CN108593161A - A kind of minimally invasive surgical operation robot three-dimensional force sensor based on fiber grating - Google Patents
A kind of minimally invasive surgical operation robot three-dimensional force sensor based on fiber grating Download PDFInfo
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/24—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet
- G01L1/242—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet the material being an optical fibre
- G01L1/246—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet the material being an optical fibre using integrated gratings, e.g. Bragg gratings
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
- G01L5/226—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to manipulators, e.g. the force due to gripping
- G01L5/228—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to manipulators, e.g. the force due to gripping using tactile array force sensors
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- Physics & Mathematics (AREA)
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- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
- Manipulator (AREA)
Abstract
The present invention proposes a kind of minimally invasive surgical operation robot three-dimensional force sensor based on fiber grating, is mainly made of four pairs of fiber bragg gratings, and is individually fixed in along hollow glass fibre round bar outer wall circumferential recess；Optical fiber is drawn light signal transduction to signal processing module, the digital signal of stress by the connecting pin of manipulator.The light path of three-dimensional force sensor is：The light that wideband light source is sent out passes through optical isolator successively, fiber optic splitter enters sensor fibre grating, the transmission that the reflected light of grating passes through fiber optic splitter and matched FBG successively reaches signal processing circuit, optical signal reaches control circuit after processing, it is reversely inferred to the centre wavelength of sensor fibre grating by the drive signal of measuring circuit, and then obtains the digital signal of stress.In addition, the phenomenon that for three-dimensional force information coupling, the static decoupling of three-dimensional force information is realized by respective algorithms.The configuration of the present invention is simple, precision is high, and not by electromagnetic interference influence, easy to process and cost is relatively low.
Description
Technical field
The invention belongs to minimally invasive surgical operation robot technical fields, and in particular to a kind of based on fiber bragg grating
Three-dimensional force sensor for minimally invasive surgical operation robot.
Background technology
In recent years, robot was applied widely in terms of assisted surgery, however existing Minimally Invasive Surgery machine
People's system generally lacks power and feels information feedback.The power of robot assisted Minimally Invasive Surgery detects and force feedback technique, and system is made to have
Force-sensing ability when participating in the cintest, allows the operator to experience the interaction between surgical instrument and patient tissue in real time, improves
Surgical surgical skills, improve surgical quality.
The basic procedure of force feedback function is realized in minimally invasive surgical operation robot is：First by arm end installation
Sensor array obtains force signal, which is sent to main hand controls after processing；After a series of calculation process, controller control
Motor the output phase processed answers torque, by the critical field force information reconstruction changed in surgical procedure to doctor.
The extraction of force information is the important component of Robot Force-Feedback system, for manipulator structure design it is more
Dimensional force sensor should meet claimed below：1. accuracy.Sensor has suitable sensitivity, has good stability, can it is true,
Steadily reflect the force information of respective direction；2. safety.Change the shape and rigidity from manipulator as small as possible, ensures it
Structural stability；3. adaptability.Meet medical environment particular/special requirement (preoperative disinfection processing, working environment humiture variation greatly
Deng) and dynamometry range limitation；4. economy.Reduce the cost of power perceptron as far as possible.
The mini type multiple dimension force snesor of limitation based on above-mentioned requirements, at present commercialization is not suitable for micro-wound surgical operation
Robot system, it is therefore necessary to which, in conjunction with the structure of manipulator, research is suitable for minimally invasive surgical operation robot system with improvement
Multi-dimension force sensor.Before this, Chinese patent is entitled《Three-dimensional force sensor for minimally invasive surgical operation robot》's
Multi-dimension force sensor involved by No. 201110123095.2 patent/application documents forms force snesor battle array using eight foil gauges
It arranges to detect force information, is stainless steel material from hand lever part, it is susceptible to electromagnetic interferences；In the present invention based on fiber grating come
Force snesor is designed, Optical Fiber Force Sensor is small, light-weight, has excellent insulating properties and anti-interference, can be used in precision
In measuring environment, in addition glass fibre is used instead from manipulator's material, quality opposing metallic material is light.
Fiber grating is a kind of novel optical passive component, and fundamental measurement physical quantity is temperature and strain, for realization pair
The detection of power/moment information, generally will multiple gratings form array after be applied on the elastic structure specially designed, this and base
It is similar in the detection mode of traditional foil gauge, distinguishingly, the optical fiber itself of grating also will can be directly carved with as sensing elastomer.
