and there are a total of , ,..., ,..., , and each fiber Bragg grating has sections of grating zones. Along the axial direction of the needle tube, the distances from the center of the grating zone on the th fiber Bragg grating to the force application point of the tip are respectively represented 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.

[0049] 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:

[0050] Apply pressure to the tip of the cannula needle, and obtain the wavelengths and temperature values of the respective grating regions of the Bragg fiber grating at different ambient temperatures;

[0051] Perform temperature compensation on each of the grating regions based on the pressure, the wavelength, and the temperature value to obtain the mapping relationship.

[0052] In an embodiment of the present invention, as Figure 4 shown, fix the force sensing device 6 and the temperature sensor 5 on the iron stand 1, place the beaker 4 on the iron stand 1 and pad it with an asbestos net 3, use the force sensing device 6 to simulate the cannula needle provided with the Bragg fiber grating, place the grating region of the Bragg fiber grating and the temperature sensor 5 in the beaker 4, and add water at 15°C to 20°C, and collect the wavelengths of the respective grating regions of the Bragg fiber grating on the force sensing device 6 and the temperature values read by the temperature sensor 5. Light the alcohol lamp 2 to heat the water at 15°C to 20°C, and stop the acquisition system from collecting the wavelengths of the respective grating regions when the temperature is heated to 42°C. At this time, the wavelength sequence and the temperature sequence are collected. Where the subscript , represents the initial acquisition moment, and represents the termination acquisition moment.

[0053] Based on the mechanical model, establish the mapping relationship between the wavelength change rate of the reflected light in the Bragg grating optical fiber and the puncture force of the cannula needle, so as to realize the perception of the puncture force.

[0054] In an exemplary embodiment of the present invention, the 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:

[0055] Calculate the wavelength change rate sequence according to the wavelength, and calculate the temperature change sequence according to the temperature value;

[0056] Initialize the temperature compensation coefficient corresponding to each of the grating regions, and obtain the temperature change constant corresponding to each of the grating regions according to the pressure, the initialized temperature compensation coefficient, the wavelength change rate sequence, and the temperature change sequence;

[0057] Calculate the target temperature compensation coefficient corresponding to each grating grid area according to the temperature change constant;

[0058] Determine the mapping relationship between the wavelength change rate and the puncture force according to the target temperature compensation coefficient.

[0059] In the embodiment of the present invention, as can be seen from the foregoing, can be decomposed into and Combination, then according to the cantilever beam theory, the The stress on the block grating grid section on the root Bragg fiber grating is expressed as:

[0060] ;

[0061] Among them, is the flexural rigidity along the axis; is the flexural rigidity along the axis; represents the distance from the grating grid area to the axis of the needle tube of the cannula needle, specifically as Figure 3 shown.

[0062] So, the The reflection wavelength change rate corresponding to the block grating grid area on the root Bragg fiber grating is expressed as:

[0063] ;

[0064] Among them, is the The temperature change constant of the block grating grid area on the root Bragg fiber grating; is the environmental temperature change; is the strain constant.

[0065] In order to eliminate the influence of temperature change on the wavelength change rate, the method of taking the difference is used to obtain:

[0066] ;

[0067] The existing method is to assume that the temperature change constants of each grating grid area are equal, then the term is zero, and we can get:

[0068] ;

[0069] Writing the above formula in matrix form, we can obtain the constant matrix: ;

[0070] Therefore, only the intermediate constant matrix needs to be calibrated to establish the mapping relationship between the wavelength change rate and the puncture force.

[0071] However, since it is only an assumption that the temperature change constants of each grating area are equal, due to the limitations of processing technology and materials, the temperature change constants of the grating areas of different Bragg fiber gratings may not be equal. Therefore, the actual situation is as follows:

[0072] ;

[0073] Writing the above formula in matrix form, we get:

[0074] ;

[0075] It can be seen that due to processing technology, materials, etc., it is difficult to ensure that the temperature change constants are exactly the same, and there is an additional error term . And there is a certain temperature difference between the temperature in the operating room, which is about 22 - 25°C, and the human body temperature of 37°C. Therefore, this additional term is one of the main reasons for the error, which limits the accuracy of puncture force perception to a certain extent.

[0076] Therefore, the embodiments of the present invention introduce a set of temperature compensation coefficients to compensate for the errors in the puncture force perception accuracy caused by temperature changes and temperature change constant differences.

[0077] Introduce temperature compensation parameters for each grating area , then through operations based on the reflection wavelength change rate, we get:

[0078] ;

[0079] Writing the above in matrix form, we can obtain:

[0080] ;

[0081] Specifically, based on the previously obtained wavelength sequence calculate the wavelength change rate sequence during the temperature heating process, and then based on the temperature sequence calculate the temperature change sequence .

