Design of Three-dimensional Force Sensor Based on FBG for Pulmonary Intervention
The tortuous and complex environment of the tracheobronchial tree poses significant challenges for force sensing at the distal end of flexible robots used in pulmonary interventional surgeries,with conventional force sen-sors often falling short of the required performance. To address the specific needs of these procedures and to equip flexible robots with precise and real-time force feedback,a segmented three-dimensional force fiber Bragg grating (FBG) sensor was designed. The sensor's structure was meticulously analyzed and optimized through finite element simulations,and a decoupling algorithm was devised to separate the wavelength shifts of the four internal gratings with three-dimensional forces,facilitating independent detection of lateral and axial forces. In order to mitigate the effects of temperature variations on sensing accuracy,temperature-compensating gratings were incorporated into the design,accompanied by a carefully tailored compensation strategy. Following this,the designed FBG force sensor underwent calibration and experimental validation. The outcomes revealed that the sensor exhibited lateral force sensitivities of 431.3 pm/N and 517.6 pm/N,an axial force sensitivity of 153.5 pm/N,and root mean square errors of 0.026 N,0.025 N,and 0.041 N for the respective force dimensions.
flexible robotFBGpulmonary interventional surgerytemperature compensationthree-dimensional force
万方数据
维普
