作者：曾佳欣1, 熊鹏文1,2, 张强1, 龚思瑾1, 黄鑫2
作者单位：1. 南昌大学信息工程学院，江西 南昌 330031;
2. 东南大学仪器科学与工程学院，江苏 南京 210096
关键词：微创手术;光纤布拉格光栅;多维力传感器;有限元分析
摘要：
针对胸腔穿刺引流等精细化微创手术中接触力反馈不佳及无法感知不同方向力触觉信息的问题，设计一种基于光纤布拉格光栅（FBG）的精细化多维力触觉传感器，其能同时感知到手术中所受的轴向力、扭矩力和径向力信息；同时，对FBG的传感原理进行推导，分析该触觉传感器的结构设计，并采用有限元分析软件ANSYS对该传感器结构分别进行轴向力、径向力和扭矩力的受力模拟仿真。结果表明改进后的传感器相对传统构型应力强度和应力敏感区域都有所增大，测力灵敏度较高，能够更精准的检测手术过程中各方向上的力，适合应用于胸腔穿刺引流等精细化微创手术中。
Structure design and simulation of fine multidimensional force tactile sensor based on fiber Bragg grating
ZENG Jiaxin1, XIONG Pengwen1,2, ZHANG Qiang1, GONG Sijin1, HUANG Xin2
1. School of Information Engineering, Nanchang University, Nanchang 330031, China;
2. School of Instrumental Science and Engineering, Southeast University, Nanjing 210096, China
Abstract: In order to solve the problem of poor contact force feedback and inability to perceive tactile information of forces in different directions during fine minimally invasive surgery such as thorax puncture and drainage, a refined multidimensional force tactile sensor based on fiber Bragg grating (FBG) was designed, which can simultaneously perceive axial force, torque force and radial force information received during the operation. At the same time, the sensing principle of FBG is deduced and the structural design of the tactile sensor is analyzed. The finite element analysis software ANSYS is used to simulate the axial force, radial force and torque force of sensor structure respectively. The results show that the improved sensor has an increase in stress intensity and stress-sensitive area compared with traditional configuration, has a high sensitivity of force measurement, and can more accurately detect upward forces of all parties during operation, which is suitable for the application in fine minimally invasive surgery such as thorax puncture and drainage.
Keywords: minimally invasive surgery;fiber Bragg grating;multidimensional force sensor;finite element analysis
2021, 47(11):94-100 收稿日期: 2020-12-16;收到修改稿日期: 2021-02-06
基金项目: 国家自然科学基金资助项目 (62163024，61903175，62161022)；江西省主要学科学术和技术带头人项目 (20204BCJ23006)
作者简介: 曾佳欣（1997-），男，江西樟树市人，硕士研究生，专业方向为智能机器人
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