[0082] Initialize the temperature compensation coefficient , and at this time, there is a constant matrix According to the calculated wavelength change rate calculate to obtain ;

[0083] Substitute and the temperature change sequence into the constant matrix to get:

[0084] ;

[0085] The temperature change constants corresponding to each grating grid area can be solved from the above formula.

[0086] According to the requirement of, only need to make , substitute the temperature change constant, then the final target temperature compensation coefficient can be obtained, and further, according to the target temperature compensation coefficient, the mapping relationship between the wavelength change rate and the puncture force can be obtained.

[0087] In an exemplary embodiment of the present invention, the obtaining of the temperature change constants corresponding to each grating grid area according to the pressure, the initialized temperature compensation coefficient, the wavelength change rate sequence and the temperature change sequence includes:

[0088] Decompose the pressure, and based on the cantilever beam theory, determine the stress of each grating grid area;

[0089] According to the stress, the initialized temperature compensation coefficient, the wavelength change rate sequence and the temperature change sequence, obtain the temperature change constants corresponding to each grating grid area.

[0090] In the embodiment of the present invention, as Figure 2 shown, the tip of the cannula needle forms a certain angle with the needle tube, and the puncture force received by the tip is , and the puncture force can be decomposed into the force along the axial direction of the needle tube and the force along the diameter direction of the needle tube. is further decomposed into the combination of and , and then based on the cantilever beam theory, determine the stress of each grating grid area, and further calculate the temperature change constant.

[0091] In an exemplary embodiment of the present invention, a puncture force detection system based on force sensing temperature compensation is provided, including:

[0092] At least one Bragg fiber grating, which is used to obtain the wavelength of the reflected light during the puncture process of the cannula needle;

[0093] A detection module, which is used to calculate the target wavelength change rate according to the wavelength, obtain the 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 is performed on each grating grid area of the Bragg fiber grating.

[0094] In the embodiments of the present invention, as described above, a fiber Bragg grating is disposed on the cannula needle to obtain the wavelength of the reflected light of the cannula needle during the puncture process, then calculate the target wavelength change rate according to the wavelength, and determine the target puncture force based on the target wavelength change rate and the mapping relationship. The relevant introduction of the mapping relationship has been described above and will not be elaborated here.

[0095] The following describes a puncture force detection device based on force sensing temperature compensation provided by the present invention. The puncture force detection device based on force sensing temperature compensation described below can be correspondingly referred to the puncture force detection method based on force sensing temperature compensation described above. It should be noted that the device provided in the following embodiments and the method provided in the above embodiments belong to the same concept. The specific manners in which each module and unit perform operations have been described in detail in the method embodiments and will not be elaborated here.

[0096] In an exemplary embodiment of the present invention, please refer to Figure 5 , Figure 5 FIG. is a puncture force detection device based on force sensing temperature compensation shown according to an exemplary embodiment, including the following modules.

[0097] A calculation module 510, configured to obtain the wavelength of the reflected light of the cannula needle during the puncture process through the fiber Bragg grating disposed on the cannula needle, and calculate the target wavelength change rate according to the wavelength;

[0098] A determination module 520, configured to 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 for each grating region of the fiber Bragg grating.

[0099] In an exemplary embodiment of the present invention, the puncture force detection device based on force sensing temperature compensation further includes:

[0100] An acquisition module, configured to apply pressure to the tip of the cannula needle and acquire the wavelength and temperature values of each grating region of the fiber Bragg grating at different ambient temperatures;

[0101] A temperature compensation module, configured to perform temperature compensation on each grating region based on the pressure, the wavelength, and the temperature values to obtain the mapping relationship.

[0102] In an exemplary embodiment of the present invention, the temperature compensation module includes:

[0103] A first calculation sub-module, configured to calculate a wavelength change rate sequence according to the wavelength and calculate a temperature change sequence according to the temperature value;

[0104] An initialization sub-module, configured to initialize the temperature compensation coefficients corresponding to each of the grating regions, and obtain the temperature change constants corresponding to each of the grating regions according to the pressure, the initialized temperature compensation coefficients, the wavelength change rate sequence, and the temperature change sequence;

[0105] A second calculation sub-module, configured to calculate the target temperature compensation coefficients corresponding to each of the grating regions according to the temperature change constants;

[0106] A determination sub-module, configured to determine the mapping relationship between the wavelength change rate and the puncture force according to the target temperature compensation coefficients.

[0107] In an exemplary embodiment of the present invention, the initialization sub-module includes:

[0108] A determination unit, configured to decompose the pressure and determine the stress of each of the grating regions based on the cantilever beam theory;

[0109] A temperature change constant unit, configured to obtain the temperature change constants corresponding to each of the grating regions according to the stress, the initialized temperature compensation coefficients, the wavelength change rate sequence, and the temperature change sequence.

