CN116195976A - Optical fiber-based touch sensor, working method and palpation tool - Google Patents

Optical fiber-based touch sensor, working method and palpation tool Download PDF

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Publication number
CN116195976A
CN116195976A CN202310077225.6A CN202310077225A CN116195976A CN 116195976 A CN116195976 A CN 116195976A CN 202310077225 A CN202310077225 A CN 202310077225A CN 116195976 A CN116195976 A CN 116195976A
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Prior art keywords
optical fiber
touch sensor
supporting surface
based touch
contact
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Pending
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CN202310077225.6A
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Chinese (zh)
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王迎智
柳常清
周毅
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Jixian Artificial Intelligence Co Ltd
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Jixian Artificial Intelligence Co Ltd
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Priority to CN202310077225.6A priority Critical patent/CN116195976A/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/0048—Detecting, measuring or recording by applying mechanical forces or stimuli
    • A61B5/0053—Detecting, measuring or recording by applying mechanical forces or stimuli by applying pressure, e.g. compression, indentation, palpation, grasping, gauging
    • 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
    • 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
    • A61B34/35—Surgical robots for telesurgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/05—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves 
    • A61B5/055—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves  involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/22—Ergometry; Measuring muscular strength or the force of a muscular blow
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6846—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive
    • A61B5/6885—Monitoring or controlling sensor contact pressure
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • 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
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • 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
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure

Abstract

The invention belongs to the technical field of palpation tools, and provides a touch sensor based on optical fibers, a working method and a palpation tool, wherein a transmitting optical fiber and a receiving optical fiber are arranged on a second supporting surface by fixing contacts and reflectors on two sides of a first supporting surface; when the contact is stressed, the first elastic supporting surface is displaced to enable the reflecting mirror corresponding to the stressed contact to be displaced, the distance between the mirror surface and the end part of the optical fiber set is changed after the reflecting mirror is displaced, so that the light intensity change received by the receiving optical fiber is changed, the stress at different contacts can be obtained by utilizing the relation between the contact force and the illumination intensity, and the measurement of the contact force is realized by utilizing a light modulation method; the contact sensor meets the high-temperature sterilization requirement, can be compatible with magnetic resonance imaging, and can meet the application requirement of the palpation tool in minimally invasive surgery after being applied to the palpation tool.

