Tactile feedback assistance system, force measurement method, minimally invasive surgery assistance robot and storage medium

Abstract

The invention relates to the technical field of robot-assisted minimally invasive surgery, and discloses a tactile feedback assisting system, a force measuring method, a minimally invasive surgery assisting robot and a storage medium. A first grating part of which the grating period exceeds a preset threshold value in the chirped fiber grating is fixed in the quartz glass tube; the chirp fiber grating is used for measuring the deformation degree and the temperature deviation before and after the external applied force is applied so as to calculate the external applied force. The method comprises the following steps: acquiring wavelength offset and bandwidth variation of a chirped fiber grating; determining the deformation degree and the temperature deviation of the sensing unit according to the wavelength offset and the bandwidth variation of the chirped fiber grating; and performing stress calculation and temperature compensation according to the deformation degree and the temperature deviation of the sensing unit to obtain an externally applied force. The method has the beneficial effects that on the basis of providing temperature compensation for a calculation result, the possibility of further miniaturization is provided for an auxiliary system.

Description

Technical Field

[0001] The present application relates to the technical field of robot-assisted minimally invasive surgery, and in particular to a tactile feedback assistance system, a force measurement method, a minimally invasive surgery assistance robot and a storage medium. Background Art

[0002] With the trend of promoting automation in various fields, automated mechanical devices including robots and robotic arms have begun to be widely used in different fields for operations, such as industrial manufacturing, medical treatment or military use. The use of automated mechanical devices not only improves the degree of automation of operations, but also improves the efficiency and accuracy of operations. However, there are also defects in using automated mechanical devices for operations. For example, in the field of medical treatment, when using robots to assist in minimally invasive surgery, doctors cannot receive tactile feedback like normal operations, resulting in the inability to perform operations smoothly. Therefore, it is usually necessary to design a corresponding tactile feedback auxiliary system for the automated mechanical device, but the size of the tactile feedback auxiliary system in the related art is limited by the equipment and cannot be miniaturized. Summary of the invention

[0003] The present application provides a tactile feedback auxiliary system, a force measurement method, a minimally invasive surgery auxiliary robot and a storage medium, which utilize a chirped fiber grating partially disposed in a quartz glass tube as a sensing unit, thereby solving the technical problem in the related technology that in order to eliminate the influence of temperature, the complexity of the equipment is increased and the size of the system is limited, thereby achieving the technical effect of providing the auxiliary system with the possibility of further miniaturization on the basis of providing temperature compensation.

[0004] In order to achieve the above objectives, the main technical solutions adopted in this application include:

[0005] In a first aspect, an embodiment of the present application provides a tactile feedback auxiliary system, the system comprising a sensing unit, the sensing unit comprising a chirped fiber grating, a first grating portion of the chirped fiber grating having a grating period exceeding a preset threshold value being fixed in a quartz glass tube;

[0006] When the sensing unit detects an external force, the chirped fiber grating is used to measure the degree of deformation and the temperature deviation before and after the external force is applied to calculate the external force; wherein the degree of deformation and the temperature deviation are determined based on the wavelength offset and bandwidth change of the chirped fiber grating.

[0007] The tactile feedback auxiliary system proposed in the embodiment of the present application utilizes a chirped fiber Bragg grating as a sensing unit, and through a quartz glass tube and optical fiber sleeves of different materials, each part of the chirped fiber Bragg grating has different sensitivities to different changes in external conditions, so that the deformation degree and temperature deviation of the sensing unit can be measured simultaneously, and then the external force applied to the sensing unit can be determined while eliminating the influence of temperature, thereby providing accurate tactile feedback results. Compared with related technologies, the sensing unit of the auxiliary system utilizes a single chirped fiber Bragg grating, which reduces the vibration influence caused by the loose connection between different optical fibers and improves the seismic resistance and reliability of the sensing unit. At the same time, the single sensing unit structure also provides the possibility of further miniaturization of the sensing unit and the tactile feedback auxiliary system, expanding the application prospects of the tactile feedback auxiliary system.

[0008] Optionally, the second grating portion of the chirped fiber grating whose grating period does not exceed a preset threshold is fixed in an optical fiber sleeve, and the material of the optical fiber sleeve is different from that of the quartz glass tube.

[0009] Optionally, the chirped fiber grating is arranged on a sensing optical fiber, and the number of the sensing optical fiber is one.

