Intraocular micro-force sensing instrument and light path connection system

Abstract

The invention discloses an intraocular micro-force sensing instrument and a light path connection system. The intraocular micro-force sensing instrument comprises a fiber bragg grating (FBG) sensor array and an instrument sleeve, each FBG in the FBG sensor array is adhered to the instrument sleeve; wherein the number of FBGs in the FBG sensor array (1) is larger than or equal to 3, the layout of the FBG sensor array on the instrument sleeve meets preset temperature interference separation conditions, and the preset temperature interference separation conditions include that the sum of displacement from all the FBG sensors to the x axis is 0, and the sum of displacement from all the FBG sensors to the y axis is 0. Therefore, an additional temperature sensor is not needed, the temperature compensation process is remarkably simplified directly through the statistical property, the separating force and the temperature effect of the sensor array, and the problems of large size and temperature interference existing in the field of intraocular micro-force sensing are solved.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to an intraocular micro-force sensing device and an optical path connection system. Background Art

[0002] As ophthalmic surgery develops towards minimally invasive and precise procedures (such as subretinal injection, epiretinal membrane peeling and other complex vitreoretinal surgeries), precise perception of the contact force between surgical instruments and ocular tissues (such as the cornea, iris, and retina) has become a key technology to improve surgical safety and effectiveness. For example, the vitreous cutting head needs to maintain a micro-force state (usually sub-millinewton level) that just contacts the retina. Excessive contact force may cause retinal tears, while too little contact force will not be able to effectively remove the diseased tissue.

[0003] Fiber Bragg grating (FBG) sensors have attracted significant attention in the field of biomedical sensing due to their compact size and high sensitivity. However, FBG wavelength variations are affected by both temperature (thermal expansion and thermo-optical effects) and force (strain), typically requiring additional temperature sensors for measurement and temperature compensation. This increases system complexity and device size, making them difficult to adapt to minimally invasive intraocular procedures.

[0004] Therefore, how to provide an intraocular micro-force sensing device to improve the temperature interference problem in the field of intraocular micro-force sensing is a key research topic for those skilled in the art. Summary of the Invention

[0005] In a first aspect, the present application provides an intraocular micro-force sensing instrument, comprising: a fiber Bragg grating (FBG) sensor array and an instrument sleeve; each FBG in the FBG sensor array is bonded to the instrument sleeve, and the instrument sleeve is used to sleeve one or more flexible surgical instruments, and the FBG sensor array realizes in-situ measurement of the contact force between the surgical instrument and the eye tissue by sensing the deformation of the instrument sleeve caused by contact with the eye tissue; wherein the number of FBGs in the FBG sensor array is greater than or equal to 3, and the layout of the FBG sensor array on the instrument sleeve meets the preset temperature interference separation condition, and the preset temperature interference separation condition includes: the sum of the displacements of all FBG sensors to the x-axis =0, and the sum of the displacements of all FBG sensors to the y-axis is 0, n is the total number of FBG sensors, and the centers of the x-axis and the y-axis are the geometric centers of the instrument sleeve.

[0006] The intraocular micro-force sensing device provided in this application, on the one hand, solves the problem of large volume in the field of intraocular micro-force sensing by combining submillimeter-level miniaturized FBG sensors with a flexible cannula, achieving low invasiveness and high deformation transfer efficiency. Furthermore, the number of FBG sensors is ≥3, and the device adopts a layout that meets the preset temperature interference separation conditions. No additional temperature sensors are required, and the force and temperature effects are directly separated by the statistical characteristics of the sensor array, significantly simplifying the temperature compensation process, improving the temperature interference problem, and enhancing the real-time and reliability of the measurement.

[0007] In some possible implementations, the instrument sleeve is used to sleeve any one or more of the following instruments: a surgical needle, surgical forceps, a surgical hook, and a light guide pen.

[0008] Using this approach, this solution proposes a universal integrated framework of "FBG sensors + instrument cannulas + surgical instruments." Using FBG sensors and cannulas as foundational components, it can accommodate a variety of instruments, including surgical needles, forceps, hooks, and light guides. This "modular + universal" design significantly reduces the development and maintenance costs of multi-instrument force sensing systems for surgical robots.

