FBG sensor and FBG-based vascular thrombus detection simulation system and method

Abstract

Provided in the present invention are an FBG sensor and an FBG-based vascular thrombus detection simulation system and method. The FBG sensor comprises a single-core fiber optic-form FBG multi-point grating array, the multi-point grating array comprising a plurality of grating areas and a plurality of interval areas, and the grating areas being arranged between any two interval areas. The design of the single-core multi-grating array FBG sensor solves the problem that a universal FBG sensor is not adaptable to thrombus detection. Vascular deformation caused by thrombi acts on the FBG sensor and thus stretches or compresses gratings to generate strain information which is used for constructing the vascular thrombus detection simulation system and, on the basis of two experimental results corresponding to the relative position relationship between the grating areas of the FBG sensor and the thrombi, the vascular thrombus detection method is provided.

Description

FBG sensor and blood vessel thrombus detection simulation system and method based on FBG TECHNICAL FIELD

[0001] The present application relates to the technical field of thrombus detection, in particular to an FBG sensor and a blood vessel thrombus detection simulation system and method based on FBG. BACKGROUND

[0002] The key technology of intravascular thrombus detection is the accurate positioning of thrombus position and the measurement of size and other characteristics. At present, the main approaches for intravascular thrombus detection include ultrasound, thromboelastography (TEG), computed tomography (CT), magnetic resonance imaging (MRI), etc.

[0003] The patent document with the publication number CN201710462235.6 discloses a thrombus detection device, which comprises a detection module, a control module and a display module. The detection module comprises a magnetic particle wrapping. The magnetic particle wrapping is used to detect the accurate position of thrombus by the magnetic induction intensity of the magnetic particle wrapping at the thrombus. The control module is used to control the magnetic induction intensity of the magnetic particle wrapping. The display module is used to display the distribution of the magnetic induction intensity. By displaying the size and distribution of the magnetic induction intensity, the specific position of the thrombus can be known, and the position of the thrombus can be displayed. Although the magnetic particle can assist in detecting the position of the thrombus, the movement of the magnetic particle is along with the blood flow, and the direction is uncontrollable. Moreover, the magnetic particle cannot be metabolized, and long-term retention in the blood can cause unnecessary damage to the human body. In addition, the magnetic field intensity of the magnetic particle is extremely small, and the weak magnetic field of the detection environment can greatly deviate the result.

[0004] For the detection of blood vessels in traditional vascular intervention surgery, firstly, iodinated contrast agents are harmful to patients and doctors, and require a relatively complex and time-consuming invasive process. Secondly, it is difficult to work cooperatively with an interventional robot. TEG has the advantages of low cost and convenience, and ultrasound, CT and MRI are accurate and reliable, but all these methods cannot be used for intraoperative detection. TEG can only calculate the probability of thrombus formation, but cannot measure the position of the thrombus. The accuracy of ultrasound detection has a big problem, and CT requires doctors and patients to be exposed to a larger radiation environment for a long time. Non-radiation, non-toxic and rapid detection of thrombus and vascular abnormalities is the technology that is highly anticipated in vascular intervention diagnosis and treatment, and accurate perception of vascular lesions with low damage is a difficult problem for current medical intervention robots.

[0005] Due to the differences in human age, gender and body shape, the blood vessel thrombus has uncertainties in region, size and lesion degree. Most of the human blood vessels and cavities are small and long, and often have human body fluids or media in the pipe. In medical diagnosis and treatment, the relatively long guide wire works in a changing environment, and the closed nature of the in-vivo pipeline further increases the difficulty of thrombus detection.

[0006] Fiber Bragg grating sensor (FBG) has good magnetic compatibility, small size, flexible variable and other advantages, combining magnetic resonance (MRI) and FBG sensor, with "radiation-free, non-toxic, accurate detection of thrombus and vascular malformation" as the goal, using the magnetic compatibility, flexible and small size characteristics of FBG sensor, so that the medical intervention robot can be accurately positioned in the closed blood vessel lumen.

[0007] SUMMARY

[0008] In view of the defects in the prior art, the purpose of the present application is to provide a FBG sensor and a blood vessel thrombus detection simulation system and method based on FBG.

