WO2022166183A1 - 柔性机器人的力或力形状感知一体化驱动丝及其应用方法 - Google Patents

柔性机器人的力或力形状感知一体化驱动丝及其应用方法 Download PDF

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WO2022166183A1
WO2022166183A1 PCT/CN2021/115524 CN2021115524W WO2022166183A1 WO 2022166183 A1 WO2022166183 A1 WO 2022166183A1 CN 2021115524 W CN2021115524 W CN 2021115524W WO 2022166183 A1 WO2022166183 A1 WO 2022166183A1
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force
flexible robot
driving wire
robot
controllable
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French (fr)
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高安柱
邹运
杨广中
陈卫东
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Shanghai Jiao Tong University
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Shanghai Jiao Tong University
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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

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  • the invention relates to the technical field of medical robots, in particular, to a force or force-shape perception integrated driving wire of a flexible robot and an application method thereof.
  • Flexible medical robots are mainly used in various types of minimally invasive surgery, interventional surgery, etc. in medical operations. Diagnosis and treatment are carried out through small wounds outside the human body or with the help of the natural orifices of the human body.
  • the robot body is small in size and has a controllable structure. It is strong, integrates multiple types of auxiliary sensors and operating instruments, and has the characteristics of better minimally invasive, flexible and safe.
  • driving wires, cameras, lighting components, operating instruments and other matching devices make the position space of each part more crowded, so it is also not conducive to the miniaturization of the overall size of the flexible robot to a certain extent, and has certain minimally invasive requirements for some operations. insufficient.
  • the shortcomings of the controllable segment structure of the wire-driven flexible robot and the application of the driving wire are that (1) the controllable segment of the flexible robot needs to integrate cameras, sensors, driving wires and other devices, and the overall structure size is not easy to miniaturize; (2) the drive used The function of the silk is single, and it can only perform the stretching driving operation.
  • Patent document CN110269693A discloses a connecting assembly driven by a driving wire, an operating arm and a surgical robot using the connecting assembly.
  • the connecting assembly includes: a plurality of connecting units and driving wires connected in sequence, a plurality of connecting units connected in sequence, at least two of the connecting units form a rotatable joint assembly, at least two of the joint assemblies are coupled, and both are active A joint assembly; a driving wire is used to drive the joint assembly, and the driving wire has a main driving wire for driving the active joint assembly to rotate.
  • the purpose of the present invention is to provide a force or force shape sensing integrated driving wire of a flexible robot and an application method thereof.
  • a force or force-shape sensing integrated driving wire for a flexible robot provided according to the present invention includes: an optical fiber sensor;
  • the optical fiber sensor includes a fiber Bragg grating that is etched along the length of the optical fiber body according to usage requirements;
  • the main body of the optical fiber adopts the optical fiber material whose strength and toughness meet the preset requirements as the main body.
  • the force or force-shape sensing integrated driving wire of the flexible robot comprises a single-core optical fiber sensor or a multi-core optical fiber sensor with preset wavelength intervals.
  • a coating tube is provided on the outer surface of the optical fiber body as required.
  • the cladding tube is made of materials with superelastic properties, including nickel-titanium alloys and polymers.
  • using the above-mentioned force or force shape sensing integrated driving wire of a flexible robot includes:
  • the working channel of the driving wire is distributed and arranged at different positions according to the requirements of the axial cross section of the controllable bending section structure of the robot.
  • the robot controllable bending segment structure is provided with different types according to different requirements;
  • the robot controllable bending segment structure includes: a symmetric slot structure robot controllable bending segment structure, an asymmetric slot robot controllable bending segment structure, a self-contact robot controllable bending segment structure and a cross-axis robot Controllable bending segment structure.
  • the method further includes: the plurality of integrated driving wires are assembled in the driving wire working channel of the controllable segment of the flexible robot, and are connected to the driving mechanism and the fiber grating demodulator through the support structure.
  • Step M1 Determine the quantity and length of the integrated driving wire and the specific position of the working channel of the driving wire on the controllable section of the flexible robot according to the structural characteristics of the applied flexible robot and the preset bending deformation state requirements;
  • Step M2 Determine the number and position of the fiber Bragg gratings on the fiber sensor in each integrated driving wire according to the force or force shape sensing requirements to be acquired by the applied flexible robot;
  • Step M3 the driving mechanism applies different driving pulling forces to the connected multiple integrated driving wires in a certain order, and the controllable segment of the flexible robot obtains the required spatial bending shape;
  • Step M4 The fiber grating sensor demodulator connected to the end of the integrated driving wire obtains the real-time data fed back by the optical fiber sensor, and then obtains the force or force shape perception information distribution of each driving wire along the axial direction through data processing.
  • the present invention has the following beneficial effects:
  • the present invention utilizes the feature that the FBG-based optical fiber sensor and the driving wire are integrated into one body, which can reduce the overall size of the controllable segments of different types of flexible robots, and can realize operations such as smaller incisions or cavity intervention;
  • the present invention utilizes the functional characteristics of the FBG-based optical fiber sensor itself, and can acquire data according to actual needs, and can realize the data acquisition of the driving internal force distribution of multiple driving wires in the controllable segment of the flexible robot, or the force and deformation data acquisition;
  • the present invention utilizes the functional characteristics of the driving wire integrated with the FBG-based optical fiber sensor, which can withstand a large pulling force, and can realize flexible and controllable deformation of the controllable section of the flexible robot by stretching the driving wire distributed in different positions.
  • the present invention realizes that the combination of a single driving wire and an FBG-based optical fiber sensor is concentrated in a single working channel, so that the flexible robot has a smaller structural size and can be applied to various types of wire-driven flexible medical robots.
  • the minimally invasive, effective, and safe of flexible robot-assisted medical surgery has important application value, which can ensure rapid and safe diagnosis and treatment to protect national health and benefit mankind. Meanwhile, the present invention can also be applied to wire-driven flexible robots in other fields.