[0009] In some possible implementations, the instrument sleeve includes a single-sleeve solution, and the FBG sensor array is bonded to the outer wall of the instrument sleeve; when the instrument sleeved by the instrument sleeve is not a surgical hook or a light guide pen, the single-sleeve solution also has a through hole reserved inside for the injection needle to transfer fluid or install detachable components; when the instrument sleeved by the instrument sleeve is a surgical hook or a light guide pen, the single-sleeve solution does not include a through hole design inside.

[0010] In some possible implementations, the instrument sleeve includes a double-sleeve solution, which includes an outer sleeve and an inner sleeve. The outer sleeve envelops the inner sleeve, and the FBG sensor array is adhered to the outside of the inner sleeve.

[0011] Using this double-tube solution, the outer tube can isolate the surface friction of the instrument, protect the FBG from mechanical damage, and reduce the direct interference of the external environment (such as tissue fluid and blood) on the FBG through spatial isolation of the outer tube, thereby improving the stability of force perception.

[0012] In application, the two schemes can be flexibly switched (the single-tube scheme can be switched to the double-tube scheme by adding an outer sleeve, and the double-tube scheme can be switched to the single-tube scheme by removing the outer sleeve, or the single-tube device and the double-tube device can be selected as standby at the same time). In scenarios where the volume needs to be as small as possible, the single-tube scheme is adopted; in scenarios where high sensitivity and accuracy of measurement are required, the double-tube scheme is adopted, so that the instrument can adapt to complex surgical environments (such as the narrow space under minimally invasive laparoscopes) while ensuring high sensitivity of force measurement to meet diverse needs.

[0013] In some possible implementations, if the instrument sleeve is not a surgical hook or light guide pen, the inner sleeve has a reserved through hole for the injection needle or for installing detachable components. If the instrument sleeve is a surgical hook or light guide pen, the inner sleeve does not have a through hole. This optimizes the adaptable structure and meets diverse needs.

[0014] In some possible implementations, the intraocular micro-force sensing device is connected to a contact force solving module. The contact force solving module is used to eliminate the influence of the temperature wavelength change based on the difference between the total wavelength change and the average wavelength change of the first FBG, and obtain the deformation wavelength change corresponding to the first FBG, so as to solve the contact force F between the surgical instrument and the eye tissue based on the deformation wavelength change corresponding to the first FBG. The average wavelength change is the average value of the sum of the wavelength differences of all FBGs, and the first FBG is any one FBG in the FBG sensor array.

[0015] In this way, by calculating the difference between the wavelength change of a single FBG and the average wavelength change, temperature interference can be completely eliminated, the temperature compensation process is simplified, and the temperature interference problem is improved.

[0016] In some possible implementations, the contact force calculation module is specifically used to calculate the contact force F between the surgical instrument and the eye tissue based on Formula 5, wherein the Formula 5 is obtained based on the following inference process: the strain at the i-th FBG The relationship between the force F and the force F satisfies the following formula 1: Wherein, F represents the contact force at the end of the instrument cannula, is the distance between the center of the FBG grid area and the end of the instrument sleeve, M is the torque at the center of the FBG grid area when the end of the instrument sleeve is subjected to a contact force F, E is the Young's modulus of the sleeve material, is the distance from the i-th FBG to the neutral plane of the flexible cantilever of the casing, and I is the moment of inertia of the casing section.

[0017] The wavelength change of the i-th FBG Caused by deformation and temperature, it satisfies the following formula: in, Indicates the change in feedback wavelength caused by deformation, Indicates the change in feedback wavelength caused by temperature change, is the initial feedback wavelength of the i-th FBG, is the elastic-optical coefficient, is the coefficient of thermal expansion, is the thermo-optical coefficient, is the temperature change.