Description

Optical fiber-based touch sensor, working method and palpation tool
Technical Field
The invention belongs to the technical field of palpation tools, and particularly relates to a touch sensor based on an optical fiber, a working method and a palpation tool.
Background
In conventional open surgery, a physician evaluates the force of a surgical tool against soft tissue by pressing an organ on the patient's soft tissue with a finger, palpation being a powerful tool to determine subcutaneous structures and evaluate soft tissue characteristics. Since some solid tumors are harder than surrounding soft tissue, their presence, size, location, etc. can be obtained through tactile feedback. For example, manual palpation is effective in detecting breast cancer and prostate tumors, a necessary means to ensure successful tumor resection while reducing errors, which cannot be done directly using small incisions used in minimally invasive surgery (MinimallyLnvasiveSurgery, MIS).
The inventor finds that compared with the traditional open surgery, MIS has the advantages of low infection risk, less soft tissue injury, quick postoperative recovery and the like; however, one major drawback of MIS is the lack of tactile feedback of the surgical instrument with the soft tissue; to solve this problem, some force and touch sensing technologies have been developed in the related art, such as measuring the touch force by using the parameter changes of piezoelectricity, capacitance, resistance, air pressure, etc., but the touch sensor developed based on the principles of piezoelectricity, capacitance, resistance, air pressure, etc. often cannot withstand high temperature sterilization and is not compatible with magnetic resonance imaging (Magnetic Resonance Imaging, MRI), and is not suitable for a palpation tool, thus limiting the application in minimally invasive surgery.
Disclosure of Invention
In order to solve the problems, the invention provides the optical fiber-based touch sensor, the working method and the palpation tool, and the touch force is measured by utilizing the optical modulation method, so that the optical fiber-based touch sensor has the advantages of wide application range, low cost, no influence of temperature, easiness in preparation and the like, and is compatible with magnetic resonance imaging.
In order to achieve the above object, in a first aspect, the present invention provides an optical fiber-based touch sensor, which adopts the following technical scheme:
a fiber-based touch sensor, comprising:
the flexible supporting mechanism comprises a first supporting surface and a second supporting surface which are parallel to each other;
the plurality of contacts are fixed on one side of the first supporting surface far away from the second supporting surface;
the reflectors are fixed on one side of the first supporting surface, which is close to the second supporting surface; the number of the contacts and the number of the reflectors are the same, and the fixed positions on the first supporting surface correspond to each other;
the optical fiber groups are arranged on the second supporting surface, the optical fibers and the reflectors are the same in number and correspond to each other in position; each optical fiber set includes a transmitting optical fiber and a receiving optical fiber.
Further, the contact comprises a cylindrical portion and a round head portion, one end of the cylindrical portion is fixed on the first supporting surface, and the round head portion is arranged at the other end of the cylindrical portion.
Further, an aluminum film is arranged on the surface of the reflecting mirror.
Further, the reflecting mirror surface is a concave mirror surface.
Further, a reflecting cavity is arranged outside the reflecting mirror.
Further, a plurality of through holes are formed in the first supporting surface; a fixing piece is arranged in the through hole through a plurality of elastic beams; one side of the fixing piece is fixed with the contact, and the other side is fixed with the reflecting mirror.
In order to achieve the above object, in a second aspect, the present invention provides a method for operating an optical fiber-based tactile sensor, which adopts the following technical scheme:
a method of operating an optical fiber-based touch sensor employing an optical fiber-based touch sensor as described in the first aspect, comprising: when the contact is subjected to a force, the first support surface is displaced to enable the reflector corresponding to the force contact to be displaced; after the reflector is displaced, the distance between the mirror surface and the end part of the optical fiber group is changed, so that the light intensity change received by the receiving optical fiber is changed, and the stress at different contacts is obtained by utilizing the relation between the contact force and the illumination intensity.
Further, light intensity distribution images corresponding to the contacts are obtained; performing binarization processing on the light intensity distribution image; the binarized light intensity distribution image is divided into a plurality of sensitive areas with gray values of 1 of the internal pixels, and the number of pixels with gray values of 1 in each area is N; the higher the illumination intensity, the larger the value of N, and conversely, the smaller the illumination intensity, the smaller the value of N.
Further, the relationship between the mirror surface distance of the receiving fiber end and the mirror and the value of N is:
Figure BDA0004066452570000031
wherein x is the distance between the end of the receiving optical fiber and the mirror surface of the reflecting mirror; sigma, lambda and mu are undetermined parameters.
In order to achieve the above object, in a third aspect, the present invention provides a palpation tool, which adopts the following technical scheme:
a palpation tool employing a fiber-based tactile sensor as described in the first aspect.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the contact and the reflecting mirror are fixed on two sides of the first supporting surface, and the transmitting optical fiber and the receiving optical fiber are arranged on the second supporting surface; when the contact is stressed, the first elastic supporting surface is displaced to enable the reflecting mirror corresponding to the stressed contact to be displaced, the distance between the mirror surface and the end part of the optical fiber set is changed after the reflecting mirror is displaced, so that the light intensity change received by the receiving optical fiber is changed, the stress at different contacts can be obtained by utilizing the relation between the contact force and the illumination intensity, and the measurement of the contact force is realized by utilizing a light modulation method; the contact sensor meets the high-temperature sterilization requirement, can be compatible with magnetic resonance imaging, and can meet the application requirement of the palpation tool in minimally invasive surgery after being applied to the palpation tool.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments and are incorporated in and constitute a part of this specification, illustrate and explain the embodiments and together with the description serve to explain the embodiments.
FIG. 1 is a schematic structural diagram of embodiment 1 of the present invention;
FIG. 2 is a schematic overall view of embodiment 1 of the present invention;
FIG. 3 is a top view of embodiment 1 of the present invention;
FIG. 4 is a schematic view of a first supporting surface of the flexible supporting mechanism according to embodiment 1 of the present invention;
FIG. 5 is a graph showing the relationship between the mirror distance and the N value of the receiving fiber end of example 1 of the present invention;
FIG. 6 is a schematic structural diagram of embodiment 3 of the present invention;
1, a contact; 2. a guide mechanism; 3. a flexible support mechanism; 4. a reflecting mirror; 5. a base; 6. an emission optical fiber; 7. receiving an optical fiber; 8. a card is stamped; 9. an operating handle; 10. patient skin; 11. soft tissue; 12. a tumor; 13. a through hole; 14. an elastic beam; 15. and a fixing piece.
Detailed Description
The invention will be further described with reference to the drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
Example 1:
as shown in fig. 1, the present embodiment provides an optical fiber-based tactile sensor, which includes a contact 1, a guiding mechanism 2, a flexible supporting mechanism 3, a reflecting mirror 4, a base 5, an optical fiber group, and the like;
the flexible supporting mechanism 3 is cylindrical and comprises a side surface, a first supporting surface and a second supporting surface which are parallel to each other; the second support surface may be fixed to the base 5;
the plurality of contacts 1 are fixed on one side of the first supporting surface far away from the second supporting surface;
the number of the reflectors 4 is also plural, and the reflectors are fixed on one side of the first supporting surface, which is close to the second supporting surface; the number of the contacts and the number of the reflectors are the same, and the fixed positions on the first supporting surface correspond to each other;
the optical fiber groups are arranged on the second supporting surface, the optical fibers and the reflectors are the same in number and correspond to each other in position; the optical fiber group comprises a transmitting optical fiber 6 and a receiving optical fiber 7.
Specifically, when the contact 1 is stressed, the first supporting surface with elasticity is displaced to enable the reflecting mirror 4 corresponding to the stressed contact 1 to be displaced, the distance between the reflecting mirror 4 and the end part of the optical fiber set is changed after the reflecting mirror 4 is displaced, so that the light intensity change received by the receiving optical fiber 7 is changed, the stress at different contacts can be obtained by utilizing the relation between the contact force and the illumination intensity, and the measurement of the contact force can be realized by utilizing a light modulation method.
The optical fiber-based touch sensor in this embodiment can be understood as a probe, the probe head including a plurality of optical fiber groups and a plurality of contacts, and a camera being provided at the proximal end of the receiving fiber 7 in the optical fiber groups for acquiring an image of the light intensity distribution. The touch sensor in the embodiment has the characteristics of low cost, light weight, sterilization, easy miniaturization and compatibility with a magnetic resonance imaging environment, has the capability of accurately detecting the nodule in the soft tissue, and can meet the use requirement of a palpation tool in minimally invasive surgery.
The contact 1 comprises a cylindrical part and a round head part, one end of the cylindrical part is fixed on the first supporting surface, the round head part is arranged at the other end of the cylindrical part, and the round head part is used for being contacted with a measuring object such as soft tissue and the like.
An aluminum film is arranged on the mirror surface of the reflecting mirror 4 to prevent reflected light intensity errors caused by oxidation of the mirror surface of the reflecting mirror 4; the mirror surface of the reflecting mirror 4 is a concave mirror surface, so that good light reflection is realized; each mirror 4 is isolated from adjacent other reflective cavities by an independent reflective cavity to prevent cross-talk of incident light in the different reflective cavities.
In order to improve the elastic performance and ensure the detection precision of the touch sensor, a plurality of through holes 13 are formed in the first supporting surface; a fixing piece 15 is arranged in the through hole 13 through a plurality of elastic beams 14; one side of the fixing piece 15 is fixed with the contact 1, and the other side is fixed with the reflecting mirror 4; the provision of a plurality of spring beams 14 improves the spring performance and by varying the structural parameters of the spring beams 14, tactile sensors of different sensitivities are designed.