  • FIG. 1 is a schematic structural diagram of a force or force shape sensing integrated driving wire of a flexible robot comprising a single-core optical fiber sensor;
  • FIG. 2 is a schematic structural diagram of a force or force-shape sensing integrated driving wire of a flexible robot including a multi-core fiber sensor;
  • Fig. 3 is the overall schematic diagram of the application of force or force shape sensing integrated driving wire in a flexible robot with a symmetrical groove structure
  • FIG. 4 is a schematic diagram of the assembly structure of the controllable segment of a flexible robot with a symmetrical groove structure applied to a force or force-shape sensing integrated driving wire;
  • Fig. 5 is the assembly exploded schematic diagram of the controllable segment of a flexible robot with a symmetrical groove structure applied to the integrated driving wire of force or force shape perception;
  • FIG. 6 is a schematic diagram of the assembly structure of the controllable segment of a flexible robot with an asymmetric groove structure applied to the force or force shape sensing integrated driving wire;
  • Fig. 7 is a schematic diagram of assembly and decomposition of a flexible robot with an asymmetric trough structure using a force or force-shape sensing integrated driving wire;
  • FIG. 8 is a schematic diagram of the assembly structure of a self-contacting flexible robot controllable segment applied with a force or force-shape sensing integrated driving wire;
  • Fig. 9 is the assembly exploded schematic diagram of the controllable segment of a kind of self-contacting flexible robot applied with the integrated driving wire of force or force shape perception;
  • Fig. 10 is a schematic diagram of the assembly structure of a force or force-shape sensing integrated driving wire applied to a controllable segment of a cross-axis flexible robot;
  • Fig. 11 is a schematic diagram showing the assembly and decomposition of a controllable segment of a cross-axis flexible robot with an integrated driving wire for force or force-shape perception;
  • 1-integrated driving wire 2-a controllable segment of a flexible robot with a symmetrical groove structure; 3-a controllable segment of a flexible robot with an asymmetrical groove; 4-a self-contact flexible robot can Controlling section; 5-a controllable section of a cross-axis flexible robot; 6-supporting structure; 7-driving mechanism; 8-fiber grating sensor demodulator; 11-driving wire end part; 12-single-core fiber sensor ; 13-multi-core fiber sensor; 14-cladding tube; 120-fiber Bragg grating (FBG); 121-core; 122-cladding; 123-coating layer; 130-fiber Bragg grating (FBG); 131- Fiber core; 132-cladding layer; 133-coating layer; 201-front-end controllable segment of a flexible robot controllable segment with a symmetrical slot structure; 202-a rear end of a flexible robot controllable segment with a symmetrical slot-structure end controllable segment; 203
  • the present invention proposes a force or force shape sensing integrated driving wire for a flexible robot and an application method thereof.
  • a series of fiber Bragg gratings (FBGs) with a certain wavelength interval are etched on the sensor along the length direction.
  • the fiber Bragg gratings (FBGs) engraved with fiber Bragg gratings (FBGs) can be single-core fibers or multi-core fibers. Interpolate the discrete tension values of points to calculate the continuous tension distribution of each driving wire inside the robot.
  • the driving wire is a multi-core fiber, its shape information can be calculated at the same time.
  • the surface of the fiber sensor body can also be made of nickel-titanium according to requirements.
  • Coated tube of alloy or other superelastic material for protection and strength.
  • the combination of a single driving wire and an FBG-based optical fiber sensor can be concentrated in a single working channel, so that the flexible robot has a small structure size, which can be applied to various types of wire-driven flexible medical robots, and can be used for flexible robots to assist medical treatment.
  • the minimally invasive, effective and safe operation has important application value, which can ensure rapid and safe diagnosis and treatment to protect the health of the people and benefit mankind. Meanwhile, the present invention can also be applied to wire-driven flexible robots in the field.
  • a force or force-shape sensing integrated driving wire for a flexible robot provided according to the present invention includes: an optical fiber sensor;
  • the optical fiber sensor includes a fiber Bragg grating that is etched along the length of the optical fiber body according to usage requirements;
  • the main body of the optical fiber adopts the optical fiber material whose strength and toughness meet the preset requirements as the main body.
  • the force or force-shape sensing integrated driving wire of the flexible robot includes a single-core optical fiber sensor or a multi-core optical fiber sensor with preset wavelength intervals.
  • the outer surface of the optical fiber body is provided with a coating tube as required.
  • the cladding tube is made of materials with superelastic properties, including nickel-titanium alloys and polymers.
  • using the above-mentioned force or force shape sensing integrated driving wire of a flexible robot includes:
  • the working channel of the driving wire is distributed and arranged at different positions according to the requirements of the axial cross section of the controllable bending section structure of the robot.
  • the robot controllable bending segment structure is provided with different types according to different requirements;
  • the robot controllable bending segment structure includes: a symmetric slot structure robot controllable bending segment structure, an asymmetric slot robot controllable bending segment structure, a self-contact robot controllable bending segment structure and a cross-axis robot Controllable bending segment structure.
  • the plurality of integrated driving wires are assembled in the driving wire working channel of the controllable segment of the flexible robot, and are connected to the driving mechanism and the fiber grating demodulator through the support structure.
  • Step M1 Determine the quantity and length of the integrated driving wire and the specific position of the working channel of the driving wire on the controllable section of the flexible robot according to the structural characteristics of the applied flexible robot and the preset bending deformation state requirements;
  • Step M2 Determine the number and position of the fiber Bragg gratings on the fiber sensor in each integrated driving wire according to the force or force shape sensing requirements to be acquired by the applied flexible robot;
  • Step M3 the driving mechanism applies different driving pulling forces to the connected multiple integrated driving wires in a certain order, and the controllable segment of the flexible robot obtains the required spatial bending shape;
  • Step M4 The fiber grating sensor demodulator connected to the end of the integrated driving wire obtains the real-time data fed back by the optical fiber sensor, and then obtains the force or force shape perception information distribution of each driving wire along the axial direction through data processing, which can be used for subsequent flexibility Robot status monitoring.
  • Example 2 is a modification of Example 1
  • the integrated driving wire for force or force shape sensing of a flexible robot including a single-core fiber sensor or a multi-core fiber sensor;
  • the integrated driving wire 1 includes a single-core optical fiber.
