CN109115380A - Three-dimensional force sensor for minimally invasive medical instrument - Google Patents
Three-dimensional force sensor for minimally invasive medical instrument Download PDFInfo
- Publication number
- CN109115380A CN109115380A CN201710484808.5A CN201710484808A CN109115380A CN 109115380 A CN109115380 A CN 109115380A CN 201710484808 A CN201710484808 A CN 201710484808A CN 109115380 A CN109115380 A CN 109115380A
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- inner tube
- slot type
- flat spring
- type outer
- outer tube
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- 239000013307 optical fiber Substances 0.000 claims abstract description 42
- 239000000835 fiber Substances 0.000 claims abstract description 16
- ZZUFCTLCJUWOSV-UHFFFAOYSA-N furosemide Chemical compound C1=C(Cl)C(S(=O)(=O)N)=CC(C(O)=O)=C1NCC1=CC=CO1 ZZUFCTLCJUWOSV-UHFFFAOYSA-N 0.000 claims description 6
- 230000002093 peripheral effect Effects 0.000 claims description 6
- 238000001514 detection method Methods 0.000 abstract description 6
- 230000003313 weakening effect Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 210000001519 tissue Anatomy 0.000 description 4
- 229920001971 elastomer Polymers 0.000 description 3
- 239000000806 elastomer Substances 0.000 description 3
- 238000010801 machine learning Methods 0.000 description 3
- 238000002679 ablation Methods 0.000 description 2
- 230000019771 cognition Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 210000004872 soft tissue Anatomy 0.000 description 2
- 210000000683 abdominal cavity Anatomy 0.000 description 1
- 238000013528 artificial neural network Methods 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 230000000747 cardiac effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 239000011888 foil Substances 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000002844 melting Methods 0.000 description 1
- 230000008018 melting Effects 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 230000003387 muscular Effects 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 238000013139 quantization Methods 0.000 description 1
- 238000007674 radiofrequency ablation Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000012706 support-vector machine Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention belongs to medical instruments fields, specifically a kind of three-dimensional force sensor for minimally invasive medical instrument, including flat spring, slot type outer tube, inner tube, external fiber, central optical fiber, top base and bottom base, wherein the upper and lower ends of slot type outer tube are connected with the top base and bottom base respectively, and slot type outer tube upper end end is connected on the outside of the flat spring；Said inner tube sequentially passes through bottom base, slot type outer tube, and upper end is connected with the inside of the flat spring, and lower end is connect with the bottom base；The central optical fiber passes through inner tube, and both ends are connect with the upper and lower base Cuo respectively, and more external fibers are circumferentially uniformly adhered on the outer surface of said inner tube.Force snesor provided by the invention can be realized the Rigidity Matching on three-dimensional force direction, with lesser draw ratio, it realizes high-precision power detection accuracy and the not rigidity of undue weakening surgical instrument, using light as signal acquisition and transfer mode, there is good electromagnetic compatibility characteristic.
Description
Technical field
The invention belongs to medical instruments field, specifically a kind of three-dimensional force sensor for minimally invasive medical instrument.
Background technique
During minimally invasive diagnosis and treatment, the contact force information of surgical instrument and biologic soft tissue for operation safety and have
Effect property is most important.In traditional operating process, operator can not obtain the information of quantization, remove perception surgical device by feel
Contact situation of the tool with soft tissue and judged by vision.Force information can be prompted operator and early warning.
With the development of operating robot technology, the mode that traditional doctor directly manipulates surgical instrument, which has occurred that, to be changed
Become, mostly with master-slave mode, by operating operation of the dedicated multiple degrees of freedom handle remote control surgical robot realization to surgical instrument.
The only power perception channel of people has been interrupted in this change, and doctor can only judge the friendship between instrument and tissue by visual observation
Mutual situation.This status is that clinic brings inconvenience, and considerably increases the probability of occurrence risk.For example, for chest
The operation of abdominal cavity inner tissue can not know the strength such as dragging, suture, lead to injuries of tissues and organs, bleeding etc..Disappear for heart radio frequency
Melting can not know that the contact force situation between RF ablation head and cardiac muscular tissue causes ablation energy to be difficult to control, and then wear
Ablation is owed in hole.