[0010] Optionally, the auxiliary system further comprises a broadband light source and a spectrometer;

[0011] The wavelength range of the broadband light source covers the central wavelength of the chirped fiber grating;

[0012] The spectrometer is used to determine the wavelength offset and bandwidth variation of the chirped fiber grating.

[0013] Optionally, the auxiliary system further comprises a circulator;

[0014] The circulator is used to transmit the detection light emitted by the broadband light source to the chirped fiber grating, and transmit the reflected light of the detection light from the chirped fiber grating to the spectrometer.

[0015] In a second aspect, an embodiment of the present application provides a force measurement method in a tactile feedback auxiliary system, the method comprising:

[0016] When the sensing unit detects an external force, the wavelength offset and bandwidth variation of the chirped fiber grating are obtained by using the tactile feedback auxiliary system described in any one of the above embodiments;

[0017] Determining the deformation degree and temperature deviation of the sensing unit according to the wavelength offset and bandwidth variation of the chirped fiber grating;

[0018] Stress calculation and temperature compensation are performed according to the deformation degree and temperature deviation of the sensing unit to obtain the external applied force.

[0019] Optionally, determining the deformation degree and temperature deviation of the sensing unit according to the wavelength offset and bandwidth variation of the chirped fiber grating includes:

[0020] Performing wavelength demodulation on the wavelength offset and bandwidth variation of the chirped fiber grating to obtain common constraints on the deformation degree and the temperature deviation;

[0021] The found value satisfying the common constraint condition is used as the value of the deformation degree and the value of the temperature deviation.

[0022] Optionally, the method further comprises:

[0023] The sensing sensitivity of the sensing unit to the externally applied force is determined according to the corresponding relationship between the wavelength offset and bandwidth change of the chirped fiber grating and the sensing sensitivity; wherein the corresponding relationship is obtained by pre-calibrating the chirped fiber grating fixed in the quartz glass tube and the optical fiber sleeve.

[0024] In a third aspect, an embodiment of the present application provides a minimally invasive surgery-assisting robot, comprising the assisting system described in any one of the above embodiments, or executing the method described in any one of the above embodiments.

[0025] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which computer instructions are stored, and the computer instructions are used to enable a computer to execute any one of the methods in the above embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0027] Figure 1 A structural diagram of a tactile feedback auxiliary system provided in an embodiment of the present application;

[0028] Figure 2 This is a structural diagram of the sensor unit in the embodiment of the present application;

[0029] Figure 3 A comparison diagram of the reflection spectra of the chirped fiber grating and the ordinary grating in the embodiment of the present application;

[0030] Figure 4 A step diagram of a force measurement method in a tactile feedback auxiliary system provided in an embodiment of the present application;

[0031] Figure 5 A diagram showing the steps for obtaining the values ​​of deformation degree and temperature deviation in the embodiment of the present application;

[0032] Figure 6 A module diagram of a force measurement device in a tactile feedback auxiliary system provided in an embodiment of the present application;

[0033] Figure 7 A schematic diagram of the structure of a computer device provided in an embodiment of the present application.

[0034] The reference numerals of the drawings in the specification are as follows: 101. broadband light source, 102. circulator, 103. sensing unit, 104. spectrometer, 201. chirped fiber grating, 202. optical fiber sleeve, 203. quartz glass tube. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0036] With the trend of promoting automation in various fields, automated mechanical devices including robots and robotic arms have begun to be widely used in different fields to carry out operations, such as industrial manufacturing, medical treatment or military utilization. The use of automated mechanical devices not only improves the degree of automation of operations, but also improves the efficiency and accuracy of operations, effectively improving the operation results in various fields.

[0037] However, there are also defects in using automated mechanical devices to perform operations, especially in fields that require a high degree of precision in operation. For example, in the field of medical treatment, when using robots to assist in minimally invasive surgery, doctors cannot receive tactile feedback like during normal surgery, and cannot make real-time adjustments to the operation, resulting in the operation being unable to proceed smoothly and affecting the safety of the patient.

[0038] Therefore, in fields that require high precision in operation, it is usually necessary to design a corresponding tactile feedback auxiliary system for the automated mechanical device to provide appropriate tactile feedback for the operation. In order to improve the accuracy of the tactile feedback results in the related art, it is usually necessary to design the tactile feedback auxiliary system to eliminate the influence of changes in external conditions such as temperature on the tactile feedback results. However, the above design often results in the size of the tactile feedback auxiliary system being limited by the equipment and unable to be miniaturized.