[0009] According to the FBG sensor provided by the present application, the FBG sensor comprises a single-core fiber form FBG multi-point grating array, the multi-point grating array comprises a plurality of grating areas and a plurality of interval areas, and a grating area is arranged between any two interval areas.

[0010] Preferably, the diameter of the optical fiber comprises 0.6mm to 0.8mm, and can enter a blood vessel with a diameter of 2mm to 8mm;

[0011] The length of the grating area and the interval length both comprise 3mm to 5mm, and the length formed by the grating area and the interval areas on both sides of the grating area satisfies the coverage of a blood vessel thrombus;

[0012] The bending degree of the FBG sensor comprises ±120°.

[0013] The present application also provides a blood vessel thrombus detection simulation system based on FBG, comprising a FBG sensor module, a signal detection and analysis device, a modulator-demodulator, a flow pump for simulating blood flow, a blood vessel thrombus simulation model and a waste liquid recovery device, wherein:

[0014] The flow pump for simulating blood flow, the blood vessel thrombus simulation model and the waste liquid recovery device are connected in sequence;

[0015] The FBG sensor module is connected to the modulator-demodulator, and the modulator-demodulator is connected to the signal detection and analysis device;

[0016] The FBG sensor module is inserted into the blood vessel thrombus simulation model, and the FBG sensor module comprises a FBG sensor;

[0017] The modulator-demodulator provides a light source for the FBG sensor and receives the optical signal returned by the FBG sensor, and converts the optical signal into a digital signal;

[0018] The signal detection and analysis device converts the digital signal into a strain signal of the FBG sensor.

[0019] Preferably, a three-way pipe is connected among the FBG sensor, the flow pump simulating blood flow and the blood vessel thrombus simulation model.

[0020] The FBG sensor is inserted into the blood vessel thrombus simulation model through a loose sleeve which is fixed at the three-way pipe.

[0021] Preferably, the blood vessel thrombus simulation model comprises a plurality of simulation blood vessels, and the sizes of the simulation thrombus in each simulation blood vessel are different.

[0022] The FBG sensor comprises a plurality of FBG sensors, and each FBG sensor is inserted into a simulation blood vessel.

[0023] The application further provides a blood vessel thrombus detection simulation method based on FBG, comprising the following steps:

[0024] Step S1: introducing simulation thrombus from the flow pump simulating blood flow, and pushing the simulation thrombus to a predetermined position in the blood vessel thrombus simulation model along the blood flow;

[0025] Step S2: arranging the FBG sensor between the flow pump simulating blood flow and the blood vessel thrombus simulation model, inserting the FBG sensor into the simulation blood vessel along the blood flow direction of the blood vessel, and making the grating area of the FBG sensor enter the predetermined simulation thrombus position so that the grating points of the grating area contact the simulation thrombus;

[0026] Step S3: connecting the flow pump simulating blood flow, the blood vessel thrombus simulation model and the waste liquid recovery device in sequence, connecting the FBG sensor module with the modulator-demodulator, and connecting the modulator-demodulator with the signal detection and analysis device;

[0027] Step S4: displaying the flow of the simulation blood flow by the flow pump simulating blood flow during the whole process, and recording the data of the whole experiment process.

[0028] Preferably, in step S2, the FBG sensor is inserted into the simulation blood vessel along the blood flow direction of the blood vessel through the three-way pipe at the proximal end of the blood vessel thrombus simulation model by the flexible body robot propeller, and the FBG sensor channel is partially coupled with the blood flow channel.

[0029] Preferably, in step S2, the FBG sensor is inserted into the blood vessel thrombus simulation model through a loose sleeve which is fixed at the three-way pipe end before being inserted.

[0030] Preferably, in step S2, a plurality of grating areas of the FBG sensor are arranged in different blood vessel segments of the simulation blood vessel, and grating points are arranged at the proximal end of the simulation thrombus, the simulation thrombus position and the distal end of the simulation thrombus.

[0031] Preferably, in step S2, a plurality of simulated blood vessels are included in the blood vessel thrombus simulation model, the plurality of simulated blood vessels are arranged side by side, the shape and size of the simulated thrombus in any two simulated blood vessels are different, the position of the simulated thrombus remains unchanged, any FBG sensor corresponds to extending into any simulated blood vessel, and any FBG sensor penetrates any to-be-detected simulated blood vessel.