[0018] Combining Formula 1 and Formula 2, we get the following Formula 3: Since the layout of the FBG sensor array satisfies , the average wavelength change caused by temperature is only related to temperature, then the following formula 4 exists: Combining Formula 3 and Formula 4, we obtain Formula 5: In some possible implementations, the contact force solver module is further configured to define a maximum force error based on an error requirement. The critical wavelength change is determined by the following formula: : like If the error is greater than the measurement accuracy of the demodulator, the contact force calculation module determines that the maximum force error of the FBG sensor is less than or equal to , meeting the accuracy requirements; if If the measurement accuracy is less than or equal to the demodulator, the contact force solution module can be adjusted , E, I or The value of , so that Greater than the measurement accuracy of the demodulator, ensuring the feasibility of the measurement.

[0019] In this way, the theoretical error It is directly related to the actual capabilities of the demodulator, avoiding the contradiction between high theoretical accuracy but inability to achieve hardware, and realizing error pre-evaluation before measurement, avoiding invalid data collection due to unreasonable parameters, and improving measurement efficiency.

[0020] In some possible implementations, the above-mentioned intraocular micro-force sensing device is applied to an optical path connection system, in which the output signal of each FBG in the FBG sensor array is uniformly transferred to a fiber coupler through an optical fiber, and the fiber coupler is connected to a fiber grating demodulator. The fiber grating demodulator is used to emit broad-spectrum light to the fiber coupler and detect the wavelength difference of each FBG, and transmit the wavelength difference data to a host computer via an Ethernet cable. The host computer is used to calculate the contact force between the surgical instrument and the eye tissue.

[0021] In this way, the optical path is connected through a chain structure of coupler multiplexing, demodulator detection, and host computer solution to ensure real-time and high-precision transmission and processing of force signals.

[0022] In a second aspect, the present application also provides an optical path connection system, characterized in that the optical path connection system comprises: an intraocular micro-force sensing device, an optical fiber coupler, an optical fiber Bragg grating demodulator, and a host computer as described in any possible implementation method of the first aspect; in the optical path connection system, the output signal of each FBG in the FBG sensor array contained in the intraocular micro-force sensing device is uniformly transferred to the optical fiber coupler through an optical fiber, the optical fiber coupler is connected to the optical fiber Bragg grating demodulator, and the optical fiber Bragg grating demodulator is used to emit broad-spectrum light to the optical fiber coupler and detect the wavelength difference of each FBG, and transmit the wavelength difference data to the host computer through an Ethernet cable, and the host computer is used to solve the contact force between the surgical instrument and the eye tissue.

[0023] It is understandable that the optical path connection system provided above includes an intraocular micro-force sensing device corresponding to any one of the implementation methods in the first aspect. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects of the corresponding method and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the overall design of an intraocular micro-force sensing device provided in an embodiment of the present application; Figure 2 This is a schematic diagram of a potential layout of an FBG sensor array provided in an embodiment of the present application; Figure 3 is a schematic diagram of a potential design solution for an instrument cannula provided in an embodiment of the present application; Figure 4 This is a schematic diagram of the force conditions of an intraocular micro-force sensing device provided in an embodiment of the present application; Figure 5 This is a schematic diagram of an optical path connection system corresponding to an intraocular micro-force sensing device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solutions and advantages of this application clearer, this application will be further described below with reference to the accompanying drawings.

[0026] See also Figure 1 , Figure 1 This invention provides an intraocular micro-force sensing device. Figure 1 As shown, the intraocular micro-force sensing device includes: Fiber Bragg grating (FBG) sensor array (1) and instrument sleeve (2).

[0027] Each FBG in the FBG sensor array (1) is bonded to an instrument sleeve (2), and the instrument sleeve (2) is used to sleeve one or more flexible surgical instruments. The FBG sensor array (1) realizes in-situ measurement of the contact force between the instrument and the eye tissue by sensing the deformation of the instrument sleeve (2) caused by contact with the eye tissue; The number of the FBG sensor arrays (1) is greater than or equal to 3, and the layout of the FBG sensor arrays (1) on the instrument sleeve (2) satisfies a preset temperature interference separation condition, wherein the preset temperature interference separation condition includes: the sum of the displacements of all FBG sensors to the x-axis =0, and the sum of the displacements of all FBG sensors to the y-axis is 0, n is the total number of FBG sensors in the FBG sensor array, and the centers of the x-axis and y-axis are the geometric centers of the instrument sleeve (2).

