CN113804338A - One-dimensional palpation force sensor based on fiber Bragg grating - Google Patents
One-dimensional palpation force sensor based on fiber Bragg grating Download PDFInfo
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- 239000000835 fiber Substances 0.000 title claims abstract description 90
- 238000002559 palpation Methods 0.000 title claims abstract description 27
- 230000007246 mechanism Effects 0.000 claims abstract description 27
- 230000009471 action Effects 0.000 claims abstract description 5
- 239000013307 optical fiber Substances 0.000 claims description 47
- 238000012545 processing Methods 0.000 claims description 11
- 229910000838 Al alloy Inorganic materials 0.000 claims description 5
- 239000000853 adhesive Substances 0.000 claims description 4
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- 239000003822 epoxy resin Substances 0.000 claims description 3
- 229920000647 polyepoxide Polymers 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims 1
- 238000002324 minimally invasive surgery Methods 0.000 abstract description 14
- 238000005259 measurement Methods 0.000 abstract description 7
- 238000000034 method Methods 0.000 abstract description 5
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- 239000000463 material Substances 0.000 description 2
- 230000001954 sterilising effect Effects 0.000 description 2
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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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
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Abstract
The invention relates to a one-dimensional palpation force sensor based on a fiber Bragg grating, which comprises a contact component, a force sensitive flexible component, a fiber Bragg grating and a support component, wherein: the contact component, the force sensitive flexible component and the support component are sequentially connected; the force-sensitive flexible component is formed by comprehensively designing the configuration of the sarrus mechanism by adopting a rigid body replacement method and is used for converting a contact force signal into a strain signal; the fiber Bragg grating is suspended and arranged in the center of the force-sensitive flexible component under the action of pretightening force and serves as a sensing element for converting a strain signal into an optical signal; the contact member has a tip of a hemispherical shape for concentrating a contact force at one point; the supporting component is used for supporting and fixing the whole sensor. The force sensor has the advantages of high sensitivity, wide measurement range, high linearity, high biocompatibility, electromagnetic interference resistance and the like, and can provide interaction force information between a minimally invasive surgery robot and human body tissues in minimally invasive surgery tissue palpation.
Description
Technical Field
The invention relates to the technical field of optical fiber sensing, in particular to a one-dimensional palpation force sensor which has a large measurement range and high resolution and can be applied to clinical minimally invasive surgery.
Background
Compared with the traditional open surgery, the minimally invasive surgery has the advantages of small incision, small pain in the surgery, less bleeding, small wound, good postoperative effect and the like. The minimally invasive surgery assisted by the robot enables a doctor to complete the surgery in a more comfortable posture, and the fatigue degree of the doctor is reduced. Therefore, robot-assisted minimally invasive surgery is a necessary trend in surgical procedures. However, in the existing stage, the master-slave operation mode of the minimally invasive surgical robot prevents a surgeon from directly contacting an operation area, and only obtains the tissue surface information of an operation visual field by means of visual feedback, so that the force information is lost, and the tumor and cancer below the tissue surface can not be judged and accurately positioned. Therefore, the development of the minimally invasive surgery robot manpower sensing technology has very important significance for realizing the touch diagnosis of the minimally invasive surgery robot.
In particular, in order to obtain interactive force information between the surgical instrument and the human tissue, it is necessary to integrate a force sensor at the distal end of the surgical instrument. Minimally invasive surgical robot human sensors need to meet medical needs first, and need to be able to be integrated into minimally invasive surgical robots and meet most of tactile diagnostic applications second. The traditional minimally invasive surgery robot manual sensor aiming at tissue palpation has the defects of poor biocompatibility, easy damage of a sensing element or difficulty in integration in a surgical instrument and the like, such as a strain gauge type sensor, a capacitance type sensor, a piezoresistive type sensor and a piezoelectric film type sensor, and the application of the sensor in minimally invasive surgery is limited. Moreover, most sensors cannot bear a sterilization process of high temperature and high pressure, and the repeatability of measurement results is reduced after a plurality of sterilization cycles.