[0032] Compared with the prior art, the present application has the following beneficial effects:

[0033] 1. The present application solves the problem that a general FBG sensor cannot be applied to thrombus detection by designing a single-core multi-grating array FBG sensor.

[0034] 2. The present application solves the problem of reasonable environment setting for detecting a simulated thrombus by using an optical fiber FBG sensor by establishing a blood vessel thrombus detection simulation system based on FBG and establishing an in-vitro simulated thrombus detection environment model.

[0035] 3. The present application solves the problem of positioning a thrombus position and judging a thrombus size by using an external sensor in an MR environment without radiation by designing a FBG thrombus-blood vessel-blood relationship model and a detection simulation method. BRIEF DESCRIPTION OF DRAWINGS

[0036] Other features, objects and advantages of the present application will become more apparent from the following detailed description of non-limiting embodiments with reference to the attached drawings:

[0037] Fig. 1 mainly shows a structural schematic diagram of an FBG sensor;

[0038] Fig. 2 mainly shows a structural schematic diagram of a blood vessel thrombus simulation system;

[0039] Fig. 3 mainly shows a structural schematic diagram of a blood vessel thrombus simulation system;

[0040] Fig. 4 mainly shows a schematic diagram of an FBG sensor in a blood vessel thrombus simulation model;

[0041] Fig. 5 mainly shows a schematic diagram of an FBG sensor in a blood vessel thrombus simulation model in a first group of experiments;

[0042] Fig. 6 mainly shows a schematic diagram of an FBG sensor in a blood vessel thrombus simulation model in a second group of experiments;

[0043] Fig. 7 mainly shows the relationship between FBG strain and grating position in the results of the first group of experiments;

[0044] Fig. 8 mainly shows the relationship between FBG strain and grating position in the results of the second group of experiments.

[0045] In the drawings:

[0046] Simulated blood flow pump 1, modulator / demodulator 5, grating area 9

[0047] Vascular thrombosis simulation model 2, FBG sensor 6, spacer region 10

[0048] Waste liquid recovery device 3 Simulated thrombus 7 FBG grating area numbered 11-20

[0049] Signal detection and analysis device 4; simulated blood vessel 8; loosening cannula 21 Detailed Implementation

[0050] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0051] According to the present invention, an FBG sensor includes a single-core fiber optic FBG multi-point grating array. The multi-point grating array includes multiple grating regions 9 and multiple spacer regions 10, with a grating region 9 disposed between any two spacer regions 10. As shown in Figure 1, D is the diameter of the FBG sensor 6, L1 is the length of the grating region 9, L2 is the length of the spacer region 10, Ls is the total length of the grating region, and L is the total length of the FBG sensor 6.

[0052] Statistical analysis shows that vascular thrombus lengths range from 8.7 to 17.9 mm, with an average length of 12.75 mm, and often form in areas with significant changes in vessel diameter or greater vessel tortuosity. Based on vessel length and the location and length of thrombus formation, this application designs an optical fiber with a diameter range of 0.6 mm to 0.8 mm, with an optimal diameter of 0.7 mm, capable of penetrating vessels with diameters of 2 mm to 8 mm. The lengths of grating region 9 and interval region 10 are both 3 mm to 5 mm, resulting in an effective measurement length of 80 mm to 120 mm. The optimal lengths are 3 mm for grating region 9 and 5 mm for interval region 10, with a total of 10 grating regions 9, providing an effective measurement length of 100 mm. The distribution of interval region 10 lengths, grating region 9 lengths, and interval region 10 lengths of 5 mm, 3 mm, and 5 mm respectively, meets the requirement of covering at least one thrombus with an average length of 12.75 mm.

[0053] Specifically, the FBG sensor 6 has a coating layer and an outer sleeve 21 to improve the tensile strength of the sensor. The FBG sensor 6 has a bending degree of ±120°, good spatial flexibility and strength, and can enter blood vessels with a diameter of 2mm to 8mm. The FBG sensor 6 has no metal accessories and can enter the magnetic resonance MRI environment test. The length of the blood vessel thrombus is distributed between 8.7-17.9mm. The length of the grating region 9 and the interval region 10 of the FBG fiber is set to cover one to two grating regions 9 of the blood vessel thrombus. When the thrombus and blood flow interact with the grating region 9 of the FBG fiber, the approximate position and length of the blood vessel thrombus can be read from the strain change of the grating, achieving the purpose of detecting the blood vessel thrombus.