[0039] During the research process, the inventors found that when the sensing optical fiber is sheathed in a quartz glass tube, after the sensing optical fiber is fixed in the quartz glass tube with glue, since the sensing optical fiber and the quartz glass tube are made of the same material, the sensing optical fiber fixed in the quartz glass tube will not be deformed due to external force, that is, the optical feedback result of this part of the sensing optical fiber is not affected by its own deformation degree. However, when the sensing optical fiber is sheathed in a conventional optical fiber sheath, the optical feedback result of this part of the sensing optical fiber will be affected by its own deformation degree and changes in other external conditions. Based on the above two situations, by utilizing the different sensitivities of the sensing optical fiber to changes in external conditions in different situations, it is possible to provide the possibility for miniaturization of the sensing unit on the basis of eliminating the influence of other external conditions on the tactile feedback results.

[0040] Based on the above discovery, the present application proposes a tactile feedback auxiliary system, a force measurement method, a minimally invasive surgery auxiliary robot and a medium. The tactile feedback auxiliary system includes a sensing unit, the sensing unit includes a chirped fiber grating, and the first grating part of the chirped fiber grating whose grating period exceeds a preset threshold is fixed in a quartz glass tube; when the sensing unit detects an externally applied force, the chirped fiber grating is used to measure the degree of deformation and temperature deviation before and after the externally applied force to calculate the externally applied force; wherein the degree of deformation and temperature deviation are determined according to the wavelength offset and bandwidth change of the chirped fiber grating. The chirped fiber grating is arranged on a sensing optical fiber, and the number of sensing optical fibers is one. The auxiliary system also includes a broadband light source, a spectrometer and a circulator, wherein the circulator is used to sequentially connect the broadband light source, the sensing unit and the spectrometer.

[0041] The force measurement method in the tactile feedback auxiliary system proposed in the present application includes: when the sensing unit detects an externally applied force, the wavelength offset and bandwidth change of the chirped fiber grating are obtained through the tactile feedback auxiliary system; the deformation degree and temperature deviation of the sensing unit are determined according to the wavelength offset and bandwidth change of the chirped fiber grating; stress calculation and temperature compensation are performed according to the deformation degree and temperature deviation of the sensing unit to obtain the externally applied force.

[0042] The tactile feedback auxiliary system proposed in the present application utilizes a chirped fiber grating as a sensing unit, and through a quartz glass tube and optical fiber sleeves of different materials, enables each part of the chirped fiber grating to have different sensitivities to changes in different external conditions, thereby being able to simultaneously measure the degree of deformation and temperature deviation of the sensing unit, and then being able to determine the external force applied to the sensing unit while eliminating the influence of temperature, thereby providing accurate tactile feedback results.

[0043] Compared with related technologies, the sensor unit of this auxiliary system uses a single chirped fiber Bragg grating, which reduces the vibration caused by the loose connection between different optical fibers and improves the anti-vibration performance and reliability of the sensor unit. At the same time, the single sensor unit structure also provides the possibility of further miniaturization of the sensor unit and the tactile feedback auxiliary system, expanding the application prospects of the tactile feedback auxiliary system.

[0044] The present application provides a tactile feedback auxiliary system, which can be used in the above-mentioned fields using automated mechanical devices, especially in the field of medical treatment using robots to assist minimally invasive surgery. Figure 1 As shown, the system includes a sensing unit 103 , wherein the sensing unit 103 includes a chirped fiber grating 201 , and a first grating portion of the chirped fiber grating 201 , in which the grating period exceeds a preset threshold, is fixed in a quartz glass tube 203 .

[0045] When the sensing unit 103 detects an external force, the chirped fiber grating 201 is used to measure the degree of deformation and temperature deviation before and after the external force is applied to calculate the external force; wherein the degree of deformation and temperature deviation are determined based on the wavelength offset and bandwidth change of the chirped fiber grating 201.

[0046] It is understandable that the external conditions include temperature deviation in addition to the external applied force. When the sensing unit 103 detects a change in any external condition, such as the external applied force or the temperature deviation, the degree of change in the external condition can be determined by the wavelength offset and bandwidth change of the chirped fiber grating 201.

[0047] Specifically, the tactile feedback auxiliary system includes a sensor unit 103 for sensing the external applied force. The external applied force is measured through the optical feedback result of the sensor unit 103, so that the external applied force is used as the tactile feedback result. Figure 2As shown, the sensing unit 103 includes a chirped fiber grating 201, which is inserted into two sleeves arranged adjacently along the light propagation direction. The chirped fiber grating has stability and can maintain the same optical performance under various environmental conditions to provide stable optical feedback results, thereby improving the long-term reliability of the sensing unit 103. In addition, the chirped fiber grating is short in length, the additional loss it generates is small, and the degree of influence by the nonlinearity of the optical fiber is low, which provides the possibility for miniaturization of the sensing unit 103 and the auxiliary system.