[0028] In some possible implementations, the instrument sleeve (2) and the FBG sensor array (1) are bonded together using medical glue, wherein the glue model is 4013 glue or UV glue.

[0029] In some possible implementations, the instrument sleeve (2) is used to sleeve any one or more of the following instruments: a surgical needle (3), surgical forceps (4), a surgical hook (5), and a light guide pen (6). Alternatively, other surgical instruments may be sleeved, which is not limited in this article. When the end of the instrument (such as a surgical needle, forceps, hook, or light guide pen) contacts the eye tissue, a contact force F acts on the end of the instrument sleeve (2). At this time, the instrument sleeve (2) acts as a flexible cantilever beam structure and bends and deforms due to the force on the end. Based on material mechanics, the strain at the location of the FBG is directly related to the contact force F. In some possible implementations, medical-grade sealant is applied to the connecting end surface of the surgical instrument (such as the light guide pen) and the sleeve to form a continuous sealing interface; and / or, an O-ring is added to the overlapping area between the sleeve and the surgical instrument to ensure sealing and bonding strength.

[0030] In the embodiment of the present application, the layout of the FBG sensor on the casing is not unique, and several potential layouts are as follows: Figure 2 As shown. Figure 2 As shown, the number of FBG sensors should be ≥3, and they can be arranged uniformly or non-uniformly. However, no matter which method is used, the sum of the displacements of all FBG sensors to the x-axis and y-axis should be zero.

[0031] For example, Figure 2 Take the upper left part of the figure as an example, define the top FBG as 'FBG-1', the lower left FBG as 'FBG-2', the lower right FBG as 'FBG-3', and the casing radius as R. Then the displacements of the three FBGs to the x-axis are R, 0.5R, and 0.5R, the sum of the three is zero. The distance from the three FBGs to the y-axis is 0, ,as well as , the sum of the three is zero. The significance of this design lies in the fact that if the device is subjected to forces in the x- and y-directions, the sum of the wavelength differences at the three FBGs should be zero. Therefore, if the sum of the measured FBG wavelength differences is not zero, the non-zero portion is due to temperature fluctuations. This layout can be used to isolate temperature interference from the measurement results.

[0032] Based on the layout of the FBG sensor provided in this application (which satisfies the preset temperature interference separation conditions), the temperature drift of a single FBG can be expressed as the average wavelength change caused by temperature. Subsequently, by calculating the difference between the wavelength change of a single FBG and the average wavelength change, the temperature interference can be completely eliminated, and only the wavelength change component caused by force can be retained. For example, for a one-dimensional force, by calculating the wavelength change of a single FBG The average wavelength change of the sum of the wavelength differences measured by each FBG The difference , the temperature interference can be completely eliminated. For two-dimensional or three-dimensional forces, the wavelength change of a single FBG in each direction (for example ) and the statistical average of the temperature drift of all FBG sensors in the corresponding direction. Since the temperature field is homogeneous in all directions under a uniform environment, in an ideal state, the average wavelength change of all FBG sensors in each direction is the same (for example, ).

[0033] The intraocular micro-force sensing device provided in the embodiment of the present application, on the one hand, solves the problem of large volume in the field of intraocular micro-force sensing by combining a submillimeter-level miniaturized FBG sensor and a flexible sleeve, thereby achieving low invasiveness and high deformation transfer efficiency of the intraocular micro-force sensing device.

[0034] On the other hand, the number of FBG sensors is ≥3, and the layout method that meets the preset temperature interference separation condition (the sum of the displacements of all FBGs to the x-axis and y-axis is 0) is adopted. No additional temperature sensor is required, and the force and temperature effects are separated directly through the statistical characteristics of the sensor array, which significantly simplifies the temperature compensation process, improves the temperature interference problem, and improves the real-time and reliability of the measurement. For example, the wavelength change of a single FBG can be calculated later. The average wavelength change of the sum of the wavelength differences measured by each FBG The difference , the temperature interference can be completely eliminated.