Minimally Invasive Surgery develops towards more accurate direction, and the sensing of contact force information has great importance.Power
Cognition technology converts external force to small strain usually using elastomer structure, and using various strain sensitive devices into
Row detection.In order to keep sensor that there is enough resolution ratio and not generate huge weakening to the ontology rigidity of instrument, need
Want the rigidity of reasonable disposition all directions.But existing power cognition technology has ignored stiffness proportion, mostly uses foil gauge, pressure-sensitive
Resistance etc. is used as senser element, and it is mostly electric signal that signal, which transmits form, and the electromagnetic interference being highly prone in medical environment can not
Accurate force information is obtained, and structure is complicated, integrated difficulty, potential applicability in clinical practice is limited.To sum up, clinical at present still to lack collection
The high, force snesor stable and reliable in work at degree.
Summary of the invention
It is of the invention in order to solve the problems, such as that minimally invasive medical instrument lacks integrated level height, force snesor stable and reliable in work
It is designed to provide a kind of three-dimensional force sensor for minimally invasive medical instrument.
The purpose of the present invention is achieved through the following technical solutions:
The present invention includes flat spring, slot type outer tube, inner tube, external fiber, central optical fiber, top base and bottom base, wherein
The upper and lower ends of slot type outer tube are connected with the top base and bottom base respectively, and the flat spring is connect with slot type outer tube；It is described
Inner tube passes through bottom base, slot type outer tube, and upper end is connected with the flat spring, and the lower end of said inner tube is connect with the bottom base；
The central optical fiber passes through inner tube, and both ends are connect with the upper and lower base Cuo respectively, on the outer surface of said inner tube circumferentially uniformly
Adhere to more external fibers；
Wherein: the outside of the flat spring and slot type outer tube upper end end are affixed, the upper end end of inside and said inner tube
Affixed, the upper end end of the inner tube is equipped with the shaft shoulder for connecting with flat spring inside；
The outside of the flat spring and slot type outer tube upper end end are affixed, inner sleeve said inner tube upper end end, with
Inner tube is slidably connected, which is no shaft shoulder inner tube；
The flat spring is elastic piece, is evenly equipped with multiple flexible hinges in its circumferential direction；
The flat spring includes connection ring and cantilever, is along the circumferential direction evenly equipped on the outer surface of the connection ring multiple outstanding
The upper end end of arm, the connection ring and inner tube connects；The upper end end of the slot type outer tube is along the circumferential direction evenly equipped with and institute
The identical groove of cantilever quantity is stated, the outer end of each cantilever is inserted into a groove, realizes the flat spring and slot
The connection of formula outer tube；
The flat spring be it is multiple, be applied in said inner tube on the inside of each flat spring, with the inner tube it is affixed or sliding connect
It connects, the outside of each flat spring is affixed with the slot type outer tube respectively；
Said inner tube is cylindric hollow pipe, and external peripheral surface is smooth surface；Alternatively, the external peripheral surface of said inner tube
It is along the circumferential direction evenly equipped with the optical fiber duct for adhering to optical fiber, which is arranged along the axial direction of said inner tube；
The slot type outer tube is elastic metallic pipe, and outer surface is engraved structure, equipped with orthogonal layering right-angled intersection slot or
Spiral slot；
The top base is discoid, is concave inward structure, i.e., internal to be equipped with concave step, the concave step and the slot type
The seam allowance A of outer tube upper end end setting is corresponding, realizes being located by connecting between the top base and slot type outer tube；The upper base
Central optical fiber fixation hole and side opening A are offered on seat respectively；
The bottom base be it is discoid, equipped with the seam allowance B being located by connecting with the slot type outer tube lower end, the lower base
Inner tube and optical fiber via hole and side opening B are offered on seat respectively.
Advantages of the present invention and good effect are as follows:
Force snesor provided by the invention can be realized the Rigidity Matching on three-dimensional force direction, have lesser draw ratio,
High-precision power detection accuracy and the not rigidity of undue weakening surgical instrument are realized, using light as signal acquisition and transmitting side
Formula has good electromagnetic compatibility characteristic.