[0048] Furthermore, the grating period of the chirped fiber grating 201 increases periodically along the fiber direction, and the chirped fiber grating 201 is divided into two parts according to the grating period and the preset threshold, and the part where the grating period exceeds the preset threshold is used as the first grating part. The first grating part is inserted into the quartz glass tube 203, and its material is the same as that of the chirped fiber grating 201, and the inner diameter of the quartz glass tube 203 matches the size of the first grating part.

[0049] It should be noted that during the installation process, the first grating part can be fixed to the quartz glass tube 203 by glue or other means, so that the first grating part is restricted by the quartz glass tube 203 of the same material and will not be deformed due to the external force. Therefore, the first grating part is not sensitive to the change of the external force, but is sensitive to the change of other external conditions. Since the other parts of the chirped fiber grating 201 except the first grating part are not fixed in the quartz glass tube 203, they are not restricted by the quartz glass tube 203, and these parts are sensitive to the change of the external force and other external conditions.

[0050] The sensing unit 103 based on the above structure will produce a certain degree of deformation when detecting the external applied force, and the chirped fiber grating 201 in the sensing unit 103 will also be deformed. Since the first grating part in the chirped fiber grating 201 is not sensitive to the change of the external applied force and is not affected by the deformation, the reflected light reflected by the first grating part is only affected by the change of other external conditions, such as temperature deviation. The other parts in the chirped fiber grating 201 are sensitive to the change of the external applied force and other external conditions, and the reflected light reflected by them is not only affected by the external applied force, but also by the change of other external conditions.

[0051] Reference Figure 3 As shown, Figure 3 The horizontal axis is the wavelength of reflected light, and the vertical axis is the reflectivity. Figure 3It can be seen that the reflection spectrum of the chirped fiber grating 201 has multiple peaks, and different peaks correspond to different grating periods. When the external conditions change, different peaks will move at the same time, and the mutual movement between the peaks indicates that the wavelength offset and bandwidth change obtained from the reflection spectrum include the influence of different external conditions, and the degree of change of each external condition can be determined respectively. Based on the sensing unit 103 of the above structure, the parts of different grating periods in the chirped fiber grating 201 have different degrees of sensitivity to the change of external conditions. Therefore, by performing spectral analysis on the reflected light of the sensing unit 103 before and after the external conditions change, the wavelength offset and bandwidth change of the chirped fiber grating 201 can be obtained, and there is a certain independence between the contribution of the external applied force and other external conditions in the obtained wavelength offset and bandwidth change, so that the deformation degree and temperature deviation of the sensing unit 103 can be respectively determined according to the wavelength offset and bandwidth change, so as to calculate the external applied force on the sensing unit 103.

[0052] The difference between the sensing unit 103 in the present application and the related art is that the sensing unit 103 in the present application uses a quartz glass tube 203 of the same material as the chirped fiber grating 201 to limit the deformation of the chirped fiber grating 201, so that the parts of the chirped fiber grating 201 with different grating periods have different degrees of sensitivity to changes in external conditions. Therefore, the wavelength offset and bandwidth change obtained by the reflected light of the sensing unit 103 include not only the contribution of the external applied force, but also the contribution of other external conditions such as temperature, and there is a certain degree of independence between the two, so that the temperature deviation and the degree of deformation caused by the external applied force can be calculated respectively, and the temperature deviation can be used to perform temperature compensation on the external applied force obtained from the deformation degree, so as to improve the accuracy of the tactile feedback result.

[0053] At the same time, in the present application, only a single chirped fiber grating is used to measure the deformation degree and temperature deviation of the sensing unit 103, so there is no need to set up a reference optical fiber for temperature compensation, thereby reducing the complexity of the sensing unit 103 and the auxiliary system, and effectively reducing the volume of related equipment to facilitate integration into other devices and systems.

[0054] The tactile feedback auxiliary system provided in this embodiment uses a chirped fiber grating as the sensing unit 103, and through a quartz glass tube and optical fiber sleeves of different materials, each part of the chirped fiber grating has different sensitivities to different changes in external conditions, so that the deformation degree and temperature deviation of the sensing unit 103 can be measured simultaneously, and then the external force applied to the sensing unit 103 can be determined while eliminating the influence of temperature, thereby providing accurate tactile feedback results.