[0035] On the other hand, this solution proposes a universal integrated framework of "FBG sensor + instrument sleeve + surgical instrument", using FBG sensor and sleeve as basic components, which can be adapted to various instruments such as surgical needles (3), surgical forceps (4), surgical hooks (5), light guide pens (6), etc. This "modular + universal" design significantly reduces the development and maintenance costs of the multi-instrument force perception system of surgical robots.

[0036] In some possible implementations, such as Figure 3 As shown in the left sub-figure, the instrument sleeve (2) includes a single sleeve solution (7), wherein the FBG sensor array (1) is bonded to the outer wall of the instrument sleeve (2).

[0037] As an example, in the case where the instrument sleeve (2) is not a surgical hook (5) or a light guide pen (6), a through hole can be reserved inside the single sleeve solution (7) for the injection needle to pass liquid or to install a detachable component (for example, the detachable component can be a surgical forceps core). For example, the injection needle (such as a micro-syringe needle) is inserted into the through hole of the single sleeve, and the syringe pushes the liquid medicine, which is then transported to the eye through the injection needle and the through hole of the single sleeve. In the case where the instrument sleeve (2) is a surgical hook (5) or a light guide pen (6), the single sleeve solution (7) does not include a through hole design.

[0038] That is, when the instrument requires liquid transmission (such as liquid transfer of an injection needle) or installation of detachable parts (such as the core of a surgical forceps), the through hole is retained to better assist the surgery. When the instrument to be connected is a light guide pen (6), the light guide pen requires optical path integrity and no liquid or part installation requirements, or when the instrument to be connected is a surgical hook (5), the surgical hook requires structural rigidity and smooth operation and no internal hole function requirements, then the through hole design is eliminated, the adaptive structure is optimized, and multiple requirements are met.

[0039] In some other possible implementations, such as Figure 3As shown in the right sub-figure, the instrument sleeve (2) includes a double-sleeve solution, which includes an outer sleeve (8) and an inner sleeve (9), wherein the outer sleeve (8) envelops the inner sleeve (9), and the FBG sensor array (1) is adhered to the outer side of the inner sleeve (9).

[0040] In the embodiment of the present application, when the instrument sleeve (2) is not a surgical hook (5) or a light guide pen (6), a through hole may be reserved inside the inner sleeve (9) for the injection needle to pass liquid or to install a detachable component. When the instrument sleeve (2) is not a surgical hook (5) or a light guide pen (6), the inner sleeve (9) does not include a through hole design.

[0041] Using this double-tube solution, the outer tube can isolate the surface friction of the instrument, protect the FBG from mechanical damage, and reduce the direct interference of the external environment (such as tissue fluid and blood) on the FBG through spatial isolation of the outer tube, thereby improving the stability of force perception.

[0042] In application, the two solutions can be flexibly switched. When the volume needs to be as small as possible, the single-tube solution is adopted; when high sensitivity and accuracy of measurement are required, the double-tube solution is adopted. This allows the instrument to adapt to complex surgical environments while ensuring high sensitivity of force measurement to meet diverse needs.

[0043] In some possible implementations, the contact force calculation module connected to the intraocular micro-force sensing device can calculate the wavelength change of a single FBG The average wavelength change of the sum of the wavelength differences measured by each FBG The difference Specifically, the contact force calculation module is used to calculate the contact force F between the surgical instrument and the eye tissue based on Formula 5. Formula 5 is obtained based on the following inference process: like Figure 4 As shown, the contact force at the end of the 2-tube is defined as F, and the distance between the center of the FBG grid area (black solid point) and the end of the tube is , then the torque M at the center of the grid area = , the relationship between the strain and the force F at the i-th FBG outside the casing is shown in the following formula 1: The strain at the i-th FBG The relationship between the force F and the force F satisfies the following formula 1: Where E is the Young's modulus of the casing material, is the distance from the i-th FBG to the neutral plane of the flexible cantilever of the casing, and I is the moment of inertia of the casing section; The wavelength change of the i-th FBG Caused by deformation and temperature, it satisfies the following formula: in, Indicates the change in feedback wavelength caused by deformation, Indicates the change in feedback wavelength caused by temperature change, is the initial feedback wavelength of the i-th FBG, is the elastic-optical coefficient, is the coefficient of thermal expansion, is the thermo-optical coefficient, is the temperature change; Combining Formula 1 and Formula 2, we get the following Formula 3: Since the layout of the FBG sensor array (1) satisfies , the average wavelength change caused by temperature is only related to temperature, then the following formula 4 exists: Combining Formula 3 and Formula 4, we get Formula 5: In the embodiment of the present application, no matter the force measured by FBG is one-dimensional force, two-dimensional force or three-dimensional force, the number and distribution of FBG sensors must meet 、 In some possible implementations, for three-dimensional force scenarios, if conditions permit, the distribution of FBG sensors can also satisfy Equal to 0.