Detailed description of the invention
Fig. 1 is schematic perspective view of the invention；
Fig. 2 is explosive view of the invention；
Fig. 3 is flat spring of the present invention and a kind of structural schematic diagram of type of attachment of inner tube；
Fig. 4 is a kind of schematic diagram of structure of slot type outer tube of the present invention；
Fig. 5 is one of the structural schematic diagram of flat spring of the present invention；
Fig. 6 is the second structural representation of flat spring of the present invention；
Fig. 7 is the structural schematic diagram of the multiple flat springs of the present invention and inner tube assembly；
Fig. 8 is the structural schematic diagram of top base of the present invention；
Fig. 9 is the structural schematic diagram of bottom base of the present invention；
Wherein: 1 is flat spring, and 101 be connection ring, and 102 be cantilever, and 2 be slot type outer tube, and 201 be spiral slot, and 202 are
Seam allowance A, 203 be groove, and 3 be inner tube, and 301 be no shaft shoulder inner tube, and 4 be external fiber, and 5 be center optical fiber, and 6 be top base, 601
It is side opening A for center fiber-optic fixing-hole, 602,603 be concave step, and 7 be bottom base, and 701 be inner tube and optical fiber via hole, and 702 are
Side opening B, 703 be seam allowance B.
Specific embodiment
The invention will be further described with reference to the accompanying drawing.
As shown in Figure 1 and Figure 2, the present invention include flat spring 1, slot type outer tube 2, inner tube 3, external fiber 4, central optical fiber 5,
Top base 6 and bottom base 7, wherein the upper and lower ends of slot type outer tube 2 are connected with top base 6 and bottom base 7 respectively, flat spring 1
Outside is connected to 2 upper end end of slot type outer tube；Inner tube 3 sequentially passes through bottom base 7, slot type outer tube 2, and upper end is interior with flat spring 1
Side is connected, and the lower end of inner tube 3 is connect with bottom base 7.Central optical fiber 5 pass through inner tube 3 centre bore, both ends respectively with upper and lower base
The bonding of Cuo 6,7 is connected, and is mainly used for axial deformation needed for providing axial force detection.On the outer surface of inner tube 3 circumferentially uniformly
Adhere to more external fibers 4.
The outside of flat spring 1 of the present invention and 2 upper end end of slot type outer tube are affixed, and inside and the upper end end of inner tube 3 are affixed,
Or cover in the upper end end of inner tube 3 and 3 clearance fit of inner tube, it can opposite sliding.When the upper end end of flat spring 1 and inner tube 3 is solid
When connecing, the upper end end of inner tube 3 be equipped with for the shaft shoulder that is connected on the inside of flat spring 1；When the upper end end of flat spring 1 and inner tube 3
When portion is slidably connected, inner tube 3 is no shaft shoulder inner tube 301.
Flat spring 1 is elastic piece, and middle position and the upper end end of inner tube 3 are affixed, are evenly equipped in the circumferential direction of the elastic piece
Multiple flexible hinges.Or as shown in Figure 5, Figure 6, flat spring 1 includes connection ring 101 and cantilever 102, the connection ring 101 it is outer
Multiple cantilevers 102 (cantilever 102 in Fig. 5 is three, and the cantilever 102 in Fig. 6 is four) are along the circumferential direction evenly equipped on surface,
Connection ring 101 and the upper end end of inner tube 3 are affixed.The flat spring 1 of the present embodiment is that centre is connect with 3 upper end end of inner tube
Connection ring 101, uniformly distributed there are four cantilever 102 in the outer surface of connection ring 101, this four cantilevers 102 are in a cross-shaped mode.This implementation
The upper end end of the inner tube 3 of example is no shaft shoulder inner tube 301, as shown in figure 3,101 sets of connection ring among flat spring 1 are in no shaft shoulder
It, can opposite sliding in inner tube 301.Flat spring 1 of the invention can cooperate to inner tube 3 along sensor axis, be conducive to improve to be multiple
The stability of sensor flat spring 1 when by radial load；As shown in fig. 7, each 1 structure of flat spring is identical, it is that centre is
There are four 102 structures of cantilever for connection ring 101, tool.The inside (i.e. connection ring 101) of each flat spring 1 is applied in inner tube 3, with this
Inner tube 3 is affixed or is slidably connected, and the outside of each flat spring 1 is affixed with slot type outer tube 2 respectively.