[0054] As shown in FIGS. 2 and 3, the application also provides a FBG-based blood vessel thrombus detection simulation system.

[0055] Based on the basic principle of fiber FBG and the working characteristics of fiber FBG in detecting blood vessel thrombus, the application provides a FBG-based blood vessel thrombus detection simulation system, which comprises a FBG sensor module, a signal detection and analysis device 4, a modulation and demodulation instrument 5, a flow pump 1 for simulating blood flow, a blood vessel thrombus simulation model 2, and a waste liquid recovery device 3. The flow pump 1 for simulating blood flow, the blood vessel thrombus simulation model 2, and the waste liquid recovery device 3 are connected in sequence. The FBG sensor module is connected to the modulation and demodulation instrument 5, and the modulation and demodulation instrument 5 is connected to the signal detection and analysis device 4. The FBG sensor module is inserted into the blood vessel thrombus simulation model 2 to receive and transmit the strain change caused by the blood vessel thrombus to the FBG sensor 6. The FBG sensor module comprises a plurality of FBG sensors 6 as described above. The blood vessel thrombus simulation model 2 comprises a plurality of simulated blood vessels 8. The sizes of the simulated blood clots 7 in each simulated blood vessel 8 are different. Any FBG sensor 6 is inserted into any simulated blood vessel 8.

[0056] In order to study the relationship between the wavelength and strain signal of the FBG sensor and the changes of the blood vessel pressure, flow and flow rate caused by the blood vessel thrombosis, the liquid pressure and viscosity are changed by using the blood flow function simulation system to simulate the changes of the blood pressure and flow rate. The modulator 5 provides the light source for the FBG sensor 6 and receives the optical signal returned by the FBG sensor 6, converts the optical signal into a digital signal, and provides the signal detection and analysis device 4. The signal detection and analysis device 4 obtains the refractive index change of the FBG sensor 6 by detecting the digital signal of the wavelength change of the FBG sensor 6, and further obtains the strain change of the FBG sensor 6, and converts the digital signal of the FBG sensor 6 into the strain signal of the FBG sensor 6. The flow pump 1 for simulating blood flow provides the blood vessel thrombus simulation model 2 with simulated pulsatile blood flow close to the heart beat frequency of the human body. The waste liquid recovery device 3 recovers the blood flowing through the blood vessel thrombus simulation model 2, and is connected with the flow pump 1 for simulating blood flow to realize the circulation of simulated blood, and the blood vessel thrombus simulation model 2 provides a detection environment for the FBG sensor 6.

[0057] Specifically, the three-way pipe is connected among the FBG sensor 6, the flow pump 1 for simulating blood flow and the blood vessel thrombus simulation model 2; one end of the FBG sensor 6 is sleeved with the loose tube 21, the loose tube 21 is clamped and fixed at the end of the three-way pipe, the friction coefficient of the loose tube 21 is small, the inner hole diameter of the loose tube 21 is close to the outer diameter of the FBG sensor 6, the FBG sensor 6 is facilitated to be pushed forward, and it can be guaranteed that the inside of the blood vessel thrombus simulation model 2 is a pure blood environment without air entering the inside of the blood vessel thrombus simulation model 2.

[0058] The application also provides a blood vessel thrombus detection simulation method based on the FBG, which comprises the following steps:

[0059] Step S1: As shown in FIGS. 3 and 4, the simulated thrombus 7 imitates the process of forming a thrombus in the human blood vessel, the simulated thrombus 7 is introduced from the flow pump 1 for simulating blood flow, and the simulated thrombus 7 is pushed to a predetermined position in the blood vessel thrombus simulation model 2 along the blood flow to simulate the thrombus occlusion state in the actual human body.