[0044] In a two-dimensional or three-dimensional force scenario, the deformation wavelength change corresponding to a single FBG is determined by calculating the difference between the wavelength change of a single FBG in each direction and the statistical average of the temperature drift of all FBG sensors in the corresponding direction.

[0045] Because the temperature field is homogeneous in all directions under a uniform environment, ideally, the average wavelength change of the FBG sensor corresponding to each direction is the same. Therefore, the average wavelength change can be calculated by averaging the wavelength change in one direction (or two directions) (a certain error is allowed). For example, in a three-dimensional force scenario, the average wavelength change can be calculated by averaging the wavelength change in the x-direction (or the x-direction and the y-direction).

[0046] In a two-dimensional or three-dimensional force scenario, the force vector and wavelength change vector There is a linear relationship, It can be expressed as the vector form shown in the following formula 6, where is the matrix coefficient, which is designed by comprehensively considering factors such as material properties, grating structure, and working environment.

[0047] For example, the above formulas 1 to 5 may correspond to two-dimensional or three-dimensional forces. The derivation process of the force in a certain direction.

[0048] In some possible implementations, the contact force solution module can also be used to define a maximum force error based on an error requirement. The critical wavelength change is determined by the following formula 7: : like Greater than the measurement accuracy of the demodulator (the measurement accuracy of the demodulator is designed based on specific requirements, for example, it can be 1pm, 5pm or 10pm), then the contact force solver module determines that the maximum force error of the FBG sensor is less than or equal to , meeting the accuracy requirements.

[0049] like If the measurement accuracy is less than or equal to the demodulator, the contact force solution module can be adjusted , E, I or The value of , so that Greater than the measurement accuracy of the demodulator, ensuring the feasibility of the measurement.

[0050] Generally speaking, traditional force sensing systems usually use error statistics after measurement to determine whether the accuracy meets the requirements.

[0051] However, this solution uses formula 7 to convert the theoretical error It is directly related to the actual capability of the demodulator, avoiding the contradiction that the theoretical accuracy is high but the hardware cannot realize it, and realizing error pre-evaluation before measurement, avoiding invalid data collection caused by unreasonable parameters, and improving measurement efficiency. In addition, by adjusting , E, I or , it can increase dS in a targeted manner, support dynamic parameter optimization, and improve the system's adaptability to different application scenarios.

[0052] In some possible implementations, the intraocular micro-force sensing device provided by the present application is applied to an optical path connection system, in which the output signal of each FBG in the FBG sensor array (1) is uniformly transferred to a fiber coupler (10) through an optical fiber, and the fiber coupler (10) is connected to a fiber grating demodulator (11), and the fiber grating demodulator (11) is used to emit broad-spectrum light to the fiber coupler (10) and detect the wavelength difference of each FBG, and transmit the wavelength difference data to a host computer (12) through an Ethernet cable, and the host computer (12) is used to calculate the contact force between the surgical instrument and the eye tissue.

[0053] It should be noted that the contact force calculation module may be a module in the host computer (12), or the contact force calculation module may be the host computer (12).

[0054] In this way, the optical path is connected through a chain structure of coupler multiplexing, demodulator detection, and host computer solution to ensure real-time and high-precision transmission and processing of force signals.

