Deng Yinan, Yang Tangwen, Dai Shaotao, Song Guoli
IEEE Trans Biomed Eng. 2021 Aug;68(8):2339-2347. doi: 10.1109/TBME.2020.3034336. Epub 2021 Jul 16.
Design and evaluate a miniature triaxial fiber optic sensor which is integrated into the confined space at the tip of a flexible ureteroscope to measure the contact force during ureteroscopy.
A notched flexure of multilayer continuous beams is deliberately designed to modulate the sensor sensitivity to axial stiffness but not to lateral bending and torsion, and to avoid the crosstalk between axial and lateral forces. Its structure parameters are optimized by the finite element method to meet the needs of miniaturization and performance. A linear decoupled model based on the singular value decomposition algorithm is proposed to accurately compute the forces from the wavelength shifts of fiber Bragg grating.
Experimental results show that in the axial direction the sensor has a range of 0-4 N with a resolution of 0.014 N, and in the lateral direction it has a resolution of 0.011 N within the range of -2 N to 2 N, and is able to provide accurate measurement with an error of less than 2%.
Primary tests show the excellent competence of the sensor to measure the interactive force at the ureteroscope tip and to discriminate objects, validating its reliability and robustness.
设计并评估一种微型三轴光纤传感器，该传感器集成在柔性输尿管镜尖端的受限空间内，用于测量输尿管镜检查过程中的接触力。
特意设计多层连续梁的切口挠曲，以调节传感器对轴向刚度的灵敏度，而不影响横向弯曲和扭转，并避免轴向力和横向力之间的串扰。通过有限元方法优化其结构参数，以满足小型化和性能需求。提出一种基于奇异值分解算法的线性解耦模型，用于根据光纤布拉格光栅的波长偏移精确计算力。
实验结果表明，在轴向方向上，该传感器的测量范围为0 - 4 N，分辨率为0.014 N；在横向方向上，在 - 2 N至2 N范围内分辨率为0.011 N，并且能够提供误差小于2%的精确测量。
初步测试表明，该传感器在测量输尿管镜尖端的相互作用力和辨别物体方面具有出色的能力，验证了其可靠性和稳健性。