  • the integrated driving wire 1 includes a driving wire head end portion 11, a single-core optical fiber sensor 12, a fiber Bragg grating (FBG) 120, a fiber core 121, a cladding layer 122, a coating layer 123 and cladding tube 14;
  • FBG fiber Bragg grating
  • the integrated driving wire 1 comprising a multi-core optical fiber includes a driving wire head end portion 11, a multi-core optical fiber sensor 13, a fiber Bragg grating (FBG) 130, a fiber core 131, a cladding layer 132, a coating layer 133 and a cladding tube 14;
  • FBG fiber Bragg grating
  • the driving wire head end portion 11 for positioning the top of the integrated driving wire 1 on the working channel of the controllable segment of the flexible robot is designed at the front of the integrated driving wire 1;
  • the single-core optical fiber sensor 12 for acquiring force sensing data is etched with a certain number and spacing of fiber Bragg gratings (FBGs) 120 along the length direction of the included fiber core 121 according to requirements, and the outer surface of the fiber core 121 is provided with a cladding 122, A protective coating layer 123 is provided on the outer surface of the cladding layer 122;
  • FBGs fiber Bragg gratings
  • the multi-core optical fiber sensor 13 for acquiring force and shape sensing data has a plurality of fiber cores 131 uniformly distributed in the cross section along the circumferential direction according to the requirements, and the optical fiber sensor 13 is etched along the length direction of each fiber core 131 with a certain number and A fiber Bragg grating (FBG) 130 with a spacing, a cladding layer 132 is provided between the outer surfaces of the plurality of fiber cores 131 and the gaps, and a protective coating layer 133 is provided on the outer surface of the cladding layer 132;
  • FBG fiber Bragg grating
  • the main body of the single-core optical fiber sensor 12 or the multi-core optical fiber sensor 13 adopts a high-strength, high-toughness optical fiber material as the main body, which has a high bearing capacity and can meet the driving requirements of the deformation of the flexible robot;
  • the covering tube 14 for protecting the surface of the driving wire is designed on the outer surface of the single-core optical fiber sensor 12 or the multi-core optical fiber sensor 13, and its top is designed on the driving wire head end portion 11 and the single-core optical fiber sensor 12 (or the multi-core optical fiber sensor 12). the connection of the sensor 13);
  • the cladding tube 14 can be made of nickel-titanium alloy materials with characteristics such as super elasticity, or other materials, which have a good protective effect on the main body of the driving wire, and can improve the overall strength at the same time.
  • the force or force shape sensing integrated driving wire of the flexible robot is applied in a flexible robot with a symmetrical groove structure.
  • An integrated driving wire 1 a flexible robot controllable segment 2 with a symmetrical slot structure, a support structure 6 , a driving mechanism 7 and a fiber grating sensor demodulator 8 .
  • a plurality of integrated driving wires 1 are used in a flexible robot with a symmetrical groove structure, wherein the controllable section 2 of a flexible robot with a symmetrical groove structure passes through the support structure 6 and the drive mechanism 7 connected, the integrated driving wire 1 passes through the driving mechanism 7 and is finally connected with the fiber grating sensor demodulator 8;
  • the flexible robot controllable segment 2 with a symmetrical groove structure can obtain a preset three-dimensional space curved shape
  • the fiber grating sensor demodulator 8 is used to obtain the relevant data of the plurality of integrated driving wires 1 in the deformed state of the flexible robot controllable segment 2 with a symmetrical groove structure, and finally a symmetrical groove structure is obtained through data processing.
  • a controllable segment 2 of a flexible robot with a symmetrical groove structure includes a front-end controllable segment 201 and a rear-end controllable segment 202 .
  • the driving force obtains the controllable segment 21 of a flexible robot with a symmetrical groove structure in an omnidirectional bending deformation state.
  • the front end portion of the flexible robot controllable section 2 with a symmetrical slot structure is enlarged and schematically shown as a structure 203, and its cross section is provided with a symmetrical slot structure flexible robot controllable section 2 with different numbers and positions.
  • the driving wire 1 for integrated driving and sensing is placed between the front-end controllable section 201 and the front-end controllable section 2 according to the structural characteristics and preset bending shape of the flexible robot controllable section 2 with a symmetrical slot structure.
  • the eight driving wire working channels 204 to which the position of the rear controllable section 202 belongs are assembled with four pieces in each of the two front and rear sections. to the location.
  • an assembly structure of a controllable segment of an asymmetrical slot-type flexible robot mainly includes the integrated driving wire 1 and an asymmetric slot-type assembly structure.
  • the assembly structure segment of the controllable segment 3 of an asymmetric slot-type flexible robot can be divided into a front-end controllable segment 301 and a rear-end controllable segment 302 .
  • an enlarged schematic structure 303 at the front end of the controllable section 3 of a flexible robot with an asymmetric trough structure, and its cross section is provided with a flexible robot controllable section with an asymmetric trough structure in different numbers and positions. 3 of the drive wire working channel 304 and the operating instrument channel 305.
  • two driving wires 1 for integration of driving and sensing are assembled at different positions in the working channel at the positions of the front controllable section 301 and the rear controllable section 302.
  • the tail ends of the multiple integrated driving wires 1 apply different forces in a certain order to achieve different shapes of the controllable segment 31 of an asymmetric grooved flexible robot under the state of bidirectional bending and deformation, which can improve the operation of the flexible robot.
  • the flexibility and high efficiency of the flexible robot can be designed according to the different structural characteristics of the flexible robot to realize the bending deformation state in three-dimensional space.
  • an assembly structure of a controllable segment of a self-contact flexible robot mainly includes the driving wire 1 and a self-contact flexible robot controllable segment.
  • the assembly structure segment of the controllable segment 4 of a self-contact flexible robot can be divided into a front-end controllable segment 404 and a rear-end controllable segment 405 ;
  • a self-contacting flexible robot controllable segment 4 assembly includes a cylindrical joint part 401 of the controllable segment body, a skeleton beam part 402 of the controllable segment, and a self-contact joint part 403 of the controllable segment;
  • an enlarged schematic structure 406 of the front end portion of a self-contacting flexible robot controllable segment 4 is provided with different numbers and positions of the driving wires of the self-contacting flexible robot controllable segment 4 in its cross section.
  • the cylindrical joints 401 of the controllable section and the self-contact joints 403 of the controllable section are arranged and fixed in a certain number and spacing in the length direction of the skeleton beam 402 of the controllable section according to requirements.
  • the self-contact joints 403 of the controllable segment are arranged in head-to-tail contact, and the skeleton beam 402 of the controllable segment passes through the cylindrical joints 401 of the controllable segment and the self-contact joints 403 of the controllable segment.
  • a driving wire 1 for the integrated integration of driving and sensing is assembled in the working channel where the front controllable section 404 and the rear controllable section 405 are located, respectively.