[0055] like Figure 5 As shown, an embodiment of the present application further provides an optical path connection system, the optical path connection system comprising: any one of the intraocular micro-force sensing devices described above, an optical fiber coupler (10), an optical fiber Bragg grating demodulator (11), and a host computer (12); in the optical path connection system, the output signal of each FBG in the FBG sensor array (1) included in the intraocular micro-force sensing device is uniformly transferred to the optical fiber coupler (10) through an optical fiber, the optical fiber coupler (10) is connected to the optical fiber Bragg grating demodulator (11), and the optical fiber Bragg grating demodulator (11) is used to emit broad-spectrum light to the optical fiber coupler (10) and detect the wavelength difference of each FBG, and transmit the wavelength difference data to the host computer (12) through an Ethernet cable, and the host computer (12) is used to resolve the contact force between the surgical instrument and the eye tissue.

[0056] It can be understood that the optical path connection system provided above includes the intraocular micro-force sensing device provided in this application. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding intraocular micro-force sensing device, and will not be described in detail here.

[0057] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing related hardware through a computer program. The program can be stored in a computer-readable storage medium. When the program is executed, it includes the processes of the embodiments of the above-mentioned methods.

[0058] The term "at least one" in this application refers to one or more items. "Multiple" refers to two or more items. "And / or" describes the association relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the related objects are in an "or" relationship. In addition, it should be understood that although the terms "first", "second", etc. may be used to describe various objects in this application, these objects should not be limited to these terms. These terms are only used to distinguish various objects from each other.

[0059] As mentioned above, the terms "includes" and "having" and any variations thereof, are intended to cover a non-exclusive inclusion.

[0060] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. An intraocular micro-force sensing device, characterized in that: include: Fiber Bragg grating (FBG) sensor array (1) and instrument sleeve (2); Each FBG in the FBG sensor array (1) is bonded to the instrument sleeve (2), and the instrument sleeve (2) is used to sleeve one or more flexible surgical instruments. The FBG sensor array (1) realizes in-situ measurement of the contact force between the surgical instrument and the eye tissue by sensing the deformation of the instrument sleeve (2) caused by contact with the eye tissue; The number of FBGs in the FBG sensor array (1) is greater than or equal to 3, and the layout of the FBG sensor array (1) on the instrument sleeve (2) satisfies a preset temperature interference separation condition, wherein the preset temperature interference separation condition includes: the sum of the displacements of all FBG sensors to the x-axis =0, and the sum of the displacements of all FBG sensors to the y-axis is 0, n is the total number of FBG sensors, and the centers of the x-axis and the y-axis are the geometric centers of the instrument sleeve (2).

2. The intraocular micro-force sensing device according to claim 1, wherein: The instrument sleeve (2) is used for sleeve-connecting any one or more of the following instruments: a surgical needle (3), surgical forceps (4), a surgical hook (5), and a light guide pen (6).

3. The intraocular micro-force sensing device according to claim 1 or 2, characterized in that: The instrument sleeve (2) includes a single sleeve solution (7), and the FBG sensor array (1) is bonded to the outer wall of the instrument sleeve (2); In the case where the instrument sleeve (2) is not a surgical hook (5) or a light guide pen (6), a through hole is also reserved inside the single sleeve solution (7) for the injection needle to pass liquid or to install detachable parts; In the case where the instrument sleeved by the instrument sleeve (2) is a surgical hook (5) or a light guide pen (6), the single sleeve solution (7) does not include a through-hole design.

4. The intraocular micro-force sensing device according to claim 1 or 2, characterized in that: The instrument sleeve (2) includes a double-sleeve solution, which includes an outer sleeve (8) and an inner sleeve (9), wherein the outer sleeve (8) envelops the inner sleeve (9), and the FBG sensor array (1) is adhered to the outside of the inner sleeve (9).

5. The intraocular micro-force sensing device according to claim 4, characterized in that: In the case where the instrument sleeved by the instrument sleeve (2) is not a surgical hook (5) or a light guide pen (6), a through hole is also reserved inside the inner sleeve (9) for the injection needle to pass liquid or to install detachable parts; In the case where the instrument sleeved by the instrument sleeve (2) is a surgical hook (5) or a light guide pen (6), the interior of the inner sleeve (9) does not include a through-hole design.