The working principle or process of the embodiment is as follows:
the plurality of contacts 1 in the touch sensor can move on the first supporting surface of the guide mechanism 2, the lower end surface of each contact 1 is adhered to the fixing piece 15, the fixing piece 15 can be made of beryllium copper alloy to reduce hysteresis effect caused by other nonmetallic materials, and the beryllium copper alloy has good elasticity. When a force is applied to the tactile sensor, the change in displacement of the fixing piece 15 changes the change in light intensity received by the receiving fiber 7. The light intensity distribution image can be obtained by a high-resolution camera attached to the near end of the receiving optical fiber 7, and the relationship between the contact force and the image intensity is established after the light intensity distribution image is processed, calibrated and calibrated.
Binarizing the light intensity distribution image:
Figure BDA0004066452570000071
wherein I is threshold Is a binarization threshold; f (f) T (x, y) is a pixel gray value of (x, y) as a coordinate after binarization. The binarized image will be divided into a plurality of sensitive areas with gray values of 1 for the inner pixels, each sensitive area corresponding to one receiving fiber 7, as will be appreciated.
Defining the number of pixels with gray values of 1 in each sensitive area as N, there is for each sensitive area:
N＝∑f T (x，y)
when the received illumination intensity is higher, the value of N is larger, whereas when the received illumination intensity is smaller, the value of N is smaller
The magnitude of the N value is related to the end of the transmitting fiber 6 and the receiving fiber 7 to the mirror surface of the mirror 4 as shown in fig. 5 below. In order to avoid the situation that the same N value corresponds to the distance value between the two receiving optical fibers 7 and the mirror surface of the reflecting mirror 4, the distance between the end surface of the receiving optical fiber 7 and the mirror surface of the reflecting mirror 4 is fixed between X1 and X2 during installation, so that the one-to-one correspondence between the distance between the end surface of the receiving optical fiber 7 and the mirror surface of the reflecting mirror 4 and the N value is established. The relationship between the mirror distance and the value of N of the end part of the receiving optical fiber 7 and the reflecting mirror 4 is as follows:
Figure BDA0004066452570000072
wherein x is the distance between the end of the receiving optical fiber and the mirror surface of the reflecting mirror, and x is a value between x1 and x 2; sigma, lambda and mu are undetermined parameters, and the optimal solution can be obtained through optimization according to calibration data.
Example 2:
a method of operating an optical fiber-based touch sensor employing an optical fiber-based touch sensor as described in the first aspect, comprising: when the contact is subjected to a force, the first support surface is displaced to enable the reflector corresponding to the force contact to be displaced; after the reflector is displaced, the distance between the mirror surface and the end part of the optical fiber group is changed, so that the light intensity change received by the receiving optical fiber is changed, and the stress at different contacts is obtained by utilizing the relation between the contact force and the illumination intensity.
Further, light intensity distribution images corresponding to the contacts are obtained; performing binarization processing on the light intensity distribution image; the binarized light intensity distribution image is divided into a plurality of sensitive areas with gray values of 1 of the internal pixels, and the number of pixels with gray values of 1 in each area is N; the higher the illumination intensity, the larger the value of N, and conversely, the smaller the illumination intensity, the smaller the value of N.
Further, the relationship between the mirror surface distance of the receiving fiber end and the mirror and the value of N is:
Figure BDA0004066452570000081
wherein x is the distance between the end of the receiving optical fiber and the mirror surface of the reflecting mirror; sigma, lambda and mu are undetermined parameters.
Example 3:
as shown in fig. 6, this embodiment provides a palpation tool employing the fiber-based tactile sensor as described in embodiment 1. Specifically, the optical fiber-based touch sensor in the embodiment 1 can be integrated on the existing surgical instrument, so that the surgical instrument has a mechanical sensing function, can be used for contact force feedback of the surgical instrument and soft tissues in the surgical process, improves the in-situ feeling in the surgical process, improves the safety in the surgical process, and avoids secondary injury to a patient caused by blindness of force sensing in the surgical process. The surgical instrument may also include a punch 8 for positioning with the patient's skin 10, and an operating handle 9. For example, a touch sensor is integrated to the head of an endoscope, soft tissues are palpated under the guidance of the endoscope, the whole palpation tool is installed on a surgical robot, remote palpation is performed through a force feedback assistant, the touch sensor measures touch force according to light intensity, then the touch force acts on the hands of a doctor in real time through the force feedback assistant in a certain proportion, and the doctor judges the existence, position, size and other related information of the pathological tissues according to the change of the touch force.
The above description is only a preferred embodiment of the present embodiment, and is not intended to limit the present embodiment, and various modifications and variations can be made to the present embodiment by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present embodiment should be included in the protection scope of the present embodiment.

Claims (10)

1. An optical fiber-based touch sensor, comprising:
the flexible supporting mechanism comprises a first supporting surface and a second supporting surface which are parallel to each other;
the plurality of contacts are fixed on one side of the first supporting surface far away from the second supporting surface;
the reflectors are fixed on one side of the first supporting surface, which is close to the second supporting surface; the number of the contacts and the number of the reflectors are the same, and the fixed positions on the first supporting surface correspond to each other;
the optical fiber groups are arranged on the second supporting surface, the optical fibers and the reflectors are the same in number and correspond to each other in position; each optical fiber set includes a transmitting optical fiber and a receiving optical fiber.
2. The optical fiber-based touch sensor of claim 1 wherein the contact comprises a cylindrical portion and a rounded portion, one end of the cylindrical portion being secured to the first support surface and the other end of the cylindrical portion being provided with the rounded portion.
3. An optical fiber based touch sensor as in claim 1 wherein said mirror surface is provided with an aluminum film.
4. An optical fiber based touch sensor as in claim 1 wherein said mirror surface is a concave mirror surface.
5. The fiber-based touch sensor of claim 1, wherein the reflector is externally disposed with a reflective cavity.
6. The optical fiber-based touch sensor of claim 1, wherein the first support surface is formed with a plurality of through holes; a fixing piece is arranged in the through hole through a plurality of elastic beams; one side of the fixing piece is fixed with the contact, and the other side is fixed with the reflecting mirror.
7. A method of operating an optical fiber-based touch sensor employing the optical fiber-based touch sensor of any of claims 1-6, comprising: when the contact is subjected to a force, the first support surface is displaced to enable the reflector corresponding to the force contact to be displaced; after the reflector is displaced, the distance between the mirror surface and the end part of the optical fiber group is changed, so that the light intensity change received by the receiving optical fiber is changed, and the stress at different contacts is obtained by utilizing the relation between the contact force and the illumination intensity.
8. The method of operating an optical fiber-based touch sensor of claim 7, wherein light intensity distribution images corresponding to a plurality of contacts are acquired; performing binarization processing on the light intensity distribution image; the binarized light intensity distribution image is divided into a plurality of sensitive areas with gray values of 1 of the internal pixels, and the number of pixels with gray values of 1 in each area is N; the higher the illumination intensity, the larger the value of N, and conversely, the smaller the illumination intensity, the smaller the value of N.
9. The method of operating an optical fiber-based touch sensor of claim 8, wherein the receiving fiber end is in a relationship to the mirror specular distance and N values of:
Figure FDA0004066452550000021
wherein x is the distance between the end of the receiving optical fiber and the mirror surface of the reflecting mirror; sigma, lambda and mu are undetermined parameters.
10. A palpation tool employing the optical fiber-based tactile sensor according to any one of claims 1-6.
CN202310077225.6A 2023-01-31 2023-01-31 Optical fiber-based touch sensor, working method and palpation tool Pending CN116195976A (en)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1561906A (en) * 2004-04-02 2005-01-12 刘俊茹 Multipath pulse shape sonsor for Chinese medicine
CN201177542Y (en) * 2008-02-04 2009-01-07 南京信息工程大学 Double channel optical fiber air pressure sensor
CN103047934A (en) * 2011-10-14 2013-04-17 无锡阿斯特科技有限公司 Optical fiber sensing microspur measurement system
CN104977118A (en) * 2015-07-10 2015-10-14 贵州大学 Pressure difference sensing method and sensor probe employing same
CN112229553A (en) * 2020-10-26 2021-01-15 华中科技大学 Flexible touch sensor based on light attenuation, array and preparation method thereof
CN115574998A (en) * 2022-07-27 2023-01-06 北京交通大学 Optical fiber light spot touch sensor based on reflection type probe structure

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1561906A (en) * 2004-04-02 2005-01-12 刘俊茹 Multipath pulse shape sonsor for Chinese medicine
CN201177542Y (en) * 2008-02-04 2009-01-07 南京信息工程大学 Double channel optical fiber air pressure sensor
CN103047934A (en) * 2011-10-14 2013-04-17 无锡阿斯特科技有限公司 Optical fiber sensing microspur measurement system
CN104977118A (en) * 2015-07-10 2015-10-14 贵州大学 Pressure difference sensing method and sensor probe employing same
CN112229553A (en) * 2020-10-26 2021-01-15 华中科技大学 Flexible touch sensor based on light attenuation, array and preparation method thereof
CN115574998A (en) * 2022-07-27 2023-01-06 北京交通大学 Optical fiber light spot touch sensor based on reflection type probe structure

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