As shown in figure 3, when having external force or torque load acts on, the deformation datas such as strain, displacement that elastomer or optical fiber generate
It acts on fiber grating, the pitch of fiber grating is caused to change, to bring the drift of fiber bragg grating center wavelength, Ke Yitong
It crosses and detects the drift information of the wavelength to characterize suffered external force or torque load information.
Fiber grating force snesor is in addition to having not by electromagnetic interference, low-loss, flexible, small, light weight and cost
Outside the intrinsic advantage such as low, corrosion-resistant, waterproof, fire prevention, there is high measurement essence to the important measurement parameters such as temperature and stress
Degree and the linearity, and sufficient measurement range, sluggish low, nuclear magnetic resonance compatibility is strong.
Optical fiber slip ring is a kind of precision that optical signal can be made to carry out continuous data transmission between rotatable parts and stationary parts
Device meets 270 ° needed for the rotary freedom that manipulator is connected with pedestal of rotating range, avoids the rotation because of turning joint
Optical fiber is damaged.
Theoretically, the power being individually applied in force snesor a direction will not have an impact other directions, but due to
The factors such as the property of hollow glass fibre round bar itself, the fixed precision of grating, almost each power point for being applied to sensor
Amount can all have an impact each road output signal of sensor, and here it is couplings.The coupling of force information influences whether signal accuracy, makes
The output of three-dimensional force information generates distortion.Static decoupling can be carried out in terms of two：1. on hardware, increasing to hollow glass fibre
The precision of round bar grooving and the stickup precision of grating, reduce or even eliminate the coupling between each dimension from the root cause, and disadvantage is processing
Precision, which increases, can increase cost and be not easy to repeat to realize；2. subsequently being decoupled to three-dimensional force information on software, adopted by algorithm process
Sample data, decoupling is more accurate, also advantageous in terms of processing cost.
It is provided in " the temperature-insensitive two-dimensional stress sensor based on fiber grating " of Chinese patent CN106248269A
A kind of method using fiber grating force sensor measuring stress, but the force snesor in the patent is confined to two-dimensional directional
The measurement of power can not learn the stressing conditions on axial direction, and lack the decoupling to force information, although for hollow glass fibre
It ties up for round bar, radial load is than axial force to the influence of crust deformation bigger of rod piece, but lacking axial force measuration can make system that can not answer
It is controlled for actual operation.
It is provided in " strain gauge based on fiber grating " of Chinese patent CN103822738A a kind of by grating pair
It is pasted on the method that extraneous stress is measured on elastomer, the bonding method of fiber grating is that both ends are pasted in the patent, can be with
Effectively containment chirp, but its fiber grating demodulation method provided does not have a generality, and this method to the measurement of stress only
It is confined to the measurement of one-dimensional radial load, the same patent also lacks the decoupling to force information.
Chinese patent CN106644253A " for constant force griding three-dimensional force sensor decoupling calibration and filtering method with
A kind of method that method of directly inverting using matrix solves calibration matrix is proposed in device ", and then carries out the solution of three-dimensional force information
Coupling, but be to ensure decoupling precision in practice, it is often necessary to the power more than output shaft number is decoupled, therefore uses least square method
It is more accurate to solve calibration matrix.The force snesor decoupling method proposed in the patent, which has, calculates easy advantage, but due to
Chance error is poor, leads to the presence of the decoupling lower defect of precision.
The main method of common decoupling at present：1. the static decoupling algorithm based on linear calibration；2. being based on least square method
The static decoupling algorithm of linear fit.A kind of decoupling about multi-dimension force sensor, it is thus proposed that the solution based on neural network
Coupling method, this method rely on the multiple study of neural network, the best decoupling matrices of Step wise approximation, advantage to be to all
The valid data of calibration are trained, and obtain an optimal decoupling matrices.But such method is required for great amount of samples for network
The workload of training and study, data processing is excessively huge, more demanding to software and hardware, time-consuming too long, it is difficult in practical calibration
It uses in the process.
Invention content
The technical problem to be solved by the present invention is to：There is provided one kind can be such that surgeon is experienced in surgical procedure in real time
The high-precision suitable for minimally invasive surgical operation robot of power variation, highly sensitive fiber grating force snesor.