[0060] Step S2: As shown in FIGS. 2-6, the FBG sensor 6 is arranged between the flow pump 1 simulating blood flow and the blood vessel thrombus simulation model 2 at the proximal end of the blood vessel thrombus simulation model 2. The FBG sensor 6 is inserted into the simulation blood vessel 8 along the blood flow direction by the flexible body robot thruster through the three-way pipe at the proximal end of the blood vessel thrombus simulation model 2. The FBG sensor 6 channel is in flow communication with the blood flow channel. The grating region 9 of the optical fiber FGB enters the predetermined simulation thrombus 7 position. The multiple grating regions 9 of the FBG sensor 6 are arranged in different blood vessel segments of the simulation blood vessel 8. The grating points of the grating region 9 are in contact with the simulation thrombus 7. A certain number of FBG grating points are ensured at the proximal end of the simulation thrombus 7, the simulation thrombus 7 position, and the distal end of the simulation thrombus 7. The detection and judgment of the length of the simulation thrombus 7 are not affected by the position of the simulation thrombus 7 at the two ends of the FBG sensor 6 grating region 9. The entire process of inserting the FBG sensor 6 into the simulation blood vessel 8 maintains a certain flow rate of blood flow.

[0061] The blood vessel thrombus simulation model 2 includes multiple simulation blood vessels 8. The multiple simulation blood vessels 8 are arranged side by side. The shapes and sizes of the simulation thrombi 7 in any two simulation blood vessels 8 are different. The position of the simulation thrombus 7 remains unchanged. Any FBG sensor 6 is inserted into any simulation blood vessel 8. Multiple FBG sensors 6 are inserted into simulation blood vessels 8 containing different simulation thrombi 7. Any FBG sensor 6 penetrates any simulation blood vessel 8 containing a simulation thrombus 7 to be detected. The detection point contains the simulation thrombus 7 and the distal end and proximal end of the simulation thrombus 7. The simulation blood vessel 8 is filled with blood in the lumen. The flow pump 1 providing the simulation blood flow maintains a pulsation frequency close to that of the human heart throughout the entire experiment.

[0062] The loose sleeve 21 is clamped and fixed at the end of the three-way pipe before insertion to ensure that the FBG sensor 6 can slide relative to the blood vessel thrombus simulation model 2. The FBG sensor 6 is inserted into the blood vessel thrombus simulation model 2 through the loose sleeve 21. After insertion, the overall blood circulation is ensured to be leak-free or overflow-free. External air does not enter the interior of the blood vessel thrombus simulation model 2 due to the insertion process of the FBG sensor 6.

[0063] Step S3: The flow pump 1 simulating blood flow, the blood vessel thrombus simulation model 2, and the waste liquid recovery device 3 are sequentially connected. The FBG sensor module is connected to the modulator 5. The modulator 5 is connected to the signal detection and analysis device 4.

[0064] Step S4: For simulation blood vessels 8 of different shapes, the flow pump 1 simulating blood flow displays the flow rate of blood flow throughout the process and records the data of the entire experiment.

[0065] The presence of the thrombus in the blood vessel causes the cross-sectional area of the blood vessel allowing blood flow to be reduced, i.e. the blood vessel is distorted, so that the grating of the fiber FBG is stretched or compressed. The signal detection and analysis device receives the wavelength change reflected from the FBG sensor 6 to generate a corresponding time-varying output signal. In addition, according to the length and interval of the grating region 9 of the FBG fiber, the thrombus can cover several grating regions of the FBG fiber, and the contact between them can also cause the grating of the fiber FBG to be stretched or compressed. According to the reflected wavelength (λ) and time characteristics, the wavelength (λ) change at each position along the fiber FBG is calculated and converted into a strain signal output (μ), so as to obtain the strain information change of the thrombus and judge the position and size of the blood vessel thrombus. The strain signal is a digital signal presented in the form of strain μ, and there is a certain mathematical relationship between the wavelength change Δλ and the strain μ, which is converted by the internal program setting of the signal detection and analysis device 4.