To solve the limitations and application difficulties of the above sensing technology, a Fiber Optic Sensor (FOS) is widely introduced and popularized to realize force sensing in minimally invasive surgery. The optical fiber has the advantages of small size, high flexibility, good biocompatibility, strong electromagnetic interference resistance and the like. These advantages support the miniaturization of fiber optic force sensors, ensure the safety of various surgical procedures, and make them suitable for most surgical procedures, particularly in high intensity electromagnetic environments. At present, foreign research institutions propose a touch sensing array sensor based on light intensity modulation to realize contact force detection, and the touch sensing array sensor is used for touch diagnosis of in vitro models and organ experiments. However, the light intensity modulation type sensor usually has the defects of limited resolution and small measurement range, which brings certain difficulties for clinical application. According to the working principle of the light intensity modulation sensor, the optical fiber sensor is sensitive to the bending loss of the optical fiber and the change of the input light intensity, so that the optical fiber sensor is easy to generate undesirable wavelength drift and is difficult to achieve higher precision and repeatability.
Disclosure of Invention
Based on the above limitations of the existing optical fiber force sensor in the application of minimally invasive surgery, the technical problem to be solved by the invention is to provide a one-dimensional palpation force sensor based on an optical fiber Bragg grating, wherein the sensor adopts the optical fiber Bragg grating as a sensing element and has the characteristic of insensitivity to light intensity change and optical fiber bending; meanwhile, the optical fiber Bragg grating is arranged on the central line of the hollow structure of the sarrus flexible mechanism in a tensioned state, so that the axial force is detected, and the device has the advantages of high detection sensitivity, high resolution and large measurement range.
The technical scheme adopted by the invention for solving the technical problems is as follows: a one-dimensional palpation force transducer based on fiber Bragg grating, includes contact member, force sensitive flexible part, a fiber Bragg grating and support component, wherein: the contact component, the force-sensitive flexible component and the support component are sequentially connected;
the contact component consists of a contact head and a first hollow cylinder connected with the contact head;
the force-sensitive flexible component comprises a first optical fiber fixing part, a rigid body replaced flexible sarrus mechanism and a second hollow cylinder which are coaxially arranged in sequence; the first optical fiber fixing part is arranged at the end part of the flexible sarrus mechanism; the flexible sarrus mechanism comprises four flexible hinges which are uniformly arranged at intervals of 90 degrees along the circumferential direction, and the second hollow cylinder is connected with the flexible sarrus mechanism; a hollow cavity coaxial with the second hollow cylinder is arranged in the flexible sarrus mechanism;
the supporting component comprises a third hollow cylinder and a second optical fiber fixing part which are coaxially arranged, and the second optical fiber fixing part is arranged at the end part of the third hollow cylinder;
the fiber Bragg grating is suspended on the central axis of the hollow cavity in the force-sensitive flexible component, one end of the fiber Bragg grating is fixed on the first fiber fixing part, the other end of the fiber Bragg grating is fixed on the second fiber fixing part, the whole fiber Bragg grating keeps a tensioning state under the action of pretightening force, and the rest part of the optical fiber is led out from the third hollow cylinder of the supporting component.
In the above scheme, the fiber bragg grating led out through the support component is connected with a signal processing unit, and the signal processing unit comprises a fiber bragg grating demodulator and a computer processing unit.
Preferably, the contact head is formed in a hemispherical shape to sense a contact force and concentrate the contact force at one point, and the contact head and the first hollow cylinder may be integrally formed or may be separately formed.
Preferably, the contact member and the force-sensitive flexible member, and the force-sensitive flexible member and the support member are fixed by screwing.
Further, in the contact component, the inner surface of the first hollow cylinder is provided with an internal thread; in the force-sensitive flexible structure, a first hollow short cylinder is arranged between a first optical fiber fixing part and the flexible sarrus mechanism, and external threads are arranged on the first hollow short cylinder; the first hollow cylinder with internal thread is screwed with the first hollow short cylinder with external thread in the force-sensitive flexible component.