[0055] Compared with the related art, the sensor unit 103 of the auxiliary system uses a single chirped fiber Bragg grating, which reduces the vibration effect caused by the loose connection between different optical fibers and improves the anti-vibration performance and reliability of the sensor unit 103. At the same time, the single sensor unit 103 structure also provides the possibility of further miniaturization of the sensor unit 103 and the tactile feedback auxiliary system, expanding the application prospects of the tactile feedback auxiliary system.

[0056] In some embodiments, the second grating portion of the chirped fiber grating 201 whose grating period does not exceed a preset threshold is fixed in the fiber optic sleeve 202 , and the material of the fiber optic sleeve 202 is different from that of the quartz glass tube 203 .

[0057] Specifically, the part of the chirped fiber grating 201 whose grating period does not exceed the preset threshold is used as the second grating part, and the second grating part is inserted into the fiber sleeve 202. The material of the fiber sleeve 202 is different from that of the quartz glass tube 203, so the sensitivity of the second grating part to the external conditions is different from that of the first grating part, and the second grating part can simultaneously measure the deformation degree and temperature deviation of the sensing unit 103.

[0058] Furthermore, the optical fiber sleeve 202 can be a stainless steel tube with a hollow structure, whose inner diameter matches the second grating portion. The optical fiber sleeve 202 is used to protect the second grating portion to prevent the second grating portion from bending or damage, thereby increasing the service life of the sensor unit 103.

[0059] In some implementations, the chirped fiber grating 201 is disposed on a sensing optical fiber, and the number of the sensing optical fiber is one.

[0060] Specifically, in the sensing unit 103 , the chirped fiber grating 201 is disposed on the same sensing optical fiber, and both ends of the sensing optical fiber can be fixed to improve the stability of the sensing unit 103 and reduce the impact of external environment vibration on the sensing unit 103 .

[0061] It should be noted that in order to eliminate the influence of temperature deviation on the external force measurement results in the related art, a reference fiber Bragg grating is usually set to measure the external force and temperature deviation respectively. In the above scheme, since the reference fiber Bragg grating is supported by only one end in the sensing unit, the stability is low and it is greatly affected by vibration, which affects the accuracy of the tactile feedback result. In addition, the reference fiber Bragg grating increases the structural complexity of the sensing unit, resulting in increased difficulty in miniaturization of the sensing unit and the auxiliary system. However, the present application uses the aforementioned sensing unit 103 structure and a chirped fiber Bragg grating 201 on a sensing optical fiber to simultaneously measure the external force and temperature deviation. On the basis of ensuring the accuracy of the tactile feedback results, the volume of the sensing unit 103 is effectively reduced, and the miniaturization of the sensing unit 103 and the auxiliary system is achieved.

[0062] Reference Figure 1 As shown, in some embodiments, the auxiliary system further includes a broadband light source 101 and a spectrometer 104; the wavelength range of the broadband light source 101 covers the central wavelength of the chirped fiber grating 201; the spectrometer 104 is used to determine the wavelength offset and bandwidth change of the chirped fiber grating 201.

[0063] Specifically, the wavelength range of the broadband light source 101 covers at least any central wavelength in the first grating part and any central wavelength in the second grating part, so that the reflection spectrum of the first grating part and the reflection spectrum of the second grating part can be simultaneously reflected in the reflection spectrum of the chirped fiber grating 201, so as to simultaneously measure the deformation degree and temperature deviation of the sensing unit 103.

[0064] Furthermore, the spectrometer 104 is used to receive the reflected light returned by the chirped fiber grating 201, and obtain the reflection spectrum of the chirped fiber grating 201 according to the reflected light. It can be understood that, when the sensing unit 103 has not detected the external applied force, the spectrometer 104 is used to determine the reflection spectrum as a reference in advance, so as to analyze the reflection spectrum after any external condition changes according to the reflection spectrum to determine the change of the external condition.

[0065] In some embodiments, the auxiliary system further includes a circulator 102 ; the circulator 102 is used to transmit the probe light emitted by the broadband light source 101 to the chirped fiber grating 201 , and transmit the reflected light of the chirped fiber grating 201 to the spectrometer 104 .