[0066] Two sets of comparative experiments are set up. The first set of experiments sets the size of the simulated thrombus 7 as shown in Figure 5, and obtains the thrombus-vessel-blood relationship model diagram of the first set of experiments as shown in Figure 7. The second set of experiments sets the size of the simulated thrombus 7 as shown in Figure 6, and obtains the thrombus-vessel-blood relationship model diagram of the second set of experiments as shown in Figure 8. The size of the simulated thrombus 7 in the first set of experiments is smaller than that in the second set of experiments. The two sets of diagrams correspond to two different experimental settings and two different experimental results. The fiber FBG grating point 16 is in contact with the simulated thrombus 7 in the blood vessel thrombus simulation model 2. The position and material of the simulated thrombus 7 are the same in the two sets of experiments. As can be seen from the two sets of experimental results, the fiber FBG grating point 16 has obvious strain change. In the first set of experimental results, the strain change value of the grating point 15 to the grating point 16 is about 6με, the strain change value of the grating point 16 to the grating point 17 is about -6με, and the strain change value between the remaining grating points is in the range of -1με~1με; in the second set of experimental results, the strain change value of the grating point 15 to the grating point 16 is about -5με, the strain change value of the grating point 16 to the grating point 17 is about -3με, and the strain change value between the remaining grating points is in the range of -1με~1με.

[0067] In the first set of experimental results, the position of the simulated thrombus 7 is the position of the fiber FBG grating point 16. The simulated thrombus 7 is in contact with the grating point 16, causing the grating at this position to be deformed. The size of the simulated thrombus 7 in this set of experiments is relatively small, and the degree of contact between the simulated thrombus 7 and the FBG is small during the experiment, so in the results, only the grating point 16 produces a larger strain, and the strain change values of the grating point 15 to the grating point 16 and then to the grating point 17 are more obvious relative to the strain change values between the remaining points.

[0068] In the second set of experimental results, the position of the simulated thrombus 7 is the position of the fiber FBG grating point 16, and the grating point 16 is in contact with the simulated thrombus 7 to generate a strain of about 5με. In this set of experiments, the simulated thrombus 7 is relatively large in size, and during the experiment, the fiber FBG near the proximal end of the simulated thrombus 7 is stretched, and in the experimental results, it presents a larger strain value than the grating point 16 in contact with the simulated thrombus 7. The grating point position at the distal end of the simulated thrombus 7 is in a free state, and in the results, it presents a smaller strain value. Therefore, the results of the second set of experiments show that the grating points 15-17 have larger strain changes.

[0069] From the above two sets of experimental results, it can be inferred that the position of the simulated thrombus 7 is between the fiber FBG grating points 15-17, which is completely consistent with the expected experimental results, verifying the effectiveness of the blood vessel thrombus detection simulation method of the present application.

[0070] Those skilled in the art know that in addition to implementing the system and each device, module and unit thereof provided by the present application in the form of pure computer readable program code, the same functions can also be realized by logically programming the method steps to make the system and each device, module and unit thereof provided by the present application in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers and embedded microcontrollers. Therefore, the system and each device, module and unit thereof provided by the present application can be considered as a hardware component, and the devices, modules and units included therein for realizing various functions can also be considered as structures within the hardware component. The devices, modules and units for realizing various functions can also be considered as both software modules for realizing methods and structures within hardware components.

[0071] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0072] The specific embodiments of the present application have been described above. It should be understood that the present application is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essential content of the present application. The embodiments of the present application and the features in the embodiments can be arbitrarily combined with each other without conflict.

Claims

1. A FBG sensor, characterized in that, The FBG sensor (6) comprises a single-core fiber form FBG multipoint grating array, the multipoint grating array comprises a plurality of grating regions (9) and a plurality of interval regions (10), and a grating region (9) is arranged between any two interval regions (10).

2. The FBG sensor of claim 1, wherein, The diameter of the optical fiber comprises 0.6mm to 0.8mm, and the blood vessel with a diameter comprising 2mm to 8mm can be entered; The length of the grating region (9) and the length of the interval region (10) both comprise 3mm to 5mm, and the length formed by the grating region (9) and the interval region (10) on both sides of the grating region (9) satisfies the coverage of a blood vessel thrombus; The bending degree of the FBG sensor (6) comprises ±120°.