  • the stretching operation of applying different forces in sequence can realize different shapes of the controllable segment 41 of a self-contact flexible robot under the state of bidirectional bending deformation, so as to improve the flexibility and efficiency of the operation of the flexible robot.
  • the characteristic design can realize the bending deformation state in three-dimensional space.
  • an assembly structure of a controllable segment of a cross-axis flexible robot the assembly structure mainly includes the integrated driving wire 1 and a cross-axis flexible robot Robot controllable segment 5.
  • a cross-axis flexible robot controllable segment assembly structure segment can be divided into a front-end controllable segment 503 and a rear-end controllable segment 504;
  • a cross-axis flexible robot controllable segment 5 assembly includes an outer part 501 of the controllable segment and an outer part 502 of the controllable segment;
  • the outer part 501 of the controllable segment and the inner part 502 of the controllable segment are assembled coaxially outside and inside, wherein the inner surface of the outer part 501 and the driving wire working channel designed on the outer surface of the inner part 502 are assembled coaxially , the positioning through holes on the rear surface of the outer part 501 and the inner part 502 are assembled concentrically;
  • one driving wire 1 for the integrated integration of driving and sensing is installed in each of the working channels where the front controllable segment 503 and the rear controllable segment 504 are located.
  • the installation position of the driving wire 1 is arranged according to the preset bending shape.
  • a cross-axis flexibility can be realized in the state of bidirectional bending and deformation.
  • the different shapes of the controllable section 51 of the robot are designed to improve the flexibility and efficiency of the operation of the flexible robot, and the bending deformation state in three-dimensional space can be realized according to the different structural characteristics of the flexible robot.
  • the invention discloses a force or force-shape perception integrated driving wire of a flexible robot and an application method thereof, which belong to the application field of medical robots and are also applicable to other application fields.
  • the driving wire used in the method includes a driving wire head end part, a fiber optic sensor with customized wavelength fiber Bragg grating (FBG) and a cladding tube part that can be added according to use requirements.
  • FBG fiber Bragg grating
  • the fiber Bragg grating with a customized number and interval is etched on it, which can be a single-core fiber or a multi-core fiber, and the cladding tube can be set on the surface of the fiber according to the needs of use; the invention can be customized according to the actual situation. application scenarios.