[0110] In an exemplary embodiment of the present invention, at least one of the Bragg fiber gratings is disposed along the circumferential direction of the cannula needle.

[0111] Figure 6 Schematically illustrates a physical structure diagram of an electronic device, as Figure 6 shown. The electronic device may include: a processor 610, a communication interface 620, a memory 630, and a communication bus 640. Among them, the processor 610, the communication interface 620, and the memory 630 communicate with each other through the communication bus 640. The processor 610 can call the logical instructions in the memory 630 to execute a puncture force detection method based on force perception temperature compensation. The method includes: obtaining the wavelength of the reflected light of the cannula needle during puncture through the Bragg fiber grating disposed on the cannula needle, and calculating the target wavelength change rate according to the wavelength;

[0112] Obtaining a preset mapping relationship between the wavelength change rate and the puncture force, and determining the 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 of the grating regions of the Bragg fiber grating.

[0113] In addition, when the logical instructions in the above-mentioned memory 630 are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0114] On the other hand, the present invention also provides a computer program product. The computer program product includes a computer program that can be stored on 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-mentioned various methods. The method includes: obtaining the wavelength of the reflected light of the cannula needle during the puncture process through a Bragg fiber grating provided on the cannula needle, and calculating the target wavelength change rate according to the wavelength.

[0115] Obtaining a preset mapping relationship between the wavelength change rate and the puncture force, and determining the target puncture force based on the target wavelength change rate and the mapping relationship; wherein, the mapping relationship is obtained after temperature compensation for each grating area of the Bragg fiber grating.

[0116] On another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it realizes the puncture force detection method based on force sensing temperature compensation provided by the above-mentioned various methods. The method includes: obtaining the wavelength of the reflected light of the cannula needle during the puncture process through a Bragg fiber grating provided on the cannula needle, and calculating the target wavelength change rate according to the wavelength.

[0117] Obtaining a preset mapping relationship between the wavelength change rate and the puncture force, and determining the target puncture force based on the target wavelength change rate and the mapping relationship; wherein, the mapping relationship is obtained after temperature compensation for each grating area of the Bragg fiber grating.

[0118] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without creative work.

[0119] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the essence of the above technical solution, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to enable 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.

[0120] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. And these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A puncture force detection system based on force perception temperature compensation, characterized in that, Comprising: At least one fiber Bragg grating for obtaining the wavelength of the reflected light during the puncture process of the cannula needle; A detection module for calculating a target wavelength change rate according to the wavelength, obtaining a preset mapping relationship between the wavelength change rate and the 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 for each grating region of the fiber Bragg grating; Wherein, it further comprises: An acquisition module configured to apply pressure to the tip of the cannula needle and acquire the wavelengths and temperature values of each grating region of the fiber Bragg grating at different ambient temperatures; A temperature compensation module configured to perform temperature compensation on each grating region based on the pressure, the wavelength, and the temperature value to obtain the mapping relationship; The temperature compensation module includes: A first calculation sub-module 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 sub-module configured to initialize the temperature compensation coefficient corresponding to each grating region, and obtain the temperature change constant corresponding to each grating region according to the pressure, the initialized temperature compensation coefficient, the wavelength change rate sequence, and the temperature change sequence; the temperature compensation coefficient is used to compensate for the error in the puncture force sensing accuracy caused by temperature changes and temperature change constant differences; A second calculation sub-module configured to calculate the target temperature compensation coefficient corresponding to each grating region according to the temperature change constant; A determination sub-module configured to determine the mapping relationship between the wavelength change rate and the puncture force according to the target temperature compensation coefficient.

2. A puncture force detection device based on force sensing temperature compensation, characterized in that, Comprising: A calculation module configured to obtain the wavelength of the reflected light during the puncture process of the cannula needle through the fiber Bragg grating provided on the cannula needle and calculate a target wavelength change rate according to the wavelength; A determination module configured to obtain a preset mapping relationship between the wavelength change rate and the 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 for each grating region of the fiber Bragg grating; The puncture force detection device based on force sensing temperature compensation further comprises: An acquisition module configured to apply pressure to the tip of the cannula needle and acquire the wavelengths and temperature values of each grating region of the fiber Bragg grating at different ambient temperatures; A temperature compensation module configured to perform temperature compensation on each grating region based on the pressure, the wavelength, and the temperature value to obtain the mapping relationship; The temperature compensation module includes: A first calculation sub-module 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 sub-module configured to initialize the temperature compensation coefficient corresponding to each grating region, and obtain the temperature change constant corresponding to each grating region according to the pressure, the initialized temperature compensation coefficient, the wavelength change rate sequence, and the temperature change sequence; the temperature compensation coefficient is used to compensate for the error in the puncture force sensing accuracy caused by temperature changes and temperature change constant differences; A second calculation sub-module, configured to calculate a target temperature compensation coefficient corresponding to each of the grating regions according to the temperature change constant; A determination sub-module, configured to determine a mapping relationship between a wavelength change rate and a puncture force according to the target temperature compensation coefficient.

3. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and running on the processor, characterized in that, When the processor executes the computer program, a puncture force detection method based on force-sensing temperature compensation is implemented; A puncture force detection method based on force-sensing temperature compensation includes: Obtaining the wavelength of the reflected light of the intubation needle during the puncture process through a Bragg fiber grating provided on the intubation needle, and calculating a target wavelength change rate according to the wavelength; Obtaining a preset mapping relationship between a wavelength change rate and a 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 is performed on each grating region of the Bragg fiber grating; Before obtaining the preset mapping relationship between the wavelength change rate and the puncture force, the method further includes: Applying a pressure to the tip of the intubation needle, and obtaining the wavelengths and temperature values of each grating region of the Bragg fiber grating at different ambient temperatures; Performing temperature compensation on each grating region based on the pressure, the wavelength, and the temperature value to obtain the mapping relationship; The performing temperature compensation on each grating region 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 a temperature compensation coefficient corresponding to each grating region, and obtaining a temperature change constant corresponding to each grating region according to the pressure, the initialized temperature compensation coefficient, the wavelength change rate sequence, and the temperature change sequence; the temperature compensation coefficient is used to compensate for the error in the puncture force sensing accuracy caused by temperature changes and temperature change constant differences; Calculating a target temperature compensation coefficient corresponding to each grating region according to the temperature change constant; Determining a mapping relationship between a wavelength change rate and a puncture force according to the target temperature compensation coefficient.

4. A non-transitory computer-readable storage medium storing a computer program thereon, characterized in that, When the computer program is executed by a processor, a puncture force detection method based on force-sensing temperature compensation is implemented; A puncture force detection method based on force-sensing temperature compensation includes: Obtaining the wavelength of the reflected light of the intubation needle during the puncture process through a Bragg fiber grating provided on the intubation needle, and calculating a target wavelength change rate according to the wavelength; Obtaining a preset mapping relationship between a wavelength change rate and a 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 is performed on each grating region of the Bragg fiber grating; Before obtaining the preset mapping relationship between the wavelength change rate and the puncture force, the method further includes: Applying a pressure to the tip of the intubation needle, and obtaining the wavelengths and temperature values of each grating region of the Bragg fiber grating at different ambient temperatures; Performing temperature compensation on each grating region based on the pressure, the wavelength, and the temperature value to obtain the mapping relationship; 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 change constant corresponding to each of the grating regions according to the pressure, the initialized temperature compensation coefficient, the wavelength change rate sequence, and the temperature change sequence; the temperature compensation coefficient is used to compensate for the error in the puncture force sensing accuracy caused by temperature changes and temperature change constant differences; Calculating the target temperature compensation coefficient corresponding to each of the grating regions according to the temperature change constant; Determining the mapping relationship between the wavelength change rate and the puncture force according to the target temperature compensation coefficient.

5. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements a puncture force detection method based on force sensing temperature compensation; A puncture force detection method based on force sensing temperature compensation includes: Obtaining the wavelength of the reflected light of the intubation needle during puncture through a Bragg fiber grating provided on the intubation needle, and calculating a target wavelength change rate according to the wavelength; Obtaining a preset mapping relationship between the wavelength change rate and the puncture force, and determining the target puncture force based on the target wavelength change rate and the mapping relationship; wherein, the mapping relationship is obtained after performing temperature compensation on each of the grating regions of the Bragg fiber grating; Before obtaining the preset mapping relationship between the wavelength change rate and the puncture force, the method further includes: Applying pressure to the tip of the intubation needle, and obtaining the wavelength and temperature value of each of the grating regions of the Bragg fiber grating at different ambient temperatures; Performing temperature compensation on each of the grating regions based on the pressure, the wavelength, and the temperature value to obtain the mapping relationship; 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 change constant corresponding to each of the grating regions according to the pressure, the initialized temperature compensation coefficient, the wavelength change rate sequence, and the temperature change sequence; the temperature compensation coefficient is used to compensate for the error in the puncture force sensing accuracy caused by temperature changes and temperature change constant differences; Calculating the target temperature compensation coefficient corresponding to each of the grating regions according to the temperature change constant; Determining the mapping relationship between the wavelength change rate and the puncture force according to the target temperature compensation coefficient.

Images