植入光纤光栅的软体驱动器形状传感研究

Research on the shape sensing of embedded fiber Bragg grating for soft actuator

软体机器人由于具有柔顺性和适应性等特点,在外科手术和狭窄空间等方面具有无可比拟的优势,为了实现微创手术等狭小空间中软体驱动器的姿态传感监测,提出基于植入式光纤光栅的柔性传感方法,首先将光纤布拉格光栅(FBG)植入在软体驱动器中;然后在软体驱动器的不同弯曲状态下,通过实验测试分析FBG点的光谱、波长漂移量和曲率等信息,利用3次样条插值等算法实现软体驱动器的三维形状拟合重构。实验结果表明,驱动器实际弯曲角度和重构算法之间的误差不足4.5%,传感器重复性的偏差指数不足7%。所提出的基于植入式光纤光栅的柔性传感方法可以实现软体机器人的姿态传感监测,在医疗外科手术领域具有广阔的应用前景。

Soft robot has the incomparable advantage in surgery and narrow space due to its flexibility,adaptation,etc.To realize the attitude sensing monitoring of soft actuator in small space(e.g.,minimally invasive surgery),a flexible sensing method based on the implantable fiber Bragg grating(FBG)is proposed in this study.First,the FBG is implanted into the soft actuator.Then,under different bending states of soft actuator,the spectral,wavelength drift and curvature information of FBG are analyzed by experimental test.Three-dimensional shape fitting and reconstruction of soft actuator are realized by cubic spline interpolation algorithm.Experimental results show that the error between the actuator′s actual bending angle and the reconstruction algorithm is less than 4.5%.The repeatability deviation index of sensor is less than 7%.The flexible sensing method based on implantable FBG can realize the attitude sensing and monitoring of soft robot,which has a broad application prospect in the field of medical surgery.