  • the invention can supplement the shortcomings of the application of sensors and driving wires in the controllable section of the traditional wire-driven flexible robot, overcome the shortcomings that the traditional wire-driven flexible robot is not easy to miniaturize design and the application of the driving wire has a single function, and can realize a single driving wire and a driving wire based on a single driving wire.
  • the combination of FBG's optical fiber sensor is concentrated in a single working channel, the shape of the flexible robot and the multi-point external contact force of the structure are integrated in real time, and the flexible driving of the deformation of the flexible robot can be applied to most types of silk-driven flexible robots.
  • the minimally invasive, effective, and safe of assisted medical surgery has important application value, and at the same time, it has applicability to the application of silk-driven flexible robots in other fields.
  • the system, device and each module provided by the present invention can be completely implemented by logically programming method steps.
  • the same program is implemented in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, and embedded microcontrollers, among others. Therefore, the system, device and each module provided by the present invention can be regarded as a kind of hardware component, and the modules included in it for realizing various programs can also be regarded as the structure in the hardware component;
  • a module for realizing various functions can be regarded as either a software program for realizing a method or a structure within a hardware component.

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Abstract

本发明提供了一种柔性机器人的力或力形状感知一体化驱动丝及其应用方法，包括：光纤传感器；所述光纤传感器包括光纤布拉格光栅根据使用需求沿所述光纤主体长度方向刻蚀；所述光纤主体采用强度、韧性达到预设要求的光导纤维材料为主体。本发明实现单根驱动丝和光纤传感器的结合体集中在单个工作通道内，从而使柔性机器人具备较小的结构尺寸，可应用于多种类别的丝驱动柔性医疗机器人，对柔性机器人辅助医疗手术的微创性、有效性、安全性等具有重要的应用价值，能够保证快速且安全的开展诊断和治疗来保障国民健康和造福于人类。同时，本发明也可应用于其他领域的丝驱动柔性机器人。

Description

柔性机器人的力或力形状感知一体化驱动丝及其应用方法 技术领域
本发明涉及医疗机器人技术领域，具体地，涉及柔性机器人的力或力形状感知一体化驱动丝及其应用方法。
背景技术
柔性医疗机器人主要应用于医疗手术中的各类微创手术、介入手术等，通过人体外部较小的创口或借助人体的自然腔道来进行诊断和治疗，机器人本体尺寸较小，结构可控性强，集成了多类辅助传感器及操作器械，具有较好的微创性、灵活性、安全性等特点。柔性机器人可控段的驱动有多种方式，利用驱动丝控制可控段来实现其灵活形变从而完成手术操作是一种较为常见的方式，目前丝驱动柔性机器人可控段多集成了各类传感器、驱动丝、摄像头、照明组件、操作器械等配合装置，使得各部分的位置空间较为拥挤，因此也在一定程度上不利于柔性机器人整体尺寸小型化，对于一些手术的微创性要求具有一定的不足。
现阶段丝驱动柔性机器人可控段结构及驱动丝应用存在的不足在于，(1)柔性机器人可控段需集成摄像头、传感器、驱动丝等装置，整体结构尺寸不易小型化；(2)所用驱动丝的功能性单一，只能够进行拉伸驱动操作。
专利文献CN110269693A(申请号：201810210926.1)公开了一种驱动丝驱动的连接组件及应用该连接组件的操作臂、手术机器人。连接组件包括：多个依次连接的连接单元及驱动丝，多个依次连接的连接单元，至少两个所述连接单元形成可转动的关节组件，至少两个所述关节组件耦合，且均为主动关节组件；驱动丝用于驱动所述关节组件，所述驱动丝具有主驱动丝，用于驱动所述主动关节组件转动。
发明内容
针对现有技术中的缺陷，本发明的目的是提供一种柔性机器人的力或力形状感 知一体化驱动丝及其应用方法。
根据本发明提供的一种柔性机器人的力或力形状感知一体化驱动丝，包括：光纤传感器；
所述光纤传感器包括光纤布拉格光栅根据使用需求沿所述光纤主体长度方向刻蚀；
所述光纤主体采用强度、韧性达到预设要求的光导纤维材料为主体。
优选地，所述柔性机器人的力或力形状感知一体化驱动丝包括具有预设波长间隔的单芯光纤传感器或多芯光纤传感器。
优选地，还包括：所述光纤本体外表面根据需求设有包覆管。
优选地，所述包覆管采用超弹性特点的材料，包括镍钛合金和聚合物。
根据本发明提供的一种柔性机器人的力或力形状感知一体化驱动丝的应用方法，运用上述所述的一种柔性机器人的力或力形状感知一体化驱动丝包括：
将多根一体化驱动丝第一端部通过驱动丝工作通道穿出机器人可控弯曲段结构，一体化驱动丝第二端部设置为圆球体结构，且直径大于所述驱动丝工作通道直径；
所述驱动丝工作通道是在机器人可控弯曲段结构的轴线横截面根据需求在不同位置分布设置。