[0066] Specifically, the circulator 102 is used to sequentially connect the broadband light source 101, the sensing unit 103 and the spectrometer 104, so as to transmit the detection light emitted by the broadband light source 101 to the chirped fiber grating 201 in the sensing unit 103, and after the chirped fiber grating 201 reflects the detection light, transmit the obtained reflected light to the spectrometer 104, so as to use the spectrometer 104 to perform spectral analysis on the reflected light.

[0067] It should be noted that, by utilizing the unidirectional transmission property of the circulator 102 for light, the detection light and the reflected light in the auxiliary system can be propagated in the required direction, reducing the setting of optical elements for controlling the propagation direction of light, further reducing the complexity of the auxiliary system, and enabling the auxiliary system to be further miniaturized.

[0068] According to an embodiment of the present application, an embodiment of a force measurement method in a tactile feedback auxiliary system is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0069] In this embodiment, a force measurement method in a tactile feedback auxiliary system is provided. Figure 4 As shown, the method includes:

[0070] S410. When the sensing unit detects an external force, the wavelength offset and bandwidth change of the chirped fiber grating are obtained through a tactile feedback auxiliary system.

[0071] S420. Determine the deformation degree and temperature deviation of the sensing unit according to the wavelength offset and bandwidth variation of the chirped fiber grating.

[0072] S430. Perform stress calculation and temperature compensation according to the deformation degree and temperature deviation of the sensing unit to obtain the external applied force.

[0073] Specifically, before the detection, the chirped fiber grating in the sensing unit is tested in advance to determine the physical characteristic parameters of the chirped fiber grating. The physical characteristic parameters include the effective elastic-optic coefficient, thermal expansion coefficient and thermo-optic coefficient of the chirped fiber grating, among which the effective elastic-optic coefficient represents the change of the effective refractive index of the chirped fiber grating with the degree of deformation, the thermal expansion coefficient represents the change of the grating period of the chirped fiber grating with the temperature deviation, and the thermo-optic coefficient represents the change of the effective refractive index of the chirped fiber grating with the temperature deviation.

[0074] Furthermore, when the sensing unit detects an external force, the external force causes deformation of the sensing unit, so that the reflection spectrum of the chirped fiber grating in the sensing unit is affected by the deformation and changes. The reflection spectrum after the external force is detected is compared with the reference reflection spectrum when the external force is not detected to determine the wavelength offset and bandwidth change between the two.

[0075] The method of obtaining the bandwidth change is described by way of example. Figure 3 As shown, Figure 3 The horizontal axis is the wavelength of reflected light, and the vertical axis is the reflectivity. Figure 3It can be seen that the reflection spectrum of the chirped fiber grating includes multiple peaks. When affected by an external force, the multiple peaks move in the direction of increasing wavelength, and the movement amplitude of the peak corresponding to the shorter wavelength is greater than that of the peak corresponding to the longer wavelength, so that the reflection spectrum after the external force is detected is compared with the reference reflection spectrum without the external force. The specific bandwidth change can be calculated using a spectrometer.

[0076] Furthermore, based on the wavelength offset and bandwidth variation of the chirped fiber grating, the relationship between the wavelength offset and bandwidth variation and the deformation degree and temperature deviation of the sensing unit is used for calculation to determine the deformation degree and temperature deviation of the sensing unit. The deformation degree of the sensing unit is related to the external applied force detected by the sensing unit. The strain calculation is performed according to the deformation degree of the sensing unit to determine the external applied force, and the temperature compensation is performed on the external applied force according to the temperature deviation, so that the value of the external applied force is obtained as the tactile feedback result while eliminating the influence of the temperature deviation, thereby improving the accuracy of the tactile feedback result.

[0077] Reference Figure 5 As shown, in some embodiments, the deformation degree and temperature deviation of the sensing unit are determined according to the wavelength offset and bandwidth variation of the chirped fiber grating, including:

[0078] S422. Perform wavelength demodulation on the wavelength offset and bandwidth variation of the chirped fiber grating to obtain common constraints on the degree of deformation and temperature deviation.

[0079] S424. The found values ​​satisfying the common constraint conditions are used as the values ​​of the degree of deformation and the temperature deviation.

[0080] Specifically, the common constraints on deformation degree and temperature deviation can be expressed according to the following formula:

[0081]

[0082] Among them, Δλ B Indicates wavelength shift, ΔB w represents the bandwidth change; Δε is the deformation degree of the sensor unit, ΔT is the temperature deviation of the sensor unit; K 11 , K 12 , K 21 and K 22 are coefficients respectively.