Slot type outer tube 2 is elastic metallic pipe, and outer surface is engraved structure, equipped with orthogonal layering right-angled intersection slot or spiral
Formula slot 201.The slot type outer tube 2 of the present embodiment be it is hollow cylindric, outer surface is equipped with screw-type slot 201, i.e., is cut using screw thread
Slot spring, as shown in Figure 4.The upper end end of slot type outer tube 2 is along the circumferential direction evenly equipped with groove identical with 102 quantity of cantilever
203 (groove 203 of the present embodiment is four), the outer end of each cantilever 102 is inserted into a groove 203, realizes piece bullet
The connection of spring 1 and slot type outer tube 2.
Inner tube 3 is cylindric hollow pipe, and external peripheral surface is smooth surface；Alternatively, the external peripheral surface of inner tube 3 is circumferentially
Direction is evenly equipped with the optical fiber duct for adhering to optical fiber, axial direction setting of the optical fiber duct along inner tube 3.Outside the inner tube 3 of the present embodiment
It has been evenly distributed with three optical fiber ducts on circumferential surface, an external fiber 4 is adhered in each optical fiber duct.External fiber 4 of the invention
And central optical fiber 5 is Bragg grating optical fiber.
As shown in figure 8, top base 6 is discoid, and it is concave inward structure, i.e., it is internal to be equipped with concave step 603, the concave step
603 is corresponding with the seam allowance A202 of 2 upper end end of slot type outer tube setting, realizes that the positioning between top base 6 and slot type outer tube 2 connects
It connects.Deformation of the top base 6 of concave inward structure also for flat spring 1 and slot type outer tube 2 provides space.It is opened up respectively on top base 6
There are central optical fiber fixation hole 601 and side opening A602, the upper end of central optical fiber 5 is fixed on central optical fiber fixation hole 601.
As shown in figure 9, bottom base 7 be it is discoid, equipped with the seam allowance B703 being located by connecting with 2 lower end of slot type outer tube,
Inner tube and optical fiber via hole 701 and side opening B702 are offered on bottom base 7 respectively, the lower end of inner tube 3 is fixed on inner tube and optical fiber mistake
Hole 701.
Side opening B702 on side opening A602 and bottom base 7 on top base 6 provides driving and Prague of distal end instrument
The channel of grating fibers continuation uplink.
The operation principle of the present invention is that:
In the pre-assembly, central optical fiber 5 needs to do prestretching processing, to provide the detection of pulling force and pressure.
When sensor bears axial force, flat spring 1, slot type outer tube 2 collectively form elastomer to realize axial deformation, this
When central optical fiber 5 strain variation it is related to axial force；When sensor bears radial force, slot type outer tube 2 and the common structure of inner tube 3
Elastomer-forming realizes radial deformation, and the strain variation of circumferential three external fibers 4 is related to radial force at this time.When sensor is same
When bear axial force and when radial force, central optical fiber 5 and three circumferential external fibers 4 can measure corresponding strain simultaneously
Variation can be obtained three-dimensional force using the matrix of the relationship between description strain and power.
Before carrying out power decoupling, the original wavelength of Bragg grating optical fiber is converted, compensation temperature pair is carried out
The influence of its parameter, conversion process are as follows:
Wherein, Δ s=[Δ s1,Δs2,Δs3,Δs4]TRespectively compensated four FBG (Bragg grating optical fiber)
Wavelength variable quantity；Δ λ=[Δ λ1,Δλ2,Δλ3,Δλ4]TFor original wavelength readings；Δλ1,Δλ2,Δλ3For inner tube circumferential direction
The wavelength change of 3 external fibers 4 of arrangement, Δ λ4For the wavelength change of center optical fiber 5.