优选地，所述机器人可控弯曲段结构根据不同需求设有不同的类型；
所述机器人可控弯曲段结构包括：对称槽式结构的机器人可控弯曲段结构、非对称槽式的机器人可控弯曲段结构、自接触式的机器人可控弯曲段结构和交叉轴式的机器人可控弯曲段结构。
优选地，还包括：所述多根一体化驱动丝装配在所述柔性机器人可控段的驱动丝工作通道内，穿过支撑结构与驱动机构和光纤光栅解调仪相连接。
优选地，包括：
步骤M1：根据所应用柔性机器人的结构特点和预设弯曲变形状态需求来确定一体化驱动丝的数量、长度和在柔性机器人可控段上驱动丝工作通道的具体位置；
步骤M2：根据所应用柔性机器人需要获取的力或力形状感知需求确定每根一体化驱动丝中光纤传感器上光纤布拉格光栅的数量和位置；
步骤M3：驱动机构对所连接的多根一体化驱动丝按照一定次序施加不同的驱动拉力，柔性机器人可控段获得所需的空间弯曲形状；
步骤M4：一体化驱动丝末端连接的光纤光栅传感器解调仪获得光纤传感器反馈的实时数据，再通过数据处理获得每根驱动丝沿轴向的力或力形状感知信息分布。
与现有技术相比，本发明具有如下的有益效果：
1、本发明利用基于FBG的光纤传感器与驱动丝集成于一体的特点，能够减小不同类型柔性机器人可控段的整体尺寸，可实现更微小创口或腔道介入的手术等相关操作；
2、本发明利用基于FBG的光纤传感器本身的功能特点，能够根据实际需求进行数据获取，可实现柔性机器人可控段的多根驱动丝的驱动内力分布数据采集，或力和形变数据采集；
3、本发明利用集成基于FBG的光纤传感器的驱动丝的功能特点，能够承受较大的拉力，对不同位置分布的驱动丝进行拉伸操作，可实现柔性机器人可控段的灵活可控变形。
4、本发明实现单根驱动丝和基于FBG的光纤传感器的结合体集中在单个工作通道内，从而使柔性机器人具备较小的结构尺寸，可应用于多种类别的丝驱动柔性医疗机器人，对柔性机器人辅助医疗手术的微创性、有效性、安全性等具有重要的应用价值，能够保证快速且安全的开展诊断和治疗来保障国民健康和造福于人类。同时，本发明也可应用于其他领域的丝驱动柔性机器人。
附图说明
通过阅读参照以下附图对非限制性实施例所作的详细描述，本发明的其它特征、目的和优点将会变得更明显：
图1是包含单芯光纤传感器的柔性机器人的力或力形状感知一体化驱动丝的结构示意图；
图2是包含多芯光纤传感器的柔性机器人的力或力形状感知一体化驱动丝的结构示意图；
图3是力或力形状感知一体化驱动丝应用在一种对称槽式结构的柔性机器人的整体示意图；
图4是力或力形状感知一体化驱动丝应用在一种对称槽式结构的柔性机器人可控段的装配结构示意图；
图5是力或力形状感知一体化驱动丝应用在一种对称槽式结构的柔性机器人可控段的装配分解示意图；
图6是力或力形状感知一体化驱动丝应用在一种非对称槽式结构的柔性机器人可控段的装配结构示意图；
图7是力或力形状感知一体化驱动丝应用在一种非对称槽式结构的柔性机器人的装配分解示意图；
图8是力或力形状感知一体化驱动丝应用在一种自接触式的柔性机器人可控段的装配结构示意图；
图9是力或力形状感知一体化驱动丝应用在一种自接触式的柔性机器人可控段的装配分解示意图；
图10是力或力形状感知一体化驱动丝应用在一种交叉轴式的柔性机器人可控段的装配结构示意图；
图11是力或力形状感知一体化驱动丝应用在一种交叉轴式的柔性机器人可控段的装配分解示意图；
其中，1-一体化驱动丝；2-一种对称槽式结构的柔性机器人可控段；3-一种非对称槽式的柔性机器人可控段；4-一种自接触式的柔性机器人可控段；5-一种交叉轴式的柔性机器人可控段；6-支撑结构；7-驱动机构；8-光纤光栅传感器解调仪；11-驱动丝头端部分；12-单芯光纤传感器；13-多芯光纤传感器；14-包覆管；120-光纤布拉格光栅(FBG)；121-纤芯；122-包层；123-涂覆层；130-光纤布拉格光栅(FBG)；131-纤芯；132-包层；133-涂覆层；201-一种对称槽式结构的柔性机器人可控段的前端可控段；202-一种对称槽式结构的柔性机器人可控段的后端可控段；203一种对称槽式结构的柔性机器人可控段的前端部分放大示意结构；204一种对称槽式结构的柔性机器人可控段的一体化驱动丝工作通道；205-一种对称槽式结构的柔性机器人可控段的其他装置通道；206-一种对称槽式结构的柔性机器人可控段的操作器械通道；21-全向弯曲变形状态下的一种对称槽式结构的柔性机器人可控段；301-一种非对称槽式的柔性机器人可控段的前端可控段；302-一种非对称槽式的柔性机器人可控段的后端可控段；303-一种非对称槽式结构的柔性机器人可控段的前端部分放大示意结构；304一种非对称槽式结构的柔性机器人可控段的一体化驱动丝工作通道；305-一种非对称槽式结构的柔性机器人可控段的操作器械通道；31-双向弯曲变形状态下的一种非对称槽式的柔性机器人可控段；401-一种自接触式的柔性机器人可控段的圆柱关节件；402一种自接触式的柔性机器人可控段的骨架梁件；403-一种自接触式的柔性机器人可控段的自接触关节件；404-一种自接触式 的柔性机器人可控段的前端可控段；405-一种自接触式的柔性机器人可控段的后端可控段；406-一种自接触式的柔性机器人可控段的后端可控段的前端部分放大示意结构；407-一种自接触式的柔性机器人可控段的后端可控段的一体化驱动丝工作通道；408-一种自接触式的柔性机器人可控段的后端可控段的骨架梁件装配通道；41-双向弯曲变形状态下的一种自接触式的柔性机器人可控段；501-一种交叉轴式的柔性机器人可控段的外侧件；502-一种交叉轴式的柔性机器人可控段的内侧件；503-一种交叉轴式的柔性机器人可控段的前端可控段；504-一种交叉轴式的柔性机器人可控段的后端可控段；505-一种交叉轴式的柔性机器人可控段的前端部分放大示意结构；506-一种交叉轴式的柔性机器人可控段的一体化驱动丝工作通道；51-双向弯曲变形状态下的一种交叉轴式的柔性机器人可控段。
具体实施方式
下面结合具体实施例对本发明进行详细说明。以下实施例将有助于本领域的技术人员进一步理解本发明，但不以任何形式限制本发明。应当指出的是，对本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变化和改进。这些都属于本发明的保护范围。
实施例1
为解决上述技术问题，本发明提出了柔性机器人的力或力形状感知一体化驱动丝及其应用方法，该方法所用驱动丝采用高强度、高韧性的光导纤维材料为主体，根据使用需求在光纤传感器上沿长度方向刻蚀一系列具有一定波长间隔的光纤布拉格光栅(FBG)，刻有光纤布拉格光栅(FBG)的光纤传感器可以是单芯光纤或多芯光纤，针对每一根驱动丝的多点离散拉力值进行插值计算，从而计算每根驱动丝在机器人内部的连续拉力分布，当驱动丝为多芯光纤时，可同时计算出其形状信息，光纤传感器主体表面也可根据需求采用镍钛合金或其他超弹性材料的包覆管进行保护并提高强度。实现单根驱动丝和基于FBG的光纤传感器的结合体集中在单个工作通道内，从而使柔性机器人具备较小的结构尺寸，可应用于多种类别的丝驱动柔性医疗机器人，对柔性机器人辅助医疗手术的微创性、有效性、安全性等具有重要的应用价值，能够保证快速且安全的开展诊断和治疗来保障国民健康和造福于人类。同时，本发明也可应用在领域的丝驱动柔性机器人。