[0083] Furthermore, the coefficient K 11 and K 12 It can be obtained according to the wavelength demodulation formula, and its form is expressed according to the following formula:

[0084]

[0085] Among them, λ B is the central wavelength of the chirped fiber grating; α f is the thermal expansion coefficient of the chirped fiber Bragg grating; ξ is the thermo-optic coefficient of the chirped fiber Bragg grating; P e is the effective elastic-optic coefficient of the chirped fiber Bragg grating. 21 and K 22 The chirped fiber grating can be tested in advance to determine.

[0086] Furthermore, according to the determined coefficients, the deformation degree and temperature deviation are searched under common constraints, and the values ​​that can simultaneously satisfy the common constraints are used as the values ​​of the deformation degree and the temperature deviation to determine the deformation degree and the temperature deviation of the sensing unit.

[0087] In some embodiments, the method further comprises:

[0088] S440. Determine the sensing sensitivity of the sensing unit to the externally applied force based on the corresponding relationship between the wavelength offset and bandwidth change of the chirped fiber grating and the sensing sensitivity; wherein the corresponding relationship is obtained by pre-calibrating the chirped fiber grating fixed in the quartz glass tube and the optical fiber sleeve.

[0089] Specifically, when the physical characteristic parameters of the chirped fiber grating are predetermined, a sensing sensitivity test can also be performed on the chirped fiber grating to determine the corresponding relationship between the wavelength offset and bandwidth change of the chirped fiber grating and the sensing sensitivity. When the external conditions change, not only the wavelength drift but also the bandwidth change will occur in the reflection spectrum of the chirped fiber grating. The bandwidth change amplitude is related to the change of the external conditions. The larger the bandwidth change amplitude, the higher the sensitivity of the chirped fiber grating to detect the change of the external conditions.

[0090] Furthermore, according to the above correspondence, after determining the value of the externally applied force, the sensing sensitivity of the sensing unit at this time can also be determined according to the wavelength offset and bandwidth change of the chirped fiber grating, so that the tactile feedback obtained by the externally applied force can be evaluated to improve the accuracy of the tactile feedback result and its adaptability to actual conditions, thereby improving the safety of minimally invasive surgery.

[0091] The present application embodiment provides a force measurement device in a tactile feedback auxiliary system, referring to Figure 6 As shown, the device comprises:

[0092] The data acquisition module 602 is used to obtain the wavelength offset and bandwidth change of the chirped fiber grating through a tactile feedback auxiliary system when the sensor unit detects an external applied force.

[0093] The data calculation module 604 is used to determine the deformation degree and temperature deviation of the sensing unit according to the wavelength offset and bandwidth variation of the chirped fiber grating.

[0094] The external force determination module 606 is used to perform stress calculation and temperature compensation according to the deformation degree and temperature deviation of the sensing unit to obtain the external applied force.

[0095] In some implementations, the data calculation module 604 includes:

[0096] The condition constraint unit is used to perform wavelength demodulation on the wavelength offset and bandwidth variation of the chirped fiber grating to obtain common constraint conditions on the deformation degree and temperature deviation.

[0097] The data search unit is used to use the found values ​​satisfying the common constraint conditions as the values ​​of the deformation degree and the temperature deviation.

[0098] In some embodiments, the device further comprises a sensitive computing module, comprising:

[0099] The corresponding determination unit is used to determine the sensing sensitivity of the sensing unit to the external force according to the corresponding relationship between the wavelength offset and bandwidth change of the chirped fiber grating and the sensing sensitivity; wherein the corresponding relationship is obtained by pre-calibrating the chirped fiber grating fixed in the quartz glass tube and the optical fiber sleeve.

[0100] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0101] The force measuring device in the tactile feedback auxiliary system in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0102] Based on the above-mentioned tactile feedback assistance system and the force measurement method in the tactile feedback assistance system, an embodiment of the present application also provides a minimally invasive surgery assistance robot, which includes the tactile feedback assistance system provided by any of the above-mentioned embodiments, or is capable of executing the force measurement method in the tactile feedback assistance system provided by any of the above-mentioned embodiments.

[0103] See also Figure 7 , Figure 7It is a structural diagram of a computer device provided by an embodiment of the present application. As shown in the figure, the computer device includes: one or more processors 10, a memory 20, and an interface for connecting various components, including a high-speed interface and a low-speed interface. Each component uses different buses to communicate with each other, and can be installed on a common motherboard or installed in other ways as needed. The processor can process instructions executed in the computer device, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 7 A processor 10 is taken as an example.