Linear decoupling method based on model establishes the linear pass between compensated four FBG wavelength amounts and external force
System, can be represented by the formula:
The load wavelength that simultaneously respective record respectively measures optical fiber for applying the particular size of all directions to sensor upper end becomes
Change, the regression matrix of the relationship between description three-dimensional force and four fibre strain variations, the square are solved using least square method
Battle array can be used to subsequent calculating three-dimensional force.
Machine learning method based on model-free is established non-linear between compensated four FBG wavelength amounts and external force
Relationship can be represented by the formula:
Δ s=f (Δ F)
The load wavelength that simultaneously respective record respectively measures optical fiber for applying the particular size of all directions to sensor distal end becomes
Change, the method by there is supervised machine learning, such as neural network, support vector machine are answered to learn three-dimensional force and four optical fiber
Mapping relations between variation, subsequent available f () calculate three-dimensional force.
The present invention includes the elastomer (flat spring) and four Bragg grating optical fibers with parallel flexible hinge, passes through four
Root Bragg grating optical fiber perceives the strain variation of external force, and using the linear decoupling method based on model and based on no mould
The machine learning method of type, calculates three-dimensional contact force in real time.
The present invention can be realized the accurate detection of the three-dimensional force of medical instrument receiving, including axial compressive force and pulling force, and
Two orthogonal radial forces.
Claims (10)
1. a kind of three-dimensional force sensor for minimally invasive medical instrument, it is characterised in that: including flat spring (1), slot type outer tube
(2), inner tube (3), external fiber (4), central optical fiber (5), top base (6) and bottom base (7), wherein slot type outer tube (2) is upper
Lower both ends are connected with the top base (6) and bottom base (7) respectively, and the flat spring (1) connect with slot type outer tube (2)；It is described
Inner tube (3) passes through bottom base (7), slot type outer tube (2), and upper end is connected with the flat spring (1), the lower end of said inner tube (3) and
Bottom base (7) connection；The central optical fiber (5) passes through inner tube (3), and both ends connect with the upper and lower base Cuo (6,7) respectively
It connects, more external fibers (4) is circumferentially uniformly adhered on the outer surface of said inner tube (3).
2. being used for the three-dimensional force sensor of minimally invasive medical instrument according to claim 1, it is characterised in that: the flat spring
(1) outside and slot type outer tube (2) upper end end are affixed, and inside and the upper end end of said inner tube (3) are affixed, the inner tube (3)
Upper end end be equipped with for the shaft shoulder that connect on the inside of flat spring (1).
3. being used for the three-dimensional force sensor of minimally invasive medical instrument according to claim 1, it is characterised in that: the flat spring
(1) outside and slot type outer tube (2) upper end end are affixed, and inner sleeve is slided in the upper end end of said inner tube (3), with inner tube (3)
Dynamic connection, which is no shaft shoulder inner tube (301).
4. being used for the three-dimensional force sensor of minimally invasive medical instrument according to claim 1, it is characterised in that: the flat spring
(1) it is elastic piece, is evenly equipped with multiple flexible hinges in its circumferential direction.
5. being used for the three-dimensional force sensor of minimally invasive medical instrument according to claim 1, it is characterised in that: the flat spring
(1) include connection ring (101) and cantilever (102), be along the circumferential direction evenly equipped with multiple cantilevers on the outer surface of the connection ring (101)
(102), the connection ring (101) connect with the upper end end of inner tube (3)；The upper end end of the slot type outer tube (2) is circumferentially
Direction is evenly equipped with groove (203) identical with the cantilever (102) quantity, and the outer end of each cantilever (102) is inserted into
In one groove (203), the connection of the flat spring (1) Yu slot type outer tube (2) is realized.
6. being used for the three-dimensional force sensor of minimally invasive medical instrument according to claim 1, it is characterised in that: the flat spring
(1) it to be multiple, is applied on said inner tube (3) on the inside of each flat spring (1), each institute affixed or be slidably connected with the inner tube (3)
The outside for stating flat spring (1) is affixed with the slot type outer tube (2) respectively.
7. being used for the three-dimensional force sensor of minimally invasive medical instrument according to claim 1, it is characterised in that: said inner tube (3)
For cylindric hollow pipe, external peripheral surface is smooth surface；Alternatively, the external peripheral surface of said inner tube (3) is along the circumferential direction equal
It is furnished with the optical fiber duct for adhering to optical fiber, axial direction setting of the optical fiber duct along said inner tube (3).
8. being used for the three-dimensional force sensor of minimally invasive medical instrument according to claim 1, it is characterised in that: the slot type outer tube
It (2) is elastic metallic pipe, outer surface is engraved structure, equipped with orthogonal layering right-angled intersection slot or spiral slot (201).
9. being used for the three-dimensional force sensor of minimally invasive medical instrument according to claim 1, it is characterised in that: the top base
(6) be discoid, be concave inward structure, i.e., internal to be equipped with concave step (603), the concave step (603) and the slot type outer tube
(2) the seam allowance A (202) of upper end end setting is corresponding, realizes that the positioning between the top base (6) and slot type outer tube (2) connects
It connects；Central optical fiber fixation hole (601) and side opening A (602) are offered on the top base (6) respectively.
10. being used for the three-dimensional force sensor of minimally invasive medical instrument according to claim 1, it is characterised in that: the bottom base
(7) to be discoid, the seam allowance B (703) being located by connecting with slot type outer tube (2) lower end is equipped with, on the bottom base (7)
Inner tube and optical fiber via hole (701) and side opening B (702) are offered respectively.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710484808.5A CN109115380B (en) | 2017-06-23 | 2017-06-23 | Three-dimensional force sensor for minimally invasive medical instrument |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710484808.5A CN109115380B (en) | 2017-06-23 | 2017-06-23 | Three-dimensional force sensor for minimally invasive medical instrument |
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| Publication Number | Publication Date |
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| CN109115380A true CN109115380A (en) | 2019-01-01 |
| CN109115380B CN109115380B (en) | 2019-11-08 |
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Cited By (8)
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| CN110987245A (en) * | 2019-12-13 | 2020-04-10 | 复旦大学 | Fibrous pressure luminescence sensor and preparation method and application thereof |
| CN113057730A (en) * | 2021-03-17 | 2021-07-02 | 中国科学院自动化研究所 | Bipolar electric coagulation surgical forceps |
| CN113081235A (en) * | 2021-03-24 | 2021-07-09 | 武汉理工大学 | Heart ablation catheter tip optical fiber three-dimensional force sensor with self-compensation of environmental errors |
| CN113483816A (en) * | 2021-06-29 | 2021-10-08 | 中国科学院沈阳自动化研究所 | Shape and position force composite sensing unit and measuring method thereof |
| CN114459645A (en) * | 2022-01-18 | 2022-05-10 | 武汉理工大学 | Fiber grating pressure sensor based on arc hinge |
| CN115290243A (en) * | 2022-07-19 | 2022-11-04 | 天津大学 | Three-dimensional force sensor and measuring system for minimally invasive surgery |
| CN116608983A (en) * | 2023-07-21 | 2023-08-18 | 武汉理工大学 | Three-dimensional force optical fiber self-decoupling sensing and fault tolerance measuring method and integrated method thereof |
| WO2024092952A1 (en) * | 2022-11-04 | 2024-05-10 | 深圳先进技术研究院 | Force sensing method, photosensitive force sensor and force sensing system |
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| CN113483816A (en) * | 2021-06-29 | 2021-10-08 | 中国科学院沈阳自动化研究所 | Shape and position force composite sensing unit and measuring method thereof |
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| CN115290243B (en) * | 2022-07-19 | 2024-10-29 | 天津大学 | Three-dimensional force sensor and measuring system for minimally invasive surgery |
| WO2024092952A1 (en) * | 2022-11-04 | 2024-05-10 | 深圳先进技术研究院 | Force sensing method, photosensitive force sensor and force sensing system |
| CN116608983A (en) * | 2023-07-21 | 2023-08-18 | 武汉理工大学 | Three-dimensional force optical fiber self-decoupling sensing and fault tolerance measuring method and integrated method thereof |
| CN116608983B (en) * | 2023-07-21 | 2023-11-10 | 武汉理工大学 | Three-dimensional force optical fiber self-decoupling sensing and fault tolerance measuring method and integrated method thereof |
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