根据本发明提供的一种柔性机器人的力或力形状感知一体化驱动丝，包括：光纤传感器；
所述光纤传感器包括光纤布拉格光栅根据使用需求沿所述光纤主体长度方向刻蚀；
所述光纤主体采用强度、韧性达到预设要求的光导纤维材料为主体。
具体地，所述柔性机器人的力或力形状感知一体化驱动丝包括具有预设波长间隔的单芯光纤传感器或多芯光纤传感器。
具体地，还包括：所述光纤本体外表面根据需求设有包覆管。
具体地，所述包覆管采用超弹性特点的材料，包括镍钛合金和聚合物。
根据本发明提供的一种柔性机器人的力或力形状感知一体化驱动丝的应用方法，运用上述所述的一种柔性机器人的力或力形状感知一体化驱动丝包括：
将多根一体化驱动丝第一端部通过驱动丝工作通道穿出机器人可控弯曲段结构，一体化驱动丝第二端部设置为圆球体结构，且直径大于所述驱动丝工作通道直径；
所述驱动丝工作通道是在机器人可控弯曲段结构的轴线横截面根据需求在不同位置分布设置。
具体地，所述机器人可控弯曲段结构根据不同需求设有不同的类型；
所述机器人可控弯曲段结构包括：对称槽式结构的机器人可控弯曲段结构、非对称槽式的机器人可控弯曲段结构、自接触式的机器人可控弯曲段结构和交叉轴式的机器人可控弯曲段结构。
具体地，还包括：所述多根一体化驱动丝装配在所述柔性机器人可控段的驱动丝工作通道内，穿过支撑结构与驱动机构和光纤光栅解调仪相连接。
具体地，包括：
步骤M1：根据所应用柔性机器人的结构特点和预设弯曲变形状态需求来确定一体化驱动丝的数量、长度和在柔性机器人可控段上驱动丝工作通道的具体位置；
步骤M2：根据所应用柔性机器人需要获取的力或力形状感知需求确定每根一体化驱动丝中光纤传感器上光纤布拉格光栅的数量和位置；
步骤M3：驱动机构对所连接的多根一体化驱动丝按照一定次序施加不同的驱动拉力，柔性机器人可控段获得所需的空间弯曲形状；
步骤M4：一体化驱动丝末端连接的光纤光栅传感器解调仪获得光纤传感器反馈的实时数据，再通过数据处理获得每根驱动丝沿轴向的力或力形状感知信息分布，可用于后续的柔性机器人状态监测。
实施例2
实施例2是实施例1的变化例
如图1和图2所示，包含单芯光纤传感器或多芯光纤传感器的柔性机器人的力或力形状感知一体化驱动丝；
一体化驱动丝1包含单芯光纤的一体化驱动丝1包括驱动丝头端部分11、单芯光纤传感器12、光纤布拉格光栅(FBG)120、纤芯121、包层122、涂覆层123和包覆管14；
包含多芯光纤的一体化驱动丝1包括驱动丝头端部分11、多芯光纤传感器13、光纤布拉格光栅(FBG)130、纤芯131、包层132、涂覆层133和包覆管14；
用于将一体化驱动丝1顶部定位在柔性机器人可控段工作通道上的驱动丝头端部分11设计在一体化驱动丝1的最前面；
用于获取力感知数据的单芯光纤传感器12根据需求沿所包含纤芯121的长度方向上刻蚀一定数量和间距的光纤布拉格光栅(FBG)120，纤芯121外表面设有包层122，起到保护作用的涂覆层123设在包层122的外表面；
用于获取力和形状感知数据的多芯光纤传感器13根据需求在截面沿着周向均布多根纤芯131，该光纤传感器13沿所包含每一根纤芯131的长度方向上刻蚀一定数量和间距的光纤布拉格光栅(FBG)130，多根纤芯131外表面及间隙间设有包层132，起到保护作用的涂覆层133设在包层132的外表面；
该单芯光纤传感器12或多芯光纤传感器13主体采用高强度、高韧性的光导纤维材料为主体，具有较高的承载力，可满足柔性机器人变形的驱动需求；
用于保护驱动丝表面的包覆管14设计在单芯光纤传感器12或多芯光纤传感器13的外表面上，其顶部设计在驱动丝头端部分11和单芯光纤传感器12(或多芯光纤传感器13)的连接处；
该包覆管14可采用超弹性等特点的镍钛合金材料，也可采用其他材料，对驱动丝主体具有较好的保护作用，同时可提高整体的强度。
如图1、图2、图3、图4和图5所示，柔性机器人的力或力形状感知一体化驱动丝应用在一种对称槽式结构的柔性机器人之中，装配整体主要包括所述一体化驱动丝1、一种对称槽式结构的柔性机器人可控段2、支撑结构6、驱动机构7和光纤光栅传感器解调仪8。
如图3所示，多根一体化驱动丝1应用在一种对称槽式结构的柔性机器人之中，其中，一种对称槽式结构的柔性机器人可控段2通过支撑结构6与驱动机构7相连接，所 述一体化驱动丝1穿过驱动机构7最终与光纤光栅传感器解调仪8相连接；
通过驱动机构7对多根一体化驱动丝1末端按一定次序施加不同的驱动力，所述一种对称槽式结构的柔性机器人可控段2可以获得预设的三维空间弯曲形状；
通过光纤光栅传感器解调仪8获得一种对称槽式结构的柔性机器人可控段2变形状态下的多根所述一体化驱动丝1的相关数据，最终通过数据处理得到一种对称槽式结构的柔性机器人可控段2的力或力形状感知信息。
如图4所示，一种对称槽式结构的柔性机器人可控段2包括前端可控段201和后端可控段202，通过对多根所述一体化驱动丝1末端按一定次序施加不同驱动力获得全向弯曲变形状态下的一种对称槽式结构的柔性机器人可控段21。
如图5所示，一种对称槽式结构的柔性机器人可控段2的前端部分放大示意结构203，其截面设有不同数量和位置的一种对称槽式结构的柔性机器人可控段2的驱动丝工作通道204、其他装置通道205和操作器械通道206。
如图4和图5所示，用于驱动和感知一体化集成的驱动丝1根据一种对称槽式结构的柔性机器人可控段2的结构特性和预设弯曲形状在前端可控段201和后端可控段202位置所属的八个驱动丝工作通道204内前后两段各装配四根，所述一体化驱动丝1的驱动丝头端部分11布置在对应驱动丝工作通道204的不同轴向位置。
通过对多根一体化驱动丝1尾端按一定次序施加不同力的拉伸操作，可以实现全向弯曲变形状态下的一种对称槽式结构的柔性机器人可控段21的不同弯曲变形状态，以提高柔性机器人操作的灵活性和高效性，根据柔性机器人不同结构特性设计可实现三维空间的弯曲变形状态。
如图1、图2、图6和图7所示，一种非对称槽式的柔性机器人可控段的装配结构，该装配结构主要包括所述一体化驱动丝1和一种非对称槽式的柔性机器人可控段3。
如图6所示，一种非对称槽式的柔性机器人可控段3的装配结构段可分为前端可控段301和后端可控段302。
如图7所示，一种非对称槽式结构的柔性机器人可控段3的前端部分放大示意结构303，其截面设有不同数量及位置的一种非对称槽式结构的柔性机器人可控段3的驱动丝工作通道304和操作器械通道305。
如图6和图7所示，用于驱动和感知一体化集成的驱动丝1在前端可控段301和后端可控段302处位置的工作通道内的不同位置各装配两根，通过对多根一体化驱动丝1尾端按一定次序施加不同力的拉伸操作，可以实现双向弯曲变形状态下的一种非对称槽 式的柔性机器人可控段31的不同形态，可以提高柔性机器人操作的灵活性和高效性，根据柔性机器人不同结构特性设计可实现三维空间的弯曲变形状态。
如图1、图2、图8和图9所示，一种自接触式的柔性机器人可控段的装配结构，该装配结构主要包括所述驱动丝1和一种自接触式的柔性机器人可控段4。
如图8所示，一种自接触式的柔性机器人可控段4的装配结构段可分为前端可控段404和后端可控段405；
一种自接触式的柔性机器人可控段4的装配体包括可控段本体的圆柱关节件401、可控段的骨架梁件402和可控段的自接触关节件403；
