轴向等距分布式外科手术多维力传感器设计

Design of axial equidistant distributed multi-dimensional force sensor for surgical operation

为了精确采集手术机器人的多维作用力,提出了一种轴向等距分布式多维力测量传感器及其解耦方案,根据三条光纤布拉格光栅(FBG)的受力情况通过最小二乘法进行初步解耦,鉴于多种外部因素所造成的传感器输入与输出数据的非线性关系,基于前馈神经网络实现传感器的最终解耦。实验结果表明,所提出的传感器测量精度较高,解耦方法切实有效,能够准确测量手术过程中工具杆的受力情况。

In order to accurately collect the multi-dimensional force of the surgical robot,an axial equidistant distributed multi-dimensional force measurement sensor and its decoupling scheme are proposed.According to the force conditions of three FBGs,the initial decoupling is carried out by the least square method.In view of the nonlinear relationship between the input and output data of the sensor caused by various external factors,the feed-forward neural network is used The network realizes the final decoupling of sensors.The experimental results show that the proposed sensor has high measurement accuracy,and the decoupling method is practical and effective,which can accurately describe the force of the tool rod during the operation.