Further, in the force-sensitive flexible component, the inner surface of the second hollow cylinder is provided with internal threads; in the supporting component, a second hollow short cylinder is arranged between the second optical fiber fixing part and the third hollow cylinder, and external threads are arranged on the second hollow short cylinder; the second hollow cylinder with the internal thread is screwed with the second hollow short cylinder with the external thread in the supporting part.
Furthermore, an optical fiber mounting groove communicated with the hollow cavity in the force-sensitive flexible component is formed in the first optical fiber fixing part; and an optical fiber mounting groove communicated with the hollow cavity in the third hollow cylinder is formed in the second optical fiber fixing part.
Preferably, the first optical fiber fixing portion and the second optical fiber fixing portion are respectively a cylinder or a semi-cylinder.
Preferably, the fiber bragg grating is fixed in the fiber mounting grooves of the first and second fiber fixing portions by means of epoxy resin adhesive fixing.
Preferably, the contact member, the force-sensitive flexible member and the support member are all made of an aluminum alloy material.
Compared with the prior art, the invention has the following advantages and effects:
1. in the one-dimensional palpation force sensor, the fiber Bragg grating is used as a sensing element, the fiber Bragg grating belongs to a wavelength modulation type device, and compared with a light intensity modulation type fiber sensor, the light intensity loss caused by input light intensity change and fiber Bragg grating bending has no influence on central wavelength drift, so that better strain sensitivity and output signal improvement can be realized, and the detection precision is improved; in addition, the invention designs the coupling of the fiber Bragg grating and the Sarrus flexible mechanism, develops the obtained palpation one-dimensional force sensor, and can realize the accurate judgment and the accurate positioning of tumors and cancers below the surface of the tissue when being applied to the robot-assisted minimally invasive surgery so as to improve the safety of the surgery.
2. In the one-dimensional palpation force sensor, the force-sensitive flexible component is formed by comprehensively designing the configuration of the Sarrus flexible mechanism by adopting a rigid body replacement method, the sensor inherits the larger axial deformation capacity of the Sarrus mechanism, and simultaneously has good linear relation between force and deformation, and the sensor obtained by design has higher sensitivity and linearity.
3. In the one-dimensional palpation force sensor, the fiber Bragg grating is arranged on the central axis of the force-sensitive flexible structure in a manner that two ends of the fiber Bragg grating are fixed and the middle of the fiber Bragg grating is suspended, and the fiber Bragg grating is kept in a tensioning state under the action of a pre-tightening force, so that the fiber Bragg grating can obtain higher sensitivity, higher resolution and a larger measurement range; compared with the traditional mode of directly sticking the whole optical fiber, the two-point type arrangement mode can avoid the chirp phenomenon generated by uneven strain of the grating.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic perspective view of a one-dimensional palpation force sensor based on fiber bragg grating according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a contact component according to an embodiment of the present invention.
FIG. 3 is a schematic perspective view of a force-sensitive flexible component according to an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a part of the flexible sarrus mechanism in fig. 3.
Fig. 5 is a schematic perspective view of a support member according to an embodiment of the present invention.
Fig. 6 is a schematic cross-sectional structure diagram of a one-dimensional palpation force sensor according to an embodiment of the invention.
Fig. 7 is a schematic diagram of signal processing of a one-dimensional palpation force sensor according to an embodiment of the invention.
Description of reference numerals: 1. a contact member; 11. a contact head; 12. a first hollow cylinder; 2. a force sensitive flexible member; 21. a first optical fiber fixing section; 22. a first hollow short cylinder; 23. a flexible sarrus mechanism; 24. a second hollow cylinder; 3. a fiber bragg grating; 4. a support member; 41. a second optical fiber fixing section; 42. a second hollow short cylinder; 43. a third hollow cylinder; 5. a fiber grating demodulator; 6. a computer processing unit.
Detailed Description
The present invention will be described in further detail with reference to examples, which are illustrative of the present invention and are not to be construed as being limited thereto.
