基于光纤布拉格光栅的精细化多维力触觉传感器结构设计与仿真研究

Structure design and simulation of fine multidimensional force tactile sensor based on fiber Bragg grating

针对胸腔穿刺引流等精细化微创手术中接触力反馈不佳及无法感知不同方向力触觉信息的问题,设计一种基于光纤布拉格光栅(FBG)的精细化多维力触觉传感器,其能同时感知到手术中所受的轴向力、扭矩力和径向力信息;同时,对FBG的传感原理进行推导,分析该触觉传感器的结构设计,并采用有限元分析软件ANSYS对该传感器结构分别进行轴向力、径向力和扭矩力的受力模拟仿真。结果表明改进后的传感器相对传统构型应力强度和应力敏感区域都有所增大,测力灵敏度较高,能够更精准的检测手术过程中各方向上的力,适合应用于胸腔穿刺引流等精细化微创手术中。

In order to solve the problem of poor contact force feedback and inability to perceive tactile information of forces in different directions during fine minimally invasive surgery such as thorax puncture and drainage,a refined multidimensional force tactile sensor based on fiber Bragg grating(FBG)was designed,which can simultaneously perceive axial force,torque force and radial force information received during the operation.At the same time,the sensing principle of FBG is deduced and the structural design of the tactile sensor is analyzed.The finite element analysis software ANSYS is used to simulate the axial force,radial force and torque force of sensor structure respectively.The results show that the improved sensor has an increase in stress intensity and stress-sensitive area compared with traditional configuration,has a high sensitivity of force measurement,and can more accurately detect upward forces of all parties during operation,which is suitable for the application in fine minimally invasive surgery such as thorax puncture and drainage.