如图9所示，一种自接触式的柔性机器人可控段4的前端部分放大示意结构406，其截面设有不同数量及位置的一种自接触式的柔性机器人可控段4的驱动丝工作通道407和骨架梁件装配通道408。
如图8和图9所示，可控段的圆柱关节件401和可控段的自接触关节件403按照需求在可控段的骨架梁件402长度方向上进行一定数量和间距的布置并固定，其中可控段的自接触关节件403之间进行首尾接触式布置，可控段的骨架梁件402穿过可控段的圆柱关节件401和可控段的自接触关节件403所设有的矩形骨架梁件安装通道408；
用于驱动和感知一体化集成的驱动丝1在前端可控段404和后端可控段405所处位置的工作通道内分别装配一根，通过对多根一体化驱动丝1尾端按一定次序施加不同力的拉伸操作，可以实现双向弯曲变形状态下的一种自接触式的柔性机器人可控段41的不同形态，以提高柔性机器人操作的灵活性和高效性，根据柔性机器人不同结构特性设计可实现三维空间的弯曲变形状态。
如图1、图2、图10和图11所示，一种交叉轴式的柔性机器人可控段的装配结构，该装配结构主要包括所述一体化驱动丝1和一种交叉轴式的柔性机器人可控段5。
如图10所示，一种交叉轴式的柔性机器人可控段装配结构段可分为前端可控段503和后端可控段504；
一种交叉轴式的柔性机器人可控段5装配体包括可控段的外侧件501和可控段的外侧件502；
可控段的外侧件501和可控段的内侧件502同轴心外内嵌套装配，其中外侧件501的内表面与内侧件502外表面上所设计的驱动丝工作通道进行同轴心装配，外侧件501和内侧件502尾部表面的定位通孔进行同轴心装配；
如图11所示，一种交叉轴式的柔性机器人可控段的前端部分放大示意结构505，其 截面设有两个对称位置的一种交叉轴式的柔性机器人可控段的驱动丝工作通道506。
如图10和图11所示，用于驱动和感知一体化集成的驱动丝1在前端可控段503和后端可控段504所处位置的工作通道内各装配一根，所述一体化驱动丝1的安装位置根据预设弯曲形状布置，通过对不同的一体化驱动丝1尾端按一定次序施加不同力的拉伸操作，可以实现双向弯曲变形状态下的一种交叉轴式的柔性机器人可控段51的不同形态，以提高柔性机器人操作的灵活性和高效性，根据柔性机器人不同结构特性设计可实现三维空间的弯曲变形状态。
本发明公开了柔性机器人的力或力形状感知一体化驱动丝及其应用方法，属于医疗机器人应用领域，同时也适用于其他应用领域。该方法所用驱动丝包括驱动丝头端部分、定制化波长光纤布拉格光栅(FBG)的光纤传感器和根据使用需求可增加的包覆管部分，根据需求在光纤传感器的每根纤芯上沿长度方向上刻蚀定制数量和间隔的布拉格光纤光栅，可以是单芯光纤或者多芯光纤，根据使用需求的包覆管可设在光纤表面上；本发明能够根据实际情况进行定制化应用，适合多种应用场景。本发明能够补充传统丝驱动柔性机器人可控段中传感器及驱动丝应用存在的不足，克服传统丝驱动柔性机器人不易小型化设计、驱动丝应用功能性单一的缺点，能够实现单根驱动丝和基于FBG的光纤传感器的结合体集中在单个工作通道内、柔性机器人形状和结构体多点外部接触力实时一体化感知以及柔性机器人形变的灵活驱动，可适用于大多数类型的丝驱动柔性机器人，对辅助医疗手术的微创性、有效性、安全性等具有重要的应用价值，同时对其他领域内的丝驱动柔性机器人的应用存在着适用性。
在本申请的描述中，需要理解的是，术语“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
本领域技术人员知道，除了以纯计算机可读程序代码方式实现本发明提供的系统、装置及其各个模块以外，完全可以通过将方法步骤进行逻辑编程来使得本发明提供的系统、装置及其各个模块以逻辑门、开关、专用集成电路、可编程逻辑控制器以及嵌入式微控制器等的形式来实现相同程序。所以，本发明提供的系统、装置及其各个模块可以被认为是一种硬件部件，而对其内包括的用于实现各种程序的模块也可以视为硬件部件内的结构；也可以将用于实现各种功能的模块视为既可以是实现方法的软件程序又可以 是硬件部件内的结构。
以上对本发明的具体实施例进行了描述。需要理解的是，本发明并不局限于上述特定实施方式，本领域技术人员可以在权利要求的范围内做出各种变化或修改，这并不影响本发明的实质内容。在不冲突的情况下，本申请的实施例和实施例中的特征可以任意相互组合。

Claims (8)

  1. 一种柔性机器人的力或力形状感知一体化驱动丝，其特征在于，包括：光纤传感器；
    所述光纤传感器包括光纤布拉格光栅根据使用需求沿所述光纤主体长度方向刻蚀；
    所述光纤主体采用强度、韧性达到预设要求的光导纤维材料为主体。
  2. 根据权利要求1所述的柔性机器人的力或力形状感知一体化驱动丝，其特征在于，所述柔性机器人的力或力形状感知一体化驱动丝包括具有预设波长间隔的单芯光纤传感器或多芯光纤传感器。
  3. 根据权利要求1所述的柔性机器人的力或力形状感知一体化驱动丝，其特征在于，还包括：所述光纤本体外表面根据需求设有包覆管。
  4. 根据权利要求3所述的柔性机器人的力或力形状感知一体化驱动丝，其特征在于，所述包覆管采用超弹性特点的材料，包括镍钛合金和聚合物。
  5. 一种柔性机器人的力或力形状感知一体化驱动丝的应用方法，其特征在于，运用权利要求1-4任一权利要求所述的一种柔性机器人的力或力形状感知一体化驱动丝包括：
    将多根一体化驱动丝第一端部通过驱动丝工作通道穿出机器人可控弯曲段结构，一体化驱动丝第二端部设置为圆球体结构，且直径大于所述驱动丝工作通道直径；
    所述驱动丝工作通道是在机器人可控弯曲段结构的轴线横截面根据需求在不同位置分布设置。
  6. 根据权利要求5所述的柔性机器人的力或力形状感知一体化驱动丝的应用方法，其特征在于，所述机器人可控弯曲段结构根据不同需求设有不同的类型；
    所述机器人可控弯曲段结构包括：对称槽式结构的机器人可控弯曲段结构、非对称槽式的机器人可控弯曲段结构、自接触式的机器人可控弯曲段结构和交叉轴式的机器人可控弯曲段结构。
  7. 根据权利要求5所述的柔性机器人的力或力形状感知一体化驱动丝的应用方法，其特征在于，还包括：所述多根一体化驱动丝装配在所述柔性机器人可控段的驱动丝工作通道内，穿过支撑结构与驱动机构和光纤光栅解调仪相连接。
  8. 根据权利要求5所述柔性机器人的力和形状感知一体化驱动丝的应用方法，其特征在于，包括：
    步骤M1：根据所应用柔性机器人的结构特点和预设弯曲变形状态需求来确定一体化驱动丝的数量、长度和在柔性机器人可控段上驱动丝工作通道的具体位置；
    步骤M2：根据所应用柔性机器人需要获取的力或力形状感知需求确定每根一体化驱动丝中光纤传感器上光纤布拉格光栅的数量和位置；
    步骤M3：驱动机构对所连接的多根一体化驱动丝按照一定次序施加不同的驱动拉力，柔性机器人可控段获得所需的空间弯曲形状；
    步骤M4：一体化驱动丝末端连接的光纤光栅传感器解调仪获得光纤传感器反馈的实时数据，再通过数据处理获得每根驱动丝沿轴向的力或力形状感知信息分布。
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