Three-dimensional force sensor provided by the present invention for minimally invasive surgical operation robot, mainly by four pairs of optical fiber Bradleys
Lattice grating forms, and being one group per a pair of grating fibers includes a launching fiber and a reception optical fiber, is responsible for hollow glass
Radial load and axial force suffered by fiber round bar measure.Wherein, radial load is measured as the power Fx and Fy of X and Y both directions
Measurement, axial force measuration be Z-direction power Fz measurement.First in hollow glass fibre round bar outer wall circumferentially-spaced 90 ° cut
The groove that four cutting faces are rectangle is cut out, four pairs of optical fiber for being carved with Bragg grating are individually fixed in groove, and are ensured
The central shaft of every group of optical fiber pair and hollow glass fibre round bar has same radial distance, and optical fiber is to extending to from manipulator's base
Optical fiber slip ring at seat；Wherein, the gap between optical fiber and groove is filled with epoxide-resin glue.Cutting is carried out with double to rod piece
Meaning：First, rod piece is made to become the elastomer of fiber grating, it is convenient for the detection of contact force, second is that being easy to the fixation of fiber grating.
The optical fiber constitutes sensing/reception to referring to that each matched fiber grating is locked together with corresponding sensor fibre grating
Fiber grating pair；Matched fiber gratings all simultaneously are serially connected.
The strain partitioning that the two-dimentional radial load being applied on hollow glass fibre round bar and one-dimensional axial force generate acts on
On four sensor fibre gratings, the power on three directions is finally inversed by according to the wavelength change of fiber grating, then to force snesor
Three-dimensional force information carries out static decoupling.Wherein, in X in two dimensions with Y-direction radial direction, two pairs of opposite structures are used respectively
Similar sensing/reception optical fiber grating is for measuring stress, and a pair of of grating is stretched, and grid length is elongated, and reflection wavelength is elongated, another
Grating is compressed, grid length shortens, and reflection wavelength shortens；In the case of small deflection, with the reflection of dimension inner fiber grating
Wavelength difference is in a linear relationship with external forces, and temperature-compensating can be played the role of by being arranged so；The power of Z-direction is then by four pairs of light
Fine grating measures simultaneously, and the digital signal of stress is obtained by fiber grating force sensor array and subsequent static decoupling.
Further, the force sensor system based on fiber grating further includes：Wideband light source, optical isolator, fiber beam splitting
Device, sensing grating array, matched FBG array, signal processing module and control circuit, the optical signal of Optical Fiber Force Sensor are walked
Xiang Wei：The light sent out by wideband light source passes through optical isolator successively, fiber optic splitter enters sensor fibre grating array, grating
Reflected light pass through fiber optic splitter and matched grating array successively and be transmitted through signal processing module, and then treated light letter
Number reach control circuit, control circuit driving matched FBG array follow sensing grating array wavelength change.The signal processing
Module includes：Photodetector, micro- analog signal amplification filtering and digital signal samples and filtering.
Four pairs of optical fiber are extended to from the optical fiber slip ring from manipulator's pedestal, can avoid because the rotation of turning joint is to light
Fibre damages；Optical fiber slip ring is installed on after special designing from the rotation center of manipulator's pedestal, and hollow glass
Fiber round bar is passed through from slip ring central axis, is made of rotation and static two large divisions.
Further, the optical fiber slip ring is made of slip ring stator and slip-ring rotor, and inner ring is slip-ring rotor, and outer ring is to slide
Ring stator, hollow glass fibre round bar drive slip-ring rotor rotation.It is described in the precession end side of hollow glass fibre round bar
There are two screws for fixed rotor, while being equipped with close to the side of pedestal in slip ring and slip-ring rotor can be allowed to stop operating
Slip ring rotation stop piece and prevent the rotation stop pin that slip ring stator rotates.
The fiber grating force snesor of actual design not only has signal in this direction when by the independent power of a direction
Output, the output on remaining direction are also not zero.Static state coupling is that one of influence multi-dimension force sensor measurement accuracy is main
Factor, therefore it is most important to carry out static decoupling to multi-dimension force sensor.The present invention intends by the way of software decoupling to three-dimensional
Linear coupling problem between force information is handled.
