Gao Anzhu, Liu Ning, Zhang Haojie, Wu Zicong, Yang Guang-Zhong
The Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai, 200240, China; Department of Automation, Shanghai Jiao Tong University, Shanghai, 200240, China.
Precision Robotics (Hong Kong) Limited, 999077, Hong Kong, China.
Biosens Bioelectron. 2020 Dec 15;170:112653. doi: 10.1016/j.bios.2020.112653. Epub 2020 Sep 24.
Endomicroscopy is an emerging non-invasive technique for real-time diagnosis of intraluminal malignancies. For accurate microscopic steering of the imaging probe in vivo, a miniature continuum manipulator has been developed to perform large-area optical biopsy. To keep images in focus, consistent contact with proper force and orientation between the imaging probe tip and the targeted tissue is required. This paper presents a spiral FBG sensors-based sensing method to simultaneously measure the force and torque exerted at the tip of the probe when contacting with the tissue. The embodiment consists of a tapered substrate with a hollow inner lumen for holding the imaging probe, and three optical fibres equally and spirally distributed on the outer surface of the substrate. Each fibre has two FBG sensors to detect small strain changes at two different cross-sections. The modelling process is explained in detail, and a learning-based measurement decoupling method is also provided. In vitro experiments are performed to collect cellular images with simultaneous force and torque sensing, demonstrating the practical value of the technique.
内镜显微镜检查是一种新兴的用于腔内恶性肿瘤实时诊断的非侵入性技术。为了在体内对成像探头进行精确的微观操控，已开发出一种微型连续体操纵器来进行大面积光学活检。为了使图像保持清晰聚焦，成像探头尖端与目标组织之间需要以适当的力和方向保持一致接触。本文提出了一种基于螺旋光纤布拉格光栅（FBG）传感器的传感方法，用于在探头与组织接触时同时测量施加在探头尖端的力和扭矩。该实施例包括一个带有中空内腔以容纳成像探头的锥形基板，以及三根均匀且螺旋分布在基板外表面的光纤。每根光纤有两个FBG传感器，用于检测两个不同横截面处的微小应变变化。详细解释了建模过程，并提供了一种基于学习的测量解耦方法。进行了体外实验，以在同时进行力和扭矩传感的情况下采集细胞图像，证明了该技术的实用价值。