[0104] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0105] The memory 20 stores instructions executable by at least one processor 10, so that the at least one processor 10 executes the method shown in the above embodiment.

[0106] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0107] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0108] The computer device also includes an input device 30 and an output device 40. The processor 10, the memory 20, the input device 30 and the output device 40 may be connected via a bus or other means. Figure 7 The example of connecting through bus is taken in the following.

[0109] The input device 30 can receive input digital or character information, and generate key signal input related to the user settings and function control of the computer device, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, an indicator bar, one or more mouse buttons, a trackball, a joystick, etc. The output device 40 may include a display device, an auxiliary lighting device (e.g., an LED) and a tactile feedback device (e.g., a vibration motor), etc. The above-mentioned display device includes but is not limited to a liquid crystal display, a light emitting diode, a display and a plasma display. In some optional embodiments, the display device can be a touch screen.

[0110] The embodiment of the present application also provides a computer-readable storage medium. The above method according to the embodiment of the present application can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0111] The embodiment of the present application provides a computer program product, which includes computer instructions, which are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the method of any embodiment of the present application.

[0112] Although the embodiments of the present application are described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present application, and such modifications and variations are all within the scope defined by the appended claims.

[0113] The systems, devices, modules or units described in the above embodiments may be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0114] For the convenience of description, the above device is described in various units according to their functions. Of course, when implementing the present application, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0115] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0116] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0117] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0118] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0119] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0120] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0121] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

[0122] Although the embodiments of the present application have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present application, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A tactile feedback auxiliary system, characterized in that: The system comprises a sensing unit, wherein the sensing unit comprises a chirped fiber grating, wherein a first grating portion of the chirped fiber grating, in which the grating period exceeds a preset threshold, is fixed in a quartz glass tube; When the sensing unit detects an external force, the chirped fiber grating is used to measure the degree of deformation and the temperature deviation before and after the external force is applied to calculate the external force; wherein the degree of deformation and the temperature deviation are determined based on the wavelength offset and bandwidth change of the chirped fiber grating.

2. The auxiliary system according to claim 1, characterized in that: The second grating portion of the chirped fiber grating whose grating period does not exceed a preset threshold is fixed in an optical fiber sleeve, and the material of the optical fiber sleeve is different from that of the quartz glass tube.

3. The auxiliary system according to claim 1, characterized in that: The chirped fiber grating is arranged on a sensing optical fiber, and the number of the sensing optical fiber is one.

4. The auxiliary system according to claim 1, characterized in that: The auxiliary system also includes a broadband light source and a spectrometer; The wavelength range of the broadband light source covers the central wavelength of the chirped fiber grating; The spectrometer is used to determine the wavelength offset and bandwidth variation of the chirped fiber grating.

5. The auxiliary system according to claim 4, characterized in that: The auxiliary system also includes a circulator; The circulator is used to transmit the detection light emitted by the broadband light source to the chirped fiber grating, and transmit the reflected light of the detection light from the chirped fiber grating to the spectrometer.

6. A force measurement method in a tactile feedback auxiliary system, characterized in that: The method comprises: When the sensing unit detects an external force, the wavelength offset and bandwidth variation of the chirped fiber grating are obtained by using the tactile feedback auxiliary system according to any one of claims 1 to 5; Determining the deformation degree and temperature deviation of the sensing unit according to the wavelength offset and bandwidth variation of the chirped fiber grating; Stress calculation and temperature compensation are performed according to the deformation degree and temperature deviation of the sensing unit to obtain the external applied force.

7. The method according to claim 6, characterized in that The step of determining the deformation degree and temperature deviation of the sensing unit according to the wavelength offset and bandwidth variation of the chirped fiber grating comprises: Performing wavelength demodulation on the wavelength offset and bandwidth variation of the chirped fiber grating to obtain common constraints on the deformation degree and the temperature deviation; The found value satisfying the common constraint condition is used as the value of the deformation degree and the value of the temperature deviation.

8. The method according to claim 7, characterized in that The method further comprises: The sensing sensitivity of the sensing unit to the externally applied force is determined according to the corresponding relationship between the wavelength offset and bandwidth change of the chirped fiber grating and the sensing sensitivity; wherein the corresponding relationship is obtained by pre-calibrating the chirped fiber grating fixed in the quartz glass tube and the optical fiber sleeve.

9. A minimally invasive surgery-assisted robot, characterized in that: The auxiliary system comprises any one of claims 1 to 5, or performs any one of claims 6 to 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the method according to any one of claims 6 to 8.

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