Example 1: as shown in fig. 1, a one-dimensional palpation force sensor based on fiber bragg grating mainly comprises a contact component 1, a force sensitive flexible component 2, a fiber bragg grating 3 and a support component 4; wherein: the contact component 1, the force-sensitive flexible component 2 and the support component 4 are sequentially connected; specifically, the method comprises the following steps:
as shown in fig. 2, the contact member 1 is composed of a contact 11 and a first hollow cylinder 12 connected to the contact 11;
as shown in fig. 3, the force-sensitive flexible component 2 includes a first optical fiber fixing portion 21, a rigid body-replaced flexible sarrus mechanism 23, and a second hollow cylinder 24, which are coaxially arranged in sequence; the first optical fiber fixing part 21 is arranged at the end part of the flexible sarrus mechanism 23; the flexible sarrus mechanism 23 comprises four flexible hinges which are uniformly arranged at intervals of 90 degrees along the circumferential direction, and the second hollow cylinder 24 is connected with the flexible sarrus mechanism 23; a hollow cavity coaxial with the second hollow cylinder 24 is arranged in the flexible sarrus mechanism 23, and an optical fiber mounting groove communicated with the hollow cavity is formed in the first optical fiber fixing part 21;
as shown in fig. 5, the supporting member 4 includes a third hollow cylinder 43 and a second optical fiber fixing portion 41, which are coaxially disposed, the second optical fiber fixing portion 41 is disposed at an end of the third hollow cylinder 43, and an optical fiber mounting groove penetrating through a hollow cavity of the third hollow cylinder 43 is disposed inside the second optical fiber fixing portion 41;
as shown in fig. 6, the fiber bragg grating 3 is suspended on the central axis of the hollow cavity inside the force-sensitive flexible component 2, and one end of the fiber bragg grating is fixed in the fiber mounting groove on the first fiber fixing portion 21, and the other end of the fiber bragg grating is fixed in the fiber mounting groove on the second fiber fixing portion 41, the entire fiber bragg grating 3 is kept in a tensioned state under the action of a pre-tightening force, and the remaining portion of the fiber bragg grating is led out from the third hollow cylinder 43 of the supporting component 4.
Specifically, in this embodiment 1, the contact head 11 is configured to be a hemisphere, and is used for sensing a contact force and concentrating the contact force at one point, and the contact head 11 and the first hollow cylinder 12 may be integrally configured or separately configured; the contact head 11 and the first hollow cylinder 12 are both made of aluminum alloy materials; the force-sensitive flexible component 2 is formed by comprehensively designing the configuration of the sarrus mechanism by adopting a rigid body replacement method, and realizes miniaturization by equivalently replacing a kinematic pair of the rigid sarrus mechanism by a miniature flexible hinge, wherein: the specific structure of the branched chain part is shown in fig. 4, and the force-sensitive flexible component 2 is made of an aluminum alloy material as a whole; the supporting part 4 is used for supporting and fixing the whole sensor and is connected with an external operation machine, and the material of the supporting part is aluminum alloy.
In the one-dimensional palpation force sensor based on fiber bragg grating described in this embodiment 1, between the contact component 1 and the force sensitive flexible component 2, the force sensitive flexible component 2 and the support component 4 are respectively installed and fixed in a threaded connection manner, and the specific connection settings are as follows:
(1) in the contact part 1, the inner surface of a first hollow cylinder 12 is provided with internal threads; in the force-sensitive flexible component 2, a first hollow short cylinder 22 is arranged between the first optical fiber fixing part 21 and the flexible sarrus mechanism 23, and external threads are arranged on the first hollow short cylinder 22; the first hollow cylinder 12 with internal thread is screwed to the first short hollow cylinder 22 with external thread in the force-sensitive flexible part 2.
(2) In the force-sensitive flexible component 2, the inner surface of the second hollow cylinder 24 is provided with internal threads; in the support member 4, a second hollow short cylinder 42 is arranged between the second optical fiber fixing part 41 and the third hollow cylinder 43, and external threads are arranged on the second hollow short cylinder 42; the second hollow cylinder 24 with internal thread is screwed to a second short hollow cylinder 42 with external thread in the support part 4.
