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Curvature and force measurement of soft manipulator based on stretchable helical optic fibre

机译：基于可拉伸螺旋光纤的柔性机械臂的曲率和力测量

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摘要

The soft surgical manipulator is a scientific frontier in the fields of minimally invasive surgery and robotics, and it is crucial for improving the performance of surgery. However, owing to its narrow and confined environment in minimally invasive surgeries, some existing methods have not solved its problem of accurate measurement, which limits its application. This paper demonstrates the curvature and force measurement of a hyper-elastic soft manipulator with helically embedded stretchable fibre Bragg grating (FBG)-based fibre optic sensor. Unlike a straight FBG embedding configuration, this unique helical configuration prevents sensor dislocation, supports stretchability, and facilitates the detection of various movements of the soft manipulator. First, the design of the soft manipulator embedded with a stretchable helical optic fibre is described. Second, the sensing theory of the soft manipulator was analysed, and the stretchable helical FBG sensing model was established. Finally, to verify the effectiveness of this design and sensing technique based on the stretchable helical optic fibre, some compression and bending experiments of the soft manipulator were conducted. The results showed that the errors between theoretical and experimental measurements are less than 5%, and the helical structure enables 10% of compression in length, thus facilitating in the measurement of tension and bending curvature of the soft manipulator.
机译：软外科手术机械手是微创外科手术和机器人技术领域的科学前沿，对于提高手术性能至关重要。然而，由于其在微创手术中狭窄且受限的环境，一些现有方法未能解决其精确测量的问题，从而限制了其应用。本文演示了基于螺旋嵌入式可拉伸光纤布拉格光栅（FBG）的光纤传感器的超弹性软操纵器的曲率和力测量。与笔直的FBG嵌入配置不同，此独特的螺旋配置可防止传感器错位，支持可拉伸性并有助于检测软操纵器的各种运动。首先，描述嵌入有可拉伸螺旋光纤的软操纵器的设计。其次，分析了软操纵器的传感原理，建立了可伸展的螺旋形FBG传感模型。最后，为了验证这种基于可伸展螺旋光纤的设计和传感技术的有效性，对软操纵器进行了一些压缩和弯曲实验。结果表明，理论测量值与实验测量值之间的误差小于5％，并且螺旋结构可实现10％的压缩长度，从而有利于软机械手的张力和弯曲曲率的测量。

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  • 来源
    《Optical fiber technology》 |2019年第12期|102010.1-102010.6|共6页
  • 作者

  • 作者单位

    Beijing Informat Sci & Technol Univ Minist Educ Optoelect Measurement Technol & Instr Key Lab Beijing Peoples R China|Beijing Informat Sci & Technol Univ Bion & Intelligent Equipment Lab Beijing Peoples R China;

  • 收录信息 美国《科学引文索引》(SCI);美国《工程索引》(EI);
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Helical configuration; Curvature and force measurement; Stretchable optic fibre; Soft manipulator;

    机译：螺旋配置;曲率和力的测量;可拉伸光纤软操纵器;

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