6. The intraocular micro-force sensing device according to any one of claims 1, 2, or 5, wherein: The intraocular micro-force sensing device is connected to the contact force calculation module. The contact force calculation module is used to eliminate the influence of the temperature wavelength change based on the difference between the total wavelength change and the average wavelength change of the first FBG, to obtain the deformation wavelength change corresponding to the first FBG, so as to calculate the contact force F between the surgical instrument and the eye tissue based on the deformation wavelength change corresponding to the first FBG. The average wavelength change is the average value of the sum of the wavelength differences of all FBGs, and the first FBG is any FBG in the FBG sensor array.

7. The intraocular micro-force sensing device according to claim 6, characterized in that: The contact force calculation module is specifically used to calculate the contact force F between the surgical instrument and the eye tissue based on Formula 5. Wherein, the formula 5 is obtained based on the following inference process: Strain at the i-th FBG The relationship between the force F and the force F satisfies the following formula 1: ； Wherein, F represents the contact force at the end of the instrument sleeve (2), is the distance between the center of the FBG grid area and the end of the instrument sleeve (2), M is the torque at the center of the FBG grid area when the end of the instrument sleeve (2) is subjected to a contact force F, E is the Young's modulus of the sleeve material, is the distance from the i-th FBG to the neutral plane of the flexible cantilever of the casing, and I is the moment of inertia of the casing section; The wavelength change of the i-th FBG Caused by deformation and temperature, it satisfies the following formula: ； in, Indicates the change in feedback wavelength caused by deformation, Indicates the change in feedback wavelength caused by temperature change, is the initial feedback wavelength of the i-th FBG, is the elastic-optical coefficient, is the coefficient of thermal expansion, is the thermo-optical coefficient, is the temperature change; Combining Formula 1 and Formula 2, we get the following Formula 3: ； Since the layout of the FBG sensor array (1) satisfies , the average wavelength change caused by temperature is only related to temperature, then the following formula 4 exists: ； Combining Formula 3 and Formula 4, we obtain Formula 5: 。 8. The intraocular micro-force sensing device according to claim 7, wherein: The contact force solution module is also used to define the maximum force error based on the error requirement. The critical wavelength change is determined by the following formula: : like is greater than the measurement accuracy of the demodulator, the contact force solution module determines that the maximum force error of the FBG sensor is less than or equal to , meet the accuracy requirements; like is less than or equal to the measurement accuracy of the demodulator, the contact force solution module adjusts , E, I or The value of , so that Greater than the measurement accuracy of the demodulator, ensuring the feasibility of the measurement.

9. The intraocular micro-force sensing device according to any one of claims 1, 2, 5, 7, or 8, wherein: Applied to optical connection system, In the optical path connection system, the output signal of each FBG in the FBG sensor array (1) is uniformly transferred to the optical fiber coupler (10) through an optical fiber, and the optical fiber coupler (10) is connected to the optical fiber Bragg grating demodulator (11). The fiber Bragg grating demodulator (11) is used to emit broad-spectrum light to the fiber coupler (10) and detect the wavelength difference of each FBG, and transmit the wavelength difference data to the host computer (12) via an Ethernet cable. The host computer (12) is used to calculate the contact force between the surgical instrument and the eye tissue.

10. An optical path connection system, characterized in that: The optical path connection system comprises: the intraocular micro-force sensing device according to any one of claims 1 to 9, a fiber coupler (10), a fiber Bragg grating demodulator (11), and a host computer (12); In the optical path connection system, the output signal of each FBG in the FBG sensor array (1) included in the intraocular micro-force sensing device is uniformly transferred to the optical fiber coupler (10) through an optical fiber. The optical fiber coupler (10) is connected to a fiber grating demodulator (11). The fiber grating demodulator (11) is used to emit broad-spectrum light to the optical fiber coupler (10) and detect the wavelength difference of each FBG, and transmit the wavelength difference data to a host computer (12) through an Ethernet cable. The host computer (12) is used to calculate the contact force between the surgical instrument and the eye tissue.

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