3. A FBG-based blood vessel thrombus detection simulation system, characterized in that, The FBG sensor module, the signal detection and analysis device (4), the modulator demodulator (5), the flow pump (1) simulating blood flow, the blood vessel thrombus simulation model (2) and the waste liquid recovery device (3) are comprised, wherein: The flow pump (1) simulating blood flow, the blood vessel thrombus simulation model (2) and the waste liquid recovery device (3) are connected in sequence; The FBG sensor module is connected with the modulator demodulator (5), and the modulator demodulator (5) is connected with the signal detection and analysis device (4); The FBG sensor module is inserted into the blood vessel thrombus simulation model (2), and the FBG sensor module comprises the FBG sensor (6) according to any one of claims 1-2; The modulator demodulator (5) provides a light source for the FBG sensor (6), receives the optical signal returned by the FBG sensor (6), and converts the optical signal into a digital signal; The signal detection and analysis device (4) converts the digital signal into a strain signal of the FBG sensor (6).

4. The FBG-based blood vessel thrombus detection simulation system of claim 3, wherein, The FBG sensor (6), the flow pump (1) simulating blood flow and the blood vessel thrombus simulation model (2) are connected with a three-way pipe; The FBG sensor (6) is inserted into the blood vessel thrombus simulation model (2) through the loose tube (21), and the loose tube (21) is clamped and fixed at the three-way pipe.

5. The FBG-based blood vessel thrombus detection simulation system of claim 3, wherein, The blood vessel thrombus simulation model (2) comprises a plurality of simulation blood vessels (8), and the sizes of the simulation thrombi (7) in each simulation blood vessel (8) are different; The FBG sensor (6) comprises a plurality of FBG sensors (6), and any FBG sensor (6) is inserted into any simulation blood vessel (8). It comprises:

6. A FBG-based method for simulating blood vessel thrombus detection, characterized in that, Step S1: introducing the simulation thrombus (7) from the flow pump (1) simulating blood flow, and pushing the simulation thrombus (7) to a predetermined position in the blood vessel thrombus simulation model (2) along the blood flow; Step S2: arranging the FBG sensor (6) between the flow pump (1) simulating blood flow and the blood vessel thrombus simulation model (2), inserting the FBG sensor (6) into the simulation blood vessel (8) along the blood vessel blood flow direction, and making the grating region (9) of the FBG sensor enter the predetermined simulation thrombus (7) position, so that the grating points of the grating region (9) contact the simulation thrombus (7); ​ Step S3: connecting the flow pump (1) simulating blood flow, the blood vessel thrombus simulation model (2) and the waste liquid recovery device (3) in sequence, connecting the FBG sensor module to the modem (5), and connecting the modem (5) to the signal detection and analysis device (4); Step S4: the flow pump (1) simulating blood flow displays the flow of simulated blood flow throughout the process and records the data of the entire experimental process.

7. The FBG-based blood vessel thrombus detection simulation method of claim 6, wherein, In step S2, the FBG sensor (6) is inserted into the simulated blood vessel (8) along the blood flow direction by the flexible body robot thruster through the three-way pipe at the proximal end of the blood vessel thrombus simulation model (2), and the FBG sensor (6) channel is partially coupled with the blood flow channel.

8. The FBG-based blood vessel thrombus detection simulation method of claim 6, wherein, In step S2, the FBG sensor (6) is inserted into the blood vessel thrombus simulation model (2) by means of the loose sleeve (21), and the loose sleeve (21) is clamped and fixed at the end of the three-way pipe before being inserted.

9. The FBG-based blood vessel thrombus detection simulation method of claim 6, wherein, In step S2, the multiple grating areas (9) of the FBG sensor (6) are arranged in different blood vessel segments of the simulated blood vessel (8), and grating points are arranged at the proximal end of the simulated thrombus (7), the position of the simulated thrombus (7) and the distal end of the simulated thrombus (7).

10. The FBG-based blood vessel thrombus detection simulation method of claim 6, wherein, In step S2, the blood vessel thrombus simulation model (2) includes multiple simulated blood vessels (8), the multiple simulated blood vessels (8) are arranged side by side, the shapes and sizes of the simulated thrombus (7) in any two simulated blood vessels (8) are different, the position of the simulated thrombus (8) remains unchanged, any FBG sensor (6) corresponds to being inserted into any simulated blood vessel (8), and any FBG sensor (6) penetrates any to-be-measured simulated blood vessel (8).

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