A kind of typical four-degree-of-freedom micro-wound surgical operation manipulator is as shown in Figure 1, manipulator passes through rapid translating interface
Mounted on the mechanical arm tail end of operating robot, manipulator includes four degree of freedom：Three rotary freedoms and an end work
Tool folding degree of freedom.It is outer diameter 9.5mm, internal diameter 8mm in the middle part of manipulator, is about the hollow glass fibre material round bar of 500mm, bar
Inside there is the six roots of sensation to play the finer wire of gearing.Manipulator is installed on the mechanical arm of minimally invasive surgical operation robot, Ke Yi
The translation of three degree of freedom in space is completed under the drive of mechanical arm.
The scope of the present invention is defined by the claims, and is incorporated herein by reference in the part.Those skilled in the art
Will be by considering that the embodiment of the present invention is more fully understood in the specific implementation mode of following embodiment, and recognize pass
In its other advantages.
The advantages and positive effects of the present invention：
The configuration of the present invention is simple, not by electromagnetic interference influence, high sensitivity, easy to process and cost is relatively low.
Description of the drawings
Fig. 1 is the manipulator schematic diagram of minimally invasive surgical operation robot；
Fig. 2 is the system structure diagram of the minimally invasive surgical operation robot force snesor based on fiber grating；
Fig. 3 is grooving and secures the hollow glass fibre round bar schematic diagram after four pairs of fiber gratings；
Fig. 4 is hollow glass fibre round bar transverse sectional view in Fig. 3；
Fig. 5 is the mounting means schematic diagram of optical fiber slip ring and hollow glass fibre round bar.
In figure：1, pedestal；2, hollow glass fibre round bar；3, sensing grating array；4, fiber optic splitter；5, optical frequency is isolated
Device；6, wideband light source；7, matched FBG array；8, signal processing module；9, control circuit；10, it is driven steel wire；11, slip ring is fixed
Son；12, slip-ring rotor；13, screw；14, slip ring rotation stop piece；15, rotation stop pin.
31, the first sensor fibre grating；32, the second sensor fibre grating；33, third sensor fibre grating；34, it the 4th passes
Feel fiber grating.
71, the first matched fiber grating；72, the second matched fiber grating；73, third matched fiber grating；74, the 4th
With fiber grating.
81, photodetector；82, micro- analog signal amplification filtering；83, digital signal samples and filtering.
Specific implementation mode
Embodiment 1：
This patent is described further with reference to the accompanying drawings and examples.
The quasi- power suffered on three translational degree of freedom directions to arm end tool of the present invention measures.Carry out hand
When art operates, manipulator is inserted into abdominal cavity via the sheath being fixed on abdominal cavity of patients's wall first；By fiber grating force snesor cloth
Set the contact measured on the groove of 2 periphery of hollow glass fibre round bar between manipulator end-of-arm tooling and patient tissue organ
Power, the influence that the friction that installing can be effectively prevented between manipulator and sheath in the position brings the measurement of power.It considers
6 transmission steel wires 10 are disposed with inside hollow glass fibre round bar 2, inner space is crowded, therefore fiber grating need to be arranged in sky
The outer wall of heart glass fibre round bar 2, therefore grooving carried out to hollow glass fibre round bar 2 along circumferentially-spaced 90 ° of round bar outer wall, four pairs
Optical fiber is placed in groove, and ensures that each pair of optical fiber and the central shaft of hollow glass fibre round bar 2 have same radial distance.
Minimally invasive surgical operation robot three-dimensional force sensor provided by the invention is mainly made of four pairs of fiber gratings, often
Include transmitting (sensing)/reception (matching) fiber grating, layout type such as Fig. 3 and Fig. 4 of four pairs of fiber gratings to fiber grating
Shown, each pair of optical fiber is to being arranged in the groove of 2 periphery of hollow glass fibre round bar of manipulator shown in FIG. 1；It is shown in FIG. 1
The manipulator of minimally invasive surgical operation robot is made of pedestal 1, hollow glass fibre round bar 2 and end-of-arm tooling, including three rotations
Turn and an end-of-arm tooling opens and closes totally four degree of freedom.The force sensor array being made of four pairs of fiber gratings measures hollow respectively
Power Fx, Fy and the Fz in tri- directions glass fibre round bar X, Y and Z；Wherein, three reference axis of XYZ coordinate system are orthogonal simultaneously
It intersects at a point.