Further, in the embodiment 1, the first fiber fixing portion 21 and the second fiber fixing portion 42 are respectively a cylinder or a semi-cylinder, preferably a semi-cylinder; the fiber bragg grating 3 is fixed in the fiber mounting grooves of the first fiber fixing portion 21 and the second fiber fixing portion 42 by means of epoxy resin adhesive fixation. Wherein: preferably, the coating layer near the grating on the first fiber fixing portion 21 and the second fiber fixing portion 42 may be stripped off to increase the adhesive force.
Further, as shown in fig. 7, in the present embodiment 1, the fiber bragg grating 3 led out via the supporting member 4 is connected to a signal processing unit including a fiber bragg grating demodulator 5 and a computer processing unit 6. Wherein: the fiber grating modulator 5 is used for converting the optical signal into a digital signal, and the computer processing unit 6 is used for displaying the digital signal in real time.
The specific detection principle is as follows:
when the sensor is subjected to an axial force load, the contact head 11 will concentrate the force at one point and transfer the force to the force sensitive flexible part 2, causing it to deform. After the force-sensitive flexible component 2 is deformed, the fiber bragg gratings 3 adhered to the two ends generate corresponding strain to cause the change of the grating pitch of the fiber bragg gratings 3, so that the central wavelength of the grating reflected wave generates drift, and the relationship between the central wavelength drift and the strain of the fiber bragg gratings is as follows:
wherein, λ is the initial central wavelength of the fiber Bragg grating, Δ λ is the central wavelength drift amount of the grating, αfIs the thermal expansion coefficient of the optical fiber, and xi is the thermo-optic coefficient of the optical fiber material, PeIs the elasto-optic coefficient of the fiber; delta epsilon is the strain change generated by the fiber grating; the axial force applied to the sensor is in a linear relation with the fiber Bragg grating central wavelength drift amount, so that after a linear coefficient is calculated through a related calibration experiment, the information of the applied axial force can be represented through the wavelength drift information detected by the fiber Bragg grating demodulator, the measurement of the information of the interaction force between the instrument and the human tissue in the robot-assisted minimally invasive surgery is realized, and the tumor and the cancer below the tissue surface are judgedBreaking and accurate positioning.
In addition, it should be noted that the specific embodiments described in the present specification may differ in the shape of the components, the names of the components, and the like. All equivalent or simple changes of the structure, the characteristics and the principle of the invention which are described in the patent conception of the invention are included in the protection scope of the patent of the invention. Various modifications, additions and substitutions for the specific embodiments described may be made by those skilled in the art without departing from the scope of the invention as defined in the accompanying claims.
Claims (10)
1. A one-dimensional palpation force transducer based on fiber Bragg grating, characterized by that, including contact member, force sensitive flexible part, a fiber Bragg grating and support member, wherein: the contact component, the force-sensitive flexible component and the support component are sequentially connected;
the contact component consists of a contact head and a first hollow cylinder connected with the contact head;
the force-sensitive flexible component comprises a first optical fiber fixing part, a rigid body replaced flexible sarrus mechanism and a second hollow cylinder which are coaxially arranged in sequence; the first optical fiber fixing part is arranged at the end part of the flexible sarrus mechanism; the flexible sarrus mechanism comprises four flexible hinges which are uniformly arranged at intervals of 90 degrees along the circumferential direction, and the second hollow cylinder is connected with the flexible sarrus mechanism; a hollow cavity coaxial with the second hollow cylinder is arranged in the flexible sarrus mechanism;
the supporting component comprises a third hollow cylinder and a second optical fiber fixing part which are coaxially arranged, and the second optical fiber fixing part is arranged at the end part of the third hollow cylinder;
the fiber Bragg grating is suspended on the central axis of the hollow cavity in the force-sensitive flexible component, one end of the fiber Bragg grating is fixed on the first fiber fixing part, the other end of the fiber Bragg grating is fixed on the second fiber fixing part, the whole fiber Bragg grating keeps a tensioning state under the action of pretightening force, and the rest part of the optical fiber is led out from the third hollow cylinder of the supporting component.
2. The one-dimensional palpation force sensor based on fiber bragg grating of claim 1, wherein the fiber bragg grating led out through the supporting member is connected with a signal processing unit, said signal processing unit comprises a fiber bragg grating demodulator and a computer processing unit.
3. The one-dimensional palpation force sensor based on fiber bragg grating as claimed in claim 2, wherein said contact head is configured as a hemisphere for sensing and focusing the contact force at a point, said contact head can be integrated with the first hollow cylinder or separated from the first hollow cylinder.
4. The one-dimensional palpation force sensor based on fiber Bragg grating as claimed in claim 3, wherein said contact component and force-sensitive flexible component, and said force-sensitive flexible component and supporting component are fixed by screw connection.
5. The one-dimensional palpation force sensor based on fiber bragg grating as claimed in claim 4, wherein, in said contact member, the inner surface of the first hollow cylinder is provided with internal threads; in the force-sensitive flexible component, a first hollow short cylinder is arranged between the first optical fiber fixing part and the flexible sarrus mechanism, and external threads are arranged on the first hollow short cylinder; the first hollow cylinder with internal thread is screwed with the first hollow short cylinder with external thread in the force-sensitive flexible component.
6. The one-dimensional palpation force sensor based on fiber bragg grating as claimed in claim 5, wherein said force sensitive flexible member has an internal thread on the inner surface of the second hollow cylinder; in the supporting component, a second hollow short cylinder is arranged between the second optical fiber fixing part and the third hollow cylinder, and external threads are arranged on the second hollow short cylinder; the second hollow cylinder with the internal thread is screwed with the second hollow short cylinder with the external thread in the supporting part.
7. The one-dimensional palpation force sensor based on fiber Bragg grating as claimed in claim 6, wherein said first fiber fixation part is provided with a fiber installation groove communicating with said hollow cavity inside said force sensitive flexible member; and an optical fiber mounting groove communicated with the hollow cavity in the third hollow cylinder is formed in the second optical fiber fixing part.
8. The one-dimensional palpation force sensor based on fiber bragg grating according to claim 7, wherein said first fiber fixing part and said second fiber fixing part are respectively a cylinder or a semi-cylinder.
9. The one-dimensional palpation force sensor based on fiber bragg grating as claimed in claim 7, wherein said fiber bragg grating is fixed in the fiber mounting groove of the first and second fiber fixing part by means of epoxy resin adhesive fixation.
10. The one-dimensional palpation force sensor based on fiber bragg grating of claim 1 wherein said contact member, force sensitive flexible member and support member are made of aluminum alloy material.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111078513.0A CN113804338A (en) | 2021-09-15 | 2021-09-15 | One-dimensional palpation force sensor based on fiber Bragg grating |
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| CN202111078513.0A CN113804338A (en) | 2021-09-15 | 2021-09-15 | One-dimensional palpation force sensor based on fiber Bragg grating |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115290243A (en) * | 2022-07-19 | 2022-11-04 | 天津大学 | Three-dimensional force sensor and measuring system for minimally invasive surgery |
| CN115413990A (en) * | 2022-08-15 | 2022-12-02 | 天津大学 | Bionic tentacle sensor for flexible endoscopy of natural cavity |
| CN115770019A (en) * | 2022-12-06 | 2023-03-10 | 天津大学 | Pulse measurement sensing device and measurement system |
| 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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| CN111803143A (en) * | 2020-07-14 | 2020-10-23 | 天津大学 | Three-dimensional force sensing surgical needle for minimally invasive surgery |
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| CN111803143A (en) * | 2020-07-14 | 2020-10-23 | 天津大学 | Three-dimensional force sensing surgical needle for minimally invasive surgery |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115290243A (en) * | 2022-07-19 | 2022-11-04 | 天津大学 | Three-dimensional force sensor and measuring system for minimally invasive surgery |
| CN115413990A (en) * | 2022-08-15 | 2022-12-02 | 天津大学 | Bionic tentacle sensor for flexible endoscopy of natural cavity |
| 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 |
| CN115770019A (en) * | 2022-12-06 | 2023-03-10 | 天津大学 | Pulse measurement sensing device and measurement system |
| CN115770019B (en) * | 2022-12-06 | 2024-04-26 | 天津大学 | Pulse measurement sensing device and measurement system |
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Application publication date: 20211217 |