Using the fiber grating to match with sensor fibre grating as element is referred in the present invention, make matched fiber grating
The wavelength change of tracking sensing fiber grating under the action of control circuit can be with by the drive signal of circuit of measurement and control
Reversely it is inferred to the centre wavelength of sensor fibre grating, and then obtains external force suffered by hollow glass fibre round bar 2.As shown in Fig. 2,
For the system structure diagram of the embodiment of the force snesor provided by the invention based on fiber grating comprising：Sense light grating array
Row 3 (including the first sensor fibre grating 31, the second sensor fibre grating 32, third sensor fibre grating 33, the 4th sensor fibre
Grating 34), fiber optic splitter 4, optical isolator 5, wideband light source 6, (including the first matched fiber grating of matched FBG array 7
71, the second matched fiber grating 72, third matched fiber grating 73, the 4th matched fiber grating 74), 8 and of signal processing module
Control circuit 9.Each matched fiber grating is locked together with corresponding sensor fibre grating, constitutes sensing/reception optical fiber light
Grid pair；All matched fiber gratings are serially connected, bragg wavelength by control circuit 9 by driving element control come with
The variation of track sensing grating centre wavelength.
The signal of the force sensor system transmits trend：Optical isolator is passed through by the light that wideband light source 6 is sent out successively
5, fiber optic splitter 4 reaches sensing grating array 3, and the narrowband light wave formed after the reflection of sensing grating array 3 passes through optical fiber again
Beam splitter 4 reaches matched FBG array 7, and after the transmission of matched FBG array 7, arriving signal processing module 8 is converted to telecommunications
Number, and then it is sent into control circuit 9.The signal processing module 8 includes：Photodetector 81, micro- analog signal amplification filtering 82,
Digital signal samples and filtering 83.
The concrete structure for the manipulator that the present invention uses can be found in entitled《A kind of transmission of minimally invasive surgery silk, four-degree-of-freedom
Operation tool》No. 200910306053.5 patent/application documents.
2 force in radial of hollow glass fibre round bar is measured with axial force, first in hollow glass fibre round bar 2
Circumferentially-spaced 90 ° of outer wall cuts the groove that four cutting faces are rectangle, and four pairs of optical fiber for being carved with fiber grating are individually fixed in
In groove, it is ensured that the central shaft of each pair of fiber grating and hollow glass fibre round bar 2 has a same radial distance, optical fiber with it is recessed
It is filled with epoxide-resin glue in gap between slot；Wherein, each pair of sensing/reception optical fiber grating pair arrangement is same or similar, herein
The similar error for referring to two fiber gratings is in those skilled in the art's tolerance interval；And measure X to or Y-direction stress two
It is same or similar also to meet structure to fiber grating.
The optical fiber slip ring by transformation is fixed with from the rotation center of manipulator's pedestal, mounting means is slided for via hole type
Ring is installed, for nested hollow glass fibre round bar 2, as shown in figure 5, optical fiber slip ring is by 12 groups of slip ring stator 11 and slip-ring rotor
At inner ring is rotor, and outer ring is stator, and hollow glass fibre round bar 2 drives slip-ring rotor 12 to rotate；Wherein, in hollow glass
There are two screws 13 for fixed rotor in the precession end side of fiber round bar 2, while being installed close to the side of pedestal 1 in slip ring
The rotation stop pin 15 for having the slip ring rotation stop piece 14 that rotor can be allowed to stop operating and preventing stator from rotating.Four pairs of optical fiber are via machinery
The groove of hand outer wall extends to optical fiber slip ring；Wherein, four pairs of optical fiber are fixed in the through-hole of optical fiber slip ring rotor 12, wideband light source
6 are fixed in the through-hole of optical fiber slip ring stator 11；When hollow glass fibre round bar 2 (mechanical arm) rotates, it is located at slip-ring rotor 12
On four pairs of sensings/reception optical fiber grating rotate therewith, and the wideband light source 6 being fixed on slip ring stator 11 is relative to pedestal 1
Remains stationary.Optical fiber slip ring herein is used for transmission four road optical fiber, each matched fiber grating and corresponding sensor fibre grating
It locks together, constitutes sensing/reception optical fiber grating pair, this four roads optical fiber needs the rotation model of 0~270 ° of satisfaction in transmission
It encloses, while optical fiber being required not to be lost；Data transmission between system unit of the optical fiber slip ring to solve rotatable connection provides
Best-of-breed technology solution is particularly suitable for the place for needing to transmit Large Volume Data, signal from fixed position to rotation position, energy
Improve mechanical performance, simplify system operatio, avoid damage of the rotation because of turning joint to optical fiber, precision should be kept in design
And quasi- heart degree.
Wideband light source 6 is placed in optical isolator 5 on slip ring stator 11, and four pairs of optical fiber, fiber optic splitter 4 are arranged in slip ring
On rotor 12, signal processing module 8 and control circuit 9 are arranged at the pedestal 1 of manipulator, and matched FBG passes through transmitted light
Conduction optical fiber reaches the pedestal 1 of manipulator, eventually passes through the digital signal of the stress of processing by the connecting pin of manipulator through lead
It draws.
Wherein, the four pairs of fiber gratings effective means that is fixed on hollow glass fibre round bar 2 measured for three-dimensional force is：
Fiber grating is pre-tightened first, internal stress is generated, is then fixed on grating using epoxide-resin glue (adhesive) hollow
In the groove of glass fibre round bar 2, the gap between optical fiber and groove is also filled with epoxide-resin glue.
The reflecting light length of fiber bragg grating meets Bragg diffraction condition, i.e.,：
λ=2n Λ (1)
(1) in formula, n and Λ are respectively the effective refractive index and grid cycle of fiber grating.
The relationship of the drift value and its local environment temperature and suffered axial strain of fiber bragg grating centre wavelength value
For
(2) in formula, λ is the initial centre wavelength of fiber bragg grating, and Δ λ is wavelength shift, PeFor having for optical fiber
Elasto-optical coefficient is imitated, α is coefficient of thermal expansion, and η is the thermo-optical coeffecient of fiber optic materials.
When carrying out static decoupling to the three-dimensional force information of force snesor, it is necessary first to carry out the acquisition of coupling data, process
In it should be noted that acquisition precision.The collecting method that the present invention uses for：Choose X-axis, Y-axis, each axis of Z axis unidirectionally reinforcing and XYZ
Axis reinforces four units and carries out data acquisition simultaneously；Wherein, X-axis, Y-axis, Z axis are unidirectionally reinforced as analyzing the decoupling number used
According to detecting decoupling effect as the force information after coupling when XYZ axis reinforces simultaneously.Data acquisition flow sums up as follows：Respectively
The counterweight of different quality is carried additionally using pulley in tri- directions X, Y, Z from hand end, and respectively before and after measurement load counterweight
Data calculate its difference for Decoupling Analysis, and data are collected by modulus quantization.To reduce the interference of random error, to every
The selection of a difference will be measured repeatedly and be averaged.
Wherein, due to Z axis stress unobvious, therefore the quality for carrying additionally weight unidirectionally carrys additionally weight quality extremely than X-axis, Y-axis
Few order of magnitude greater, the data acquisition that XYZ axis reinforces simultaneously is：The counterweight of different quality is carried additionally on 45 ° of directions of XY axis, and
The counterweight of identical certain mass is loaded every time in Z axis.Four measuring units are ascending according to its load (carrying additionally counterbalance mass)
The mode of descending cycle detects again, completes multiple measurement cycles, averages to the difference before and after load counterweight and missed with reducing
Difference.
Static linear decoupling to force snesor three-dimensional force information, it is assumed that sensor is a linear system, is mainly appointed
Business is to find out calibration matrix, by matrix disposal sampled data, to accurately reflect the input value of sensor.
When force vector number is equal with sensor output channel number, the matrix directly method of inverting can be used and obtain calibration square
Battle array.
F=CU (3)
(3) in formula, F=[f1,f2,f3]TThe equivalent component in three reference axis of force snesor is acted on for external force；U=
[u1,u2,u3]TFor the output column vector of sensor, C is the calibration matrix of required sensor, and the matrix is by the output of sensor
Vector is converted to force vector.
When the output of sensor is linear, have：
When force vector number is equal with sensor output channel number, when the matrix of calibration force vector composition is orthogonal moment
When battle array, conditional number is up to minimum (being equal to 1), and transducer calibration precision reaches optimal at this time.When gathered data is less, though this method is counted
Simplicity is calculated, but random error can cause decoupling precision relatively low.Therefore, be ensure precision, using the power more than output shaft number into
Row decoupling calculates calibration matrix based on Least Square Theory.It can be described as：
Equation group is expressed as：
I=1,2 ..., n
At this point, the calibration matrix based on least square is：
C=FUT(UUT)-1 (7)
(7) in formula, F is that external force acts on the equivalent component in three reference axis of force snesor；U is that the output of sensor arranges
Vector, C are the calibration matrix of required sensor.
On the basis of experiment measures multi-group data, input square is constructed using tri- reference axis of X, Y, Z as main channel
Battle array and output matrix calculate and acquire calibration matrix under least square meaning, finally utilize XYZ axis three-dimensional forces coupling input, defeated
Go out matrix check decoupling effect, the data of gained are the size of hollow glass fibre round bar stress after decoupling.
Claims (9)
1. a kind of minimally invasive surgical operation robot three-dimensional force sensor based on fiber grating, it is characterised in that：The three-dimensional
Force snesor is mainly made of four pairs of fiber bragg gratings, and it includes sensor fibre grating and matching that each pair of fiber grating, which is one group,
Fiber grating, is responsible for the measurement of hollow glass fibre round bar (2) force in radial and axial force, and wherein radial load is measured as X and Y
The measurement of the power Fx and Fy of both direction, axial force measuration are the measurement of the power Fz of Z-direction；Four pairs of light for being carved with Bragg grating
Fibre is individually fixed in the groove of hollow glass fibre round bar (2) periphery, and ensures every group of optical fiber pair and hollow glass fibre
The central shaft of round bar has same radial distance, optical fiber described above to extending to from the optical fiber slip ring from manipulator's pedestal
Groove be along hollow glass fibre round bar (2) outer wall circumferentially-spaced 90 ° cut the groove that four cutting planes are rectangle.
2. the minimally invasive surgical operation robot three-dimensional force sensor according to claim 1 based on fiber grating, feature
It is：Including force sensor system, which includes wideband light source (6), optical isolator (5), fiber optic splitter (4), sensing
Grating array (3), matched FBG array (7), signal processing module (8) and control circuit (9), optical signal trend are：By width
With the light that light source (6) is sent out passes through optical isolator (5) successively, fiber optic splitter (4) enters sensing grating array (3), grating
Reflected light pass through the transmission of fiber optic splitter (4) and matched grating array (7) successively and reach signal processing module (8), light
Signal reaches control circuit (9) after processing.
3. the minimally invasive surgical operation robot three-dimensional force sensor according to claim 2 based on fiber grating, feature
It is：The sensing grating array (3) includes four road sensor fibre gratings, and the matched FBG array (7) includes four tunnels
Matched fiber grating, the drive signal that control circuit (9) applies make the wavelength of matched fiber grating tracking sensing fiber grating become
Change, drive signal is measured, the centre wavelength of sensor fibre grating can be inferred to, to learn in sensor fibre grating
The variable quantity of cardiac wave length.
4. the minimally invasive surgical operation robot three-dimensional force sensor according to claim 1 or 3 based on fiber grating, special
Sign is：Each matched fiber grating is locked together with corresponding sensor fibre grating, constitutes sensing/reception optical fiber grating
It is right；All matched fiber gratings are serially connected.
5. the minimally invasive surgical operation robot three-dimensional force sensor according to claim 2 based on fiber grating, feature
It is：Signal processing module (8) includes photodetector (81), micro- analog signal amplification filtering (82) and digital signal samples
With filtering (83).
6. the minimally invasive surgical operation robot three-dimensional force sensor according to claim 1 based on fiber grating, feature
It is：The optical fiber slip ring uses via hole type mounting means, and the rotation because of turning joint is avoided to damage optical fiber.
7. the minimally invasive surgical operation robot three-dimensional force sensor based on fiber grating according to claim 1 or 6, special
Sign is：Optical fiber slip ring is made of slip ring stator (11) and slip-ring rotor (12), and inner ring is slip-ring rotor (12), and outer ring is slip ring
Stator (11), hollow glass fibre round bar (2) drive slip-ring rotor (12) to rotate.
8. the minimally invasive surgical operation robot three-dimensional force sensor according to claim 7 based on fiber grating, feature
It is：There are two screws (13) for fixed rotor in the precession end side of hollow glass fibre round bar (2), while in slip ring
The slip ring rotation stop piece (14) that slip-ring rotor (12) can be allowed to stop operating is installed and prevents slip ring stator close to the side of pedestal (1)
(11) the rotation stop pin (15) to rotate.
9. the minimally invasive surgical operation robot three-dimensional force sensor according to claim 1 based on fiber grating, feature
It is：The phenomenon that being coupled for three-dimensional force information, the static decoupling of three-dimensional force information is